Accurate manipulation of anthropomorphic robotic arm based on 3D human eye gazing with posture error compensation

作     者：Quanlin LI Xianzong WANG Jiaji MA Qianjun HUANG Qizhi JIANG Wenbin CHEN Caihua XIONG 

作者机构：State Key Laboratory of Intelligent Manufacturing Equipment and TechnologySchool of Mechanical Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China Institute of Medical Equipment Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China 

出 版 物：《Science China(Technological Sciences)》 (中国科学(技术科学英文版))

年 卷 期：2025年第68卷第2期

页      面：178-198页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：supported by the National Natural Science Foundation of China(Grant Nos.52027806 52435005 92248304 52075191) 

主　　题：anthropomorphic robotic arm differential joint posture error compensation 3D gaze estimation corneal refraction head-mounted gaze tracker 

摘      要：As humans and robots work closer together than ever,anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted *** pursuit of this,we designed a dedicated 7-degrees-of-freedom(DoF)anthropomorphic robotic arm having three compact differential joints and a head-mounted gaze tracker enabling head-pose-tracked 3D gaze ***,two key challenges were addressed to achieve accurate robot-assisted manipulation of the object indicated by the direction of human ***,a novel predictive pupil feature was proposed for 3D gaze *** from most existing features subjected to the common paraxial approximation assumption,the proposed novel predictive pupil feature considered the light refraction at two corneal surfaces with a more realistic eye model,significantly improving the 3D gaze estimation accuracy when the eyeball rotates at large ***,a novel optimization-based approach was developed to efficiently compensate for the posture errors of the designed 7-DoF anthropomorphic robotic arm for accurate *** with the existing Jacobian-based or optimization-based approaches with nominal joint values as iteration initial,the proposed approach computed the optimal iteration initial and realized faster convergence for real-time posture error *** the posture error compensation in real time and 3D gaze estimated accurately,the human can command accurate robot-assisted manipulation using his eyes *** proposed system was successfully tested on five healthy subjects.