Collaborative Research: 3D Gaze Control for Assistive Robots

协作研究：辅助机器人的 3D 凝视控制

• 批准号: 1414299
• 负责人: Xiaoli Zhang
• 金额: $ 13.64万
• 依托单位: Colorado School of Mines
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2013
• 资助国家: 美国
• 起止时间: 2013-10-01 至 2016-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1414299&HistoricalAwards=false
• 关键词: Collaborative; Research; 3D; Gaze; Control

PI: Zhang, Xiaoli and Nelson, Carl A.Proposal Number: 1264496 & 1264504The objective of this research is to develop a novel 3D gaze control system to intuitively connect elderly or disabled people with robotic assistants. The communication will take place through a 3D gaze as the robot control signal. We will focus on basic Activities of Daily Living, including retrieving an object to the user, and moving an object from one place to another, which enable the individual to live independently. Tasks include: (1) a study of 3D gaze estimation based on eye modeling and simulation with experimental data; (2) investigation and development of a 3D gaze control framework to enable the target selection relative to real-world, everyday objects on which assistive tasks are performed; (3) establishment of a gaze control platform for testing and evaluating the proposed 3D gaze control model with a wide range of assistive robot applications.Intellectual Merit: The project investigates a novel 3D gaze control concept for robotic assistants with the goal of increasing the level of independence for motor impaired people due to diseases or senescence. The research also proposes a novel gaze control model which uses gaze-extracted features to guide a robot for object identification and operation, achieving simple and natural human-robot interaction. Finally, the project seeks to develop a novel 3D gaze estimation system to ensure accuracy and reliability, which is currently not well explored. This project seeks to provide solutions for a wide spectrum of robotic assistive applications.Broader Impacts: By introducing 3D gaze as the control signal into communication between elderly or disabled people and robotic assistants, the broader impacts of this project are to build a simple and natural control interface to motor impaired people and increase the level of living independence. Persons with disabilities, especially students with disabilities at Wilkes University, will be actively involved in the development of the proposed work including feedback in the form of interviews, surveys, and participation in testing and evaluating the working system. Results, outcomes, software tools, benchmarks, and educational materials will be disseminated through a project web site, as well as through journal and conference publications. A new course on assistive robotic technology is being developed and taught at Wilkes University.

PI：Zhang，Xiaoli和Nelson，CarlA。通信将通过3D注视作为机器人控制信号进行。我们将专注于日常生活的基本活动，包括将对象检索到用户，并将对象从一个地方转移到另一个地方，这使个人能够独立生活。任务包括：（1）基于眼睛建模和使用实验数据模拟的3D凝视估计的研究； （2）调查和开发3D注视控制框架，以使目标选择相对于现实世界，即执行辅助任务的日常对象； （3）建立一个注视控制平台，用于测试和评估具有广泛辅助机器人应用的拟议的3D注视控制模型。IntlectualFure：该项目调查了机器人助手的新型3D凝视控制概念，目的是增加由于疾病或衰老而增加运动障碍的独立性水平。该研究还提出了一种新型的凝视控制模型，该模型使用视线提取的功能来指导机器人进行对象识别和操作，从而实现简单而自然的人类机器人相互作用。最后，该项目旨在开发一种新颖的3D凝视估计系统，以确保准确性和可靠性目前尚未很好地探索。该项目旨在为广泛的机器人辅助应用提供解决方案。Broader的影响：通过将3D凝视引入时，将控制信号作为老年人或残疾人与机器人助手之间的通信进行引入，该项目的更广泛影响是建立一个简单自然的控制界面以使人们构建运动障碍的人，并提高独立性的生活水平。残疾人，尤其是威尔克斯大学的残疾学生，将积极参与拟议工作的发展，包括以访谈，调查的形式反馈以及参与测试和评估工作系统的反馈。结果，结果，软件工具，基准和教育材料将通过项目网站以及日记和会议出版物进行传播。威尔克斯大学正在开发和教授有关辅助机器人技术的新课程。