Comparing Two Safe Distance Maintenance Algorithms for a Gaze-Controlled HRI Involving Users with SSMI

People with severe speech and motor impairment often find it difficult to manipulate physical objects due to spasticity and have familiarity with eye pointing based communication. This article presents a novel eye gaze controlled augmented reality human-robot interface that maintains a safe distance of the robot from the operator. We used a bespoke appearance-based eye gaze tracking algorithm and compared two different safe distance maintenance algorithms. We undertook simulation studies followed by a user trial involving end users. Users with severe speech and motor impairment could bring the robotic arm at any designated point within its working envelope in less than 3 minutes.