Performance evaluation of a robotic architecture for drawing with eyes

Eye tracking is a sensing technology that allows a computer to monitor eye movements and determine where a subject is looking. In this paper, we evaluate the performance of a robotic architecture that enables to control a robot arm through eye tracking and to draw using the motion of the eyes only. The usability of the system is assessed by a drawing experiment where 10 naïve subjects learned to operate the robot manipulator with eyes. Results suggest that the gaze-based human-robot interface may be considered an intuitive and efficient technology to perform a drawing task, and could be beneficial beyond amputees and patients with various forms of movement impairments.