GazeGrasp: DNN-Driven Robotic Grasping with Wearable Eye-Gaze Interface
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
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2025
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| author | Tokmurziyev, Issatay Cabrera, Miguel Altamirano Moreno, Luis Khan, Muhammad Haris Tsetserukou, Dzmitry |
| author_facet | Tokmurziyev, Issatay Cabrera, Miguel Altamirano Moreno, Luis Khan, Muhammad Haris Tsetserukou, Dzmitry |
| contents | We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The system employs an ESP32 CAM for eye tracking, MediaPipe for gaze detection, and YOLOv8 for object localization, integrated with a Universal Robot UR10 for manipulation tasks. After user-specific calibration, the system allows intuitive object selection with a magnetic snapping effect and robot control via eye gestures. Experimental evaluation involving 13 participants demonstrated that the magnetic snapping effect significantly reduced gaze alignment time, improving task efficiency by 31%. GazeGrasp provides a robust, hands-free interface for assistive robotics, enhancing accessibility and autonomy for users. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2501_07255 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | GazeGrasp: DNN-Driven Robotic Grasping with Wearable Eye-Gaze Interface Tokmurziyev, Issatay Cabrera, Miguel Altamirano Moreno, Luis Khan, Muhammad Haris Tsetserukou, Dzmitry Robotics We present GazeGrasp, a gaze-based manipulation system enabling individuals with motor impairments to control collaborative robots using eye-gaze. The system employs an ESP32 CAM for eye tracking, MediaPipe for gaze detection, and YOLOv8 for object localization, integrated with a Universal Robot UR10 for manipulation tasks. After user-specific calibration, the system allows intuitive object selection with a magnetic snapping effect and robot control via eye gestures. Experimental evaluation involving 13 participants demonstrated that the magnetic snapping effect significantly reduced gaze alignment time, improving task efficiency by 31%. GazeGrasp provides a robust, hands-free interface for assistive robotics, enhancing accessibility and autonomy for users. |
| title | GazeGrasp: DNN-Driven Robotic Grasping with Wearable Eye-Gaze Interface |
| topic | Robotics |
| url | https://arxiv.org/abs/2501.07255 |