Human robot team interaction system based on eye tracking and haptic feedback

DOI:	10.11809/bqzbgcxb2024.04.030
Keywords:	haptic interfaces;eye tracking; human robot team; human centered robotics; multirobot systems
Abstract:	To address the lack of natural and efficient human robot interaction methods in dynamic and complex, unstructured scenarios, a human robot team system based on eye tracking and haptic feedback was proposed for managing teams consisting of multiple robots and humans. The system used mixed reality technology to overlay a virtual interaction interface in the real world, and the operator performed the input of human robot interaction commands through a hands free interaction method based on non verbal attention perception of gaze signals. Then the multi robot system accepted the commands and performed cooperative movements. At the same time, haptic feedback patterns of dimensional change state and completion state of multi robot system formation were designed to sense the motion state of multi robot system. In order to verify the feasibility and viability of the human robot interaction system, haptic feedback experiments and physical experiments of the human multi robot team interaction system was designed. The experimental results show that the proposed human robot interaction system based on eye tracking and haptic feedback can effectively control the multi robot system for formation with a 93.3% success rate of command execution, and the operator can use less time to complete the multi robot state perception with haptic feedback compared with visual feedback only, and the interaction efficiency is improved by 14.55%.
Published:	2024-04-30
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