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Patients suffering from quadriplegia have limited body motion which preventsthem from performing daily activities. We have developed an assistive roboticsystem with an intuitive free-view gaze interface. The user's point of regardis estimated in 3D space while allowing free head movement and is combined withobject recognition and trajectory planning. This framework allows the user tointeract with objects using fixations. Two operational modes have beenimplemented to cater for different eventualities. The automatic mode performs apre-defined task associated with a gaze-selected object, while the manual modeallows gaze control of the robot's end-effector position on the user's frame ofreference. User studies reported effortless operation in automatic mode. Amanual pick and place task achieved a success rate of 100% on the users' firstattempt.

Free-View, 3D Gaze-Guided, Assistive Robotic System for Activities of Daily Living