RoboEye, an Efficient, Reliable and Safe Semi-Autonomous Gaze Driven Wheelchair for Domestic Use

• DOI: 10.3390/technologies9010016
• Publication Date: 2021-02-26T14:47:20Z
• Authors: Luca Maule; Alessandro Luchetti; Matteo Zanetti; Paolo Tomasin; Marco Pertile; Mattia Tavernini; Giovanni M. A. Gu...; Mariolino De Cecco
• Keywords: Modality (human–computer interaction); Modalities; Interface (matter)

Any severe motor disability is a condition that limits the ability to interact with environment, even domestic one, caused by loss of control over one’s mobility. This work presents RoboEYE, power wheelchair designed allow users move easily and autonomously within their homes. To achieve this goal, an innovative, cost-effective user-friendly system was designed, in which non-invasive eye tracker, monitor, 3D camera represent some core elements. RoboEYE integrates functionalities from mobile robotics field into standard wheelchair, main advantage providing user two driving options comfortable navigation. The most intuitive direct modality foresees continuous frontal angular velocities gazing at different areas monitor. second, semi-autonomous allows navigation toward selected point environment just pointing activating wished destination while plans follows trajectory brings point. purpose develop structure interface designs aforementioned modalities taking account also uncertainties gaze detection other sources uncertainty related components ensure safety. Furthermore, modalities, particular were modeled qualified through numerical simulations experimental verification testing volunteers, who are regular electric wheelchairs, verify efficiency, reliability safety proposed for use. resulted suitable environments narrow passages wider than 1 m, comparable door due its properties large commercialization potential.