Gaze-based teleprosthetic enables intuitive continuous control of complex robot arm use: Writing & drawing

Eye tracking is a powerful mean for assistive technologies for people with movement disorders, paralysis and amputees. We present a highly intuitive eye tracking-controlled robot arm operating in 3-dimensional space based on the user's gaze target point that enables tele-writing and drawing. The usability and intuitive usage was assessed by a “tele” writing experiment with 8 subjects that learned to operate the system within minutes of first time use. These subjects were naive to the system and the task and had to write three letters on a white board with a white board pen attached to the robot arm's endpoint. The instructions are to imagine they were writing text with the pen and look where the pen would be going, they had to write the letters as fast and as accurate as possible, given a letter size template. Subjects were able to perform the task with facility and accuracy, and movements of the arm did not interfere with subjects ability to control their visual attention so as to enable smooth writing. On the basis of five consecutive trials there was a significant decrease in the total time used and the total number of commands sent to move the robot arm from the first to the second trial but no further improvement thereafter, suggesting that within writing 6 letters subjects had mastered the ability to control the system. Our work demonstrates that eye tracking is a powerful means to control robot arms in closed-loop and real-time, outperforming other invasive and non-invasive approaches to Brain-Machine-Interfaces in terms of calibration time (<;2 minutes), training time (<;10 minutes), interface technology costs. We suggests that gaze-based decoding of action intention may well become one of the most efficient ways to interface with robotic actuators - i.e. Brain-Robot-Interfaces - and become useful beyond paralysed and amputee users also for the general teleoperation of robotic and exoskeleton in human augmentation

Social communication between virtual characters and children with autism

Children with ASD have difficulty with social communication, particularly joint attention. Interaction in a virtual environment (VE) may be a means for both understanding these difficulties and addressing them. It is first necessary to discover how this population interacts with virtual characters, and whether they can follow joint attention cues in a VE. This paper describes a study in which 32 children with ASD used the ECHOES VE to assist a virtual character in selecting objects by following the character’s gaze and/or pointing. Both accuracy and reaction time data suggest that children were able to successfully complete the task, and qualitative data further suggests that most children perceived the character as an intentional being with relevant, mutually directed behaviour

Animated virtual agents to cue user attention: comparison of static and dynamic deictic cues on gaze and touch responses

This paper describes an experiment developed to study the performance of virtual agent animated cues within digital interfaces. Increasingly, agents are used in virtual environments as part of the branding process and to guide user interaction. However, the level of agent detail required to establish and enhance efficient allocation of attention remains unclear. Although complex agent motion is now possible, it is costly to implement and so should only be routinely implemented if a clear benefit can be shown. Pevious methods of assessing the effect of gaze-cueing as a solution to scene complexity have relied principally on two-dimensional static scenes and manual peripheral inputs. Two experiments were run to address the question of agent cues on human-computer interfaces. Both experiments measured the efficiency of agent cues analyzing participant responses either by gaze or by touch respectively. In the first experiment, an eye-movement recorder was used to directly assess the immediate overt allocation of attention by capturing the participant’s eyefixations following presentation of a cueing stimulus. We found that a fully animated agent could speed up user interaction with the interface. When user attention was directed using a fully animated agent cue, users responded 35% faster when compared with stepped 2-image agent cues, and 42% faster when compared with a static 1-image cue. The second experiment recorded participant responses on a touch screen using same agent cues. Analysis of touch inputs confirmed the results of gaze-experiment, where fully animated agent made shortest time response with a slight decrease on the time difference comparisons. Responses to fully animated agent were 17% and 20% faster when compared with 2-image and 1-image cue severally. These results inform techniques aimed at engaging users’ attention in complex scenes such as computer games and digital transactions within public or social interaction contexts by demonstrating the benefits of dynamic gaze and head cueing directly on the users’ eye movements and touch responses

