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When humans work together to complete a joint task, each person builds aninternal model of the situation and how it will evolve. Efficient collaborationis dependent on how these individual models overlap to form a shared mentalmodel among team members, which is important for collaborative processes inhuman-robot teams. The development and maintenance of an accurate shared mentalmodel requires bidirectional communication of individual intent and the abilityto interpret the intent of other team members. To enable effective human-robotcollaboration, this paper presents a design and implementation of a novel jointaction framework in human-robot team collaboration, utilizing augmented reality(AR) technology and user eye gaze to enable bidirectional communication ofintent. We tested our new framework through a user study with 37 participants,and found that our system improves task efficiency, trust, as well as taskfluency. Therefore, using AR and eye gaze to enable bidirectional communicationis a promising mean to improve core components that influence collaborationbetween humans and robots.

Design and Implementation of a Human-Robot Joint Action Framework using Augmented Reality and Eye Gaze