Collaborative Robot Control Based on Human Gaze Tracking Article Swipe
Flavio Di Stefano
,
Alice Giambertone
,
Laura Salamina
,
Matteo Melchiorre
,
Stefano Mauro
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.3390/s25103103
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.3390/s25103103
Gaze tracking is gaining relevance in collaborative robotics as a means to enhance human–machine interaction by enabling intuitive and non-verbal communication. This study explores the integration of human gaze into collaborative robotics by demonstrating the possibility of controlling a robotic manipulator with a practical and non-intrusive setup made up of a vision system and gaze-tracking software. After presenting a comparison between the major available systems on the market, OpenFace 2.0 was selected as the primary gaze-tracking software and integrated with a UR5 collaborative robot through a MATLAB-based control framework. Validation was conducted through real-world experiments, analyzing the effects of raw and filtered gaze data on system accuracy and responsiveness. The results indicate that gaze tracking can effectively guide robot motion, though signal processing significantly impacts responsiveness and control precision. This work establishes a foundation for future research on gaze-assisted robotic control, highlighting its potential benefits and challenges in enhancing human–robot collaboration.
Related Topics
Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/s25103103
- https://www.mdpi.com/1424-8220/25/10/3103/pdf?version=1747225309
- OA Status
- gold
- References
- 21
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4410369471
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4410369471Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/s25103103Digital Object Identifier
- Title
-
Collaborative Robot Control Based on Human Gaze TrackingWork title
- Type
-
articleOpenAlex work type
- Language
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enPrimary language
- Publication year
-
2025Year of publication
- Publication date
-
2025-05-14Full publication date if available
- Authors
-
Flavio Di Stefano, Alice Giambertone, Laura Salamina, Matteo Melchiorre, Stefano MauroList of authors in order
- Landing page
-
https://doi.org/10.3390/s25103103Publisher landing page
- PDF URL
-
https://www.mdpi.com/1424-8220/25/10/3103/pdf?version=1747225309Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/1424-8220/25/10/3103/pdf?version=1747225309Direct OA link when available
- Concepts
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Gaze, Robot, Tracking (education), Human–robot interaction, Human–computer interaction, Computer science, Control (management), Artificial intelligence, Robot control, Computer vision, Mobile robot, Engineering, Psychology, PedagogyTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
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21Number of works referenced by this work
- Related works (count)
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10Other works algorithmically related by OpenAlex
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