Exploring the Front Touch Interface for Virtual Reality Headsets

In this paper, we propose a new interface for virtual reality headset: a touchpad in front of the headset. To demonstrate the feasibility of the front touch interface, we built a prototype device, explored VR UI design space expansion, and performed various user studies. We started with preliminary tests to see how intuitively and accurately people can interact with the front touchpad. Then, we further experimented various user interfaces such as a binary selection, a typical menu layout, and a keyboard. Two-Finger and Drag-n-Tap were also explored to find the appropriate selection technique. As a low-cost, light-weight, and in low power budget technology, a touch sensor can make an ideal interface for mobile headset. Also, front touch area can be large enough to allow wide range of interaction types such as multi-finger interactions. With this novel front touch interface, we paved a way to new virtual reality interaction methods

High-field fMRI reveals brain activation patterns underlying saccade execution in the human superior colliculus

Background The superior colliculus (SC) has been shown to play a crucial role in the initiation and coordination of eye- and head-movements. The knowledge about the function of this structure is mainly based on single-unit recordings in animals with relatively few neuroimaging studies investigating eye-movement related brain activity in humans. Methodology/Principal Findings The present study employed high-field (7 Tesla) functional magnetic resonance imaging (fMRI) to investigate SC responses during endogenously cued saccades in humans. In response to centrally presented instructional cues, subjects either performed saccades away from (centrifugal) or towards (centripetal) the center of straight gaze or maintained fixation at the center position. Compared to central fixation, the execution of saccades elicited hemodynamic activity within a network of cortical and subcortical areas that included the SC, lateral geniculate nucleus (LGN), occipital cortex, striatum, and the pulvinar. Conclusions/Significance Activity in the SC was enhanced contralateral to the direction of the saccade (i.e., greater activity in the right as compared to left SC during leftward saccades and vice versa) during both centrifugal and centripetal saccades, thereby demonstrating that the contralateral predominance for saccade execution that has been shown to exist in animals is also present in the human SC. In addition, centrifugal saccades elicited greater activity in the SC than did centripetal saccades, while also being accompanied by an enhanced deactivation within the prefrontal default-mode network. This pattern of brain activity might reflect the reduced processing effort required to move the eyes toward as compared to away from the center of straight gaze, a position that might serve as a spatial baseline in which the retinotopic and craniotopic reference frames are aligned

Frequency drives lexical access in reading but not in speaking: the frequency-lag hypothesis

To contrast mechanisms of lexical access in production versus comprehension we compared the effects of word frequency (high, low), context (none, low constraint, high constraint), and level of English proficiency (monolingual, Spanish-English bilingual, Dutch-English bilingual) on picture naming, lexical decision, and eye fixation times. Semantic constraint effects were larger in production than in reading. Frequency effects were larger in production than in reading without constraining context but larger in reading than in production with constraining context. Bilingual disadvantages were modulated by frequency in production but not in eye fixation times, were not smaller in low-constraint contexts, and were reduced by high-constraint contexts only in production and only at the lowest level of English proficiency. These results challenge existing accounts of bilingual disadvantages and reveal fundamentally different processes during lexical access across modalities, entailing a primarily semantically driven search in production but a frequency-driven search in comprehension. The apparently more interactive process in production than comprehension could simply reflect a greater number of frequency-sensitive processing stages in production

A Differential Approach for Gaze Estimation

Non-invasive gaze estimation methods usually regress gaze directions directly from a single face or eye image. However, due to important variabilities in eye shapes and inner eye structures amongst individuals, universal models obtain limited accuracies and their output usually exhibit high variance as well as biases which are subject dependent. Therefore, increasing accuracy is usually done through calibration, allowing gaze predictions for a subject to be mapped to his/her actual gaze. In this paper, we introduce a novel image differential method for gaze estimation. We propose to directly train a differential convolutional neural network to predict the gaze differences between two eye input images of the same subject. Then, given a set of subject specific calibration images, we can use the inferred differences to predict the gaze direction of a novel eye sample. The assumption is that by allowing the comparison between two eye images, annoyance factors (alignment, eyelid closing, illumination perturbations) which usually plague single image prediction methods can be much reduced, allowing better prediction altogether. Experiments on 3 public datasets validate our approach which constantly outperforms state-of-the-art methods even when using only one calibration sample or when the latter methods are followed by subject specific gaze adaptation.Comment: Extension to our paper A differential approach for gaze estimation with calibration (BMVC 2018) Submitted to PAMI on Aug. 7th, 2018 Accepted by PAMI short on Dec. 2019, in IEEE Transactions on Pattern Analysis and Machine Intelligenc

