An Integrated Electrooculography and Desktop Input Bimodal Interface to Support Robotic Arm Control

This letter describes a man-machine bimodal interface that is based on the combination of visual control, through electrooculography, and manual control, using a desktop input device that is operated with the hand. This letter introduces design concepts for this bimodal interface with the goal to support those that cannot use desktop device controls, those that require support with desktop device controls, as well as those with normative capabilities but who wish to enhance speed performance. To that end, several control strategies have been designed. Each control strategy has been tested in applications with a real robot arm. The results indicate that such bimodal interfaces show promise to support a range of motor limitations.