Eye tracking demonstration in manipulation tasks

Objectives:

- Eye tracking is the science of measuring the movements of the eyes, usually in response to visual, auditory and haptic stimulus

- Eye-hand coordination plays a fundamental role in the successful execution of dexterous manipulation tasks. The analysis of the gaze path during a manipulation task can be used to detect relevant events such as eye saccades, fixation periods and pursuit movements. These events can provide useful insights about the manipulation strategy adopted by the human subject: saccades antecipating hand movements, fixation periods antecipating and selecting graspable regions of objects and pursuit movements to control the displacement movement of an object.

Outputs:

- Demonstrations performed using the Mobile Robotic Laboratory eye tracker - SMI iVIEWxHED.

- Eye tracking demonstration: simple gaze movements during the visual exploration of my desk at the Mobile Robotics Laboratory. The chess pattern board with some yellow markers was used to make the calibration of the device. The red cross indicates the gaze direction estimated by the SMI software. Several events (eye saccades, fixation periods and pursuit movements) were detected using the SMI software. The video of this demonstrations is presented next and the list of events detected by the SMI software is available here.

- Eye tracking demonstration during the execution of manipulation tasks: bottle grasping, Rubik cube displacement, mug grasping, wood toys sorting box. Some of the events such as eye saccades antecipating the next target object, fixation periods during the selection of the graspable regions of objects and pursuit movements during the object displacements can be identified in the following video:

- Demonstration of the eye tracker setup at the Mobile Robotics Laboratory. The video segment, presented next, was part of the IROS 2012 (Vilamoura, Portugal) oficial video, presenting the research activies of the Institute of Systems and Robotics, University of Coimbra.

- The human demonstrations using the eye tracking system during the execution of dexterous manipulation tasks have been partially used in the journal paper: D. R. Faria, Ricardo Martins, J. Lobo, J. Dias - "Extracting Data from Human Manipulation of Objects Towards Improving Autonomous Robotic Grasping" - Robotics and Autonomous Systems, Elsevier: Special Issue on Autonomous Grasping, Volume 60, Issue 3, Pages 396-410, March 2012.

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