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This paper proposes a novel operation for controlling a mobile robot using ahead-mounted device. Conventionally, robots are operated using computers or ajoystick, which creates limitations in usability and flexibility becausecontrol equipment has to be carried by hand. This lack of flexibility mayprevent workers from multitasking or carrying objects while operating therobot. To address this limitation, we propose a hands-free method to operatethe mobile robot with a human gaze in an Augmented Reality (AR) environment.The proposed work is demonstrated using the HoloLens 2 to control the mobilerobot, Robotnik Summit-XL, through the eye-gaze in AR. Stable speed control andnavigation of the mobile robot were achieved through admittance control whichwas calculated using the gaze position. The experiment was conducted to comparethe usability between the joystick and the proposed operation, and the resultswere validated through surveys (i.e., SUS, SEQ). The survey results from theparticipants after the experiments showed that the wearer of the HoloLensaccurately operated the mobile robot in a collaborative manner. The results forboth the joystick and the HoloLens were marked as easy to use withabove-average usability. This suggests that the HoloLens can be used as areplacement for the joystick to allow hands-free robot operation and has thepotential to increase the efficiency of human-robot collaboration in situationswhen hands-free controls are needed.

Investigating the Usability of Collaborative Robot control through Hands-Free Operation using Eye gaze and Augmented Reality