A bottom–up model of spatial attention predicts human error patterns in rapid scene recognition

Humans demonstrate a peculiar ability to detect complex targets in rapidly presented natural scenes. Recent studies suggest that (nearly) no focal attention is required for overall performance in such tasks. Little is known, however, of how detection performance varies from trial to trial and which stages in the processing hierarchy limit performance: bottom–up visual processing (attentional selection and/or recognition) or top–down factors (e.g., decision-making, memory, or alertness fluctuations)? To investigate the relative contribution of these factors, eight human observers performed an animal detection task in natural scenes presented at 20 Hz. Trial-by-trial performance was highly consistent across observers, far exceeding the prediction of independent errors. This consistency demonstrates that performance is not primarily limited by idiosyncratic factors but by visual processing. Two statistical stimulus properties, contrast variation in the target image and the information-theoretical measure of “surprise” in adjacent images, predict performance on a trial-by-trial basis. These measures are tightly related to spatial attention, demonstrating that spatial attention and rapid target detection share common mechanisms. To isolate the causal contribution of the surprise measure, eight additional observers performed the animal detection task in sequences that were reordered versions of those all subjects had correctly recognized in the first experiment. Reordering increased surprise before and/or after the target while keeping the target and distractors themselves unchanged. Surprise enhancement impaired target detection in all observers. Consequently, and contrary to several previously published findings, our results demonstrate that attentional limitations, rather than target recognition alone, affect the detection of targets in rapidly presented visual sequences

Clinical selection strategies to identify ischemic stroke patients with large anterior vessel occlusion: results from SITS-ISTR (Safe Implementation of Thrombolysis in Stroke International Stroke Thrombolysis Registry)

Background and Purpose—The National Institutes of Health Stroke Scale (NIHSS) correlates with presence of large anterior vessel occlusion (LAVO). However, the application of the full NIHSS in the prehospital setting to select patients eligible for treatment with thrombectomy is limited. Therefore, we aimed to evaluate the prognostic value of simple clinical selection strategies. Methods—Data from the Safe Implementation of Thrombolysis in Stroke International Stroke Thrombolysis Registry (January 2012–May 2014) were analyzed retrospectively. Patients with complete breakdown of NIHSS scores and documented vessel status were included. We assessed the association of prehospital stroke scales and NIHSS symptom profiles with LAVO (internal carotid artery, carotid-terminus or M1-segment of the middle cerebral artery). Results—Among 3505 patients, 23.6% (n=827) had LAVO. Pathological finding on the NIHSS item best gaze was strongly associated with LAVO (adjusted odds ratio 4.5, 95% confidence interval 3.8–5.3). All 3 face–arm–speech–time test (FAST) items identified LAVO with high sensitivity. Addition of the item gaze to the original FAST score (G-FAST) or high scores on other simplified stroke scales increased specificity. The NIHSS symptom profiles representing total anterior syndromes showed a 10-fold increased likelihood for LAVO compared with a nonspecific clinical profile. If compared with an NIHSS threshold of ≥6, the prehospital stroke scales performed similarly or even better without losing sensitivity. Conclusions—Simple modification of the face–arm–speech–time score or evaluating the NIHSS symptom profile may help to stratify patients’ risk of LAVO and to identify individuals who deserve rapid transfer to comprehensive stroke centers. Prospective validation in the prehospital setting is required

Towards binocular active vision in a robot head system

This paper presents the first results of an investigation and pilot study into an active, binocular vision system that combines binocular vergence, object recognition and attention control in a unified framework. The prototype developed is capable of identifying, targeting, verging on and recognizing objects in a highly-cluttered scene without the need for calibration or other knowledge of the camera geometry. This is achieved by implementing all image analysis in a symbolic space without creating explicit pixel-space maps. The system structure is based on the ‘searchlight metaphor’ of biological systems. We present results of a first pilot investigation that yield a maximum vergence error of 6.4 pixels, while seven of nine known objects were recognized in a high-cluttered environment. Finally a “stepping stone” visual search strategy was demonstrated, taking a total of 40 saccades to find two known objects in the workspace, neither of which appeared simultaneously within the Field of View resulting from any individual saccade