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This paper explores the estimation of user attention in the setting of acooperative handheld robot: a robot designed to behave as a handheld tool butthat has levels of task knowledge. We use a tool-mounted gaze tracking system,which, after modelling via a pilot study, we use as a proxy for estimating theattention of the user. This information is then used for cooperation with usersin a task of selecting and engaging with objects on a dynamic screen. Via avideo game setup, we test various degrees of robot autonomy from fullyautonomous, where the robot knows what it has to do and acts, to no autonomywhere the user is in full control of the task. Our results measure performanceand subjective metrics and show how the attention model benefits theinteraction and preference of users.

I Can See Your Aim: Estimating User Attention From Gaze For Handheld Robot Collaboration