research-article

Eye-Hand Behavior in Human-Robot Shared Manipulation

Authors:

Reuben M. Aronson,

Thiago Santini,

Thomas C. Kübler,

Enkelejda Kasneci,

Siddhartha Srinivasa,

Henny AdmoniAuthors Info & Claims

HRI '18: Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction

Pages 4 - 13

https://doi.org/10.1145/3171221.3171287

Published: 26 February 2018 Publication History

Abstract

Shared autonomy systems enhance people's abilities to perform activities of daily living using robotic manipulators. Recent systems succeed by first identifying their operators' intentions, typically by analyzing the user's joystick input. To enhance this recognition, it is useful to characterize people's behavior while performing such a task. Furthermore, eye gaze is a rich source of information for understanding operator intention. The goal of this paper is to provide novel insights into the dynamics of control behavior and eye gaze in human-robot shared manipulation tasks. To achieve this goal, we conduct a data collection study that uses an eye tracker to record eye gaze during a human-robot shared manipulation activity, both with and without shared autonomy assistance. We process the gaze signals from the study to extract gaze features like saccades, fixations, smooth pursuits, and scan paths. We analyze those features to identify novel patterns of gaze behaviors and highlight where these patterns are similar to and different from previous findings about eye gaze in human-only manipulation tasks. The work described in this paper lays a foundation for a model of natural human eye gaze in human-robot shared manipulation.

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Cited By

Jin TMeng QZhang GHuang QGuo FKong SSong WZhu JGu J(2025)Referring Expression Comprehension in semi-structured human–robot interactionExpert Systems with Applications10.1016/j.eswa.2025.126965275(126965)Online publication date: May-2025
https://doi.org/10.1016/j.eswa.2025.126965
Newman BPaxton CKitani KAdmoni HDastani MSichman JAlechina NDignum V(2024)Bootstrapping Linear Models for Fast Online Adaptation in Human-Agent CollaborationProceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems10.5555/3635637.3663006(1463-1472)Online publication date: 6-May-2024
https://dl.acm.org/doi/10.5555/3635637.3663006
Belardinelli A(2024)Gaze-Based Intention Estimation: Principles, Methodologies, and Applications in HRIACM Transactions on Human-Robot Interaction10.1145/365637613:3(1-30)Online publication date: 26-Sep-2024
https://dl.acm.org/doi/10.1145/3656376
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Index Terms

Eye-Hand Behavior in Human-Robot Shared Manipulation
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy
2. Human-centered computing
  1. Human computer interaction (HCI)
    1. Empirical studies in HCI
    2. Interaction paradigms
      1. Collaborative interaction

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cover image ACM Conferences

HRI '18: Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction

February 2018

468 pages

ISBN:9781450349536

DOI:10.1145/3171221

General Chairs:
Takayuki Kanda
ATR, Japan
,
Selma Ŝabanović
Indiana University Bloomington, USA
,
Program Chairs:
Guy Hoffman
Cornell University, USA
,
Adriana Tapus
ENSTA-ParisTech, France

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Published: 26 February 2018

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HRI '18: ACM/IEEE International Conference on Human-Robot Interaction

March 5 - 8, 2018

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HRI '18 Paper Acceptance Rate 49 of 206 submissions, 24%;

Overall Acceptance Rate 268 of 1,124 submissions, 24%

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https://doi.org/10.1016/j.eswa.2025.126965
Newman BPaxton CKitani KAdmoni HDastani MSichman JAlechina NDignum V(2024)Bootstrapping Linear Models for Fast Online Adaptation in Human-Agent CollaborationProceedings of the 23rd International Conference on Autonomous Agents and Multiagent Systems10.5555/3635637.3663006(1463-1472)Online publication date: 6-May-2024
https://dl.acm.org/doi/10.5555/3635637.3663006
Belardinelli A(2024)Gaze-Based Intention Estimation: Principles, Methodologies, and Applications in HRIACM Transactions on Human-Robot Interaction10.1145/365637613:3(1-30)Online publication date: 26-Sep-2024
https://dl.acm.org/doi/10.1145/3656376
Jonnavittula AMehta SLosey D(2024)SARI: Shared Autonomy across Repeated InteractionACM Transactions on Human-Robot Interaction10.1145/365199413:2(1-36)Online publication date: 14-Jun-2024
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Özdel SRong YAlbaba BKuo YWang XKasneci E(2024)Gaze-Guided Graph Neural Network for Action Anticipation Conditioned on IntentionProceedings of the 2024 Symposium on Eye Tracking Research and Applications10.1145/3649902.3653340(1-9)Online publication date: 4-Jun-2024
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Long RAriyo AIwu ZAzari DMadison AAroca-Ouellette SRoncone ATossell CRies A(2024)Towards an Adaptive System for Investigating Human-Agent Teaming: Let’s get Cooking!2024 Systems and Information Engineering Design Symposium (SIEDS)10.1109/SIEDS61124.2024.10534646(1-6)Online publication date: 3-May-2024
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Fu JRota ALi SZhao JLiu QIovene EFerrigno GDe Momi E(2023)Recent Advancements in Augmented Reality for Robotic Applications: A SurveyActuators10.3390/act1208032312:8(323)Online publication date: 13-Aug-2023
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Upasani SSrinivasan DZhu QDu JLeonessa A(2023)Eye-Tracking in Physical Human–Robot Interaction: Mental Workload and Performance PredictionHuman Factors: The Journal of the Human Factors and Ergonomics Society10.1177/0018720823120470466:8(2104-2119)Online publication date: 4-Oct-2023
https://doi.org/10.1177/00187208231204704
Brooks CRees WSzafir D(2023)Assistance in Teleoperation of Redundant Robots through Predictive Joint ManeuveringACM Transactions on Human-Robot Interaction10.1145/3630265Online publication date: 3-Nov-2023
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Johansen SDonovan JRittenbruch MCastellano GRiek LCakmak MLeite I(2023)Illustrating Robot MovementsProceedings of the 2023 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3568162.3576956(231-242)Online publication date: 13-Mar-2023
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