{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T10:24:01Z","timestamp":1777890241583,"version":"3.51.4"},"reference-count":53,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2020,8,1]],"date-time":"2020-08-01T00:00:00Z","timestamp":1596240000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Technology and Disability"],"published-print":{"date-parts":[[2020,8]]},"abstract":"<jats:sec>\n                    <jats:title>BACKGROUND:<\/jats:title>\n                    <jats:p>People with severe speech and motor impairment (SSMI) often uses a technique called eye pointing to communicate with outside world. One of their parents, caretakers or teachers hold a printed board in front of them and by analyzing their eye gaze manually, their intentions are interpreted. This technique is often error prone and time consuming and depends on a single caretaker.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>OBJECTIVE:<\/jats:title>\n                    <jats:p>We aimed to automate the eye tracking process electronically by using commercially available tablet, computer or laptop and without requiring any dedicated hardware for eye gaze tracking. The eye gaze tracker is used to develop a video see through based AR (augmented reality) display that controls a robotic device with eye gaze and deployed for a fabric printing task.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>METHODS:<\/jats:title>\n                    <jats:p>We undertook a user centred design process and separately evaluated the web cam based gaze tracker and the video see through based human robot interaction involving users with SSMI. We also reported a user study on manipulating a robotic arm with webcam based eye gaze tracker.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>RESULTS:<\/jats:title>\n                    <jats:p>Using our bespoke eye gaze controlled interface, able bodied users can select one of nine regions of screen at a median of less than 2 secs and users with SSMI can do so at a median of 4 secs. Using the eye gaze controlled human-robot AR display, users with SSMI could undertake representative pick and drop task at an average duration less than 15 secs and reach a randomly designated target within 60 secs using a COTS eye tracker and at an average time of 2 mins using the webcam based eye gaze tracker.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>CONCLUSION:<\/jats:title>\n                    <jats:p>The proposed system allows users with SSMI to manipulate physical objects without any dedicated eye gaze tracker. The novelty of the system is in terms of non-invasiveness as earlier work mostly used glass based wearable trackers or head\/face tracking but no other earlier work reported use of webcam based eye tracking for controlling robotic arm by users with SSMI.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.3233\/tad-200264","type":"journal-article","created":{"date-parts":[[2020,6,19]],"date-time":"2020-06-19T12:12:07Z","timestamp":1592568727000},"page":"179-197","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":15,"title":["Webcam controlled robotic arm for persons with SSMI"],"prefix":"10.1177","volume":"32","author":[{"given":"Vinay Krishna","family":"Sharma","sequence":"first","affiliation":[{"name":"Indian Institute of Science, Bangalore, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"L.R.D.","family":"Murthy","sequence":"additional","affiliation":[{"name":"Indian Institute of Science, Bangalore, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"KamalPreet","family":"Singh Saluja","sequence":"additional","affiliation":[{"name":"Indian Institute of Science, Bangalore, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vimal","family":"Mollyn","sequence":"additional","affiliation":[{"name":"Indian Institute of Technology, Madras, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gourav","family":"Sharma","sequence":"additional","affiliation":[{"name":"Indian Institute of Information Technology, Kalyani, India"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pradipta","family":"Biswas","sequence":"additional","affiliation":[{"name":"Indian Institute of Science, Bangalore, India"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2020,8,1]]},"reference":[{"key":"bibr1-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-13-5977-4_54"},{"key":"bibr2-TAD-200264","author":"Alsharif S","year":"2016","journal-title":"Technische Unterst\u00fctzungssysteme, die Menschen wirklich wollen"},{"key":"bibr3-TAD-200264","first-page":"59","author":"Baltrusaitis T","year":"2018","journal-title":"2018 13th IEEE International Conference on Automatic Face & Gesture Recognition"},{"key":"bibr4-TAD-200264","first-page":"303","author":"Bannat A","year":"2009","journal-title":"International Conference on Human-Computer Interaction"},{"key":"bibr5-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2002.1021581"},{"key":"bibr6-TAD-200264","author":"Biswas P","year":"2018","journal-title":"ACM International Conference on Intelligent User Interfaces (IUI)"},{"key":"bibr7-TAD-200264","author":"Biswas P","year":"2009","journal-title":"23rd British Computer Society Conference on Human-Computer Interaction"},{"key":"bibr8-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-40709-8"},{"key":"bibr9-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1142\/9789812702678_0048"},{"key":"bibr10-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1080\/10400435.2015.1092182"},{"key":"bibr11-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/HRI.2016.7451745"},{"key":"bibr12-TAD-200264","author":"Chen Y","year":"2004","journal-title":"Proceedings of the IEEE Intl Conf on Robotics and Automation"},{"key":"bibr13-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/KCIC.2017.8228569"},{"key":"bibr14-TAD-200264","first-page":"126","author":"Cristina S","year":"2014","journal-title":"The 8th International Conference on Advanced Engineering Computing and Applications in Sciences (ADVCOMP)"},{"key":"bibr15-TAD-200264","first-page":"2507","author":"Cuong NH","year":"2010","journal-title":"Control Automation Robotics & Vision (ICARCV)"},{"key":"bibr16-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/CVPR.2005.177"},{"key":"bibr17-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2005.1545189"},{"key":"bibr18-TAD-200264","first-page":"137","author":"Dostal J","year":"2013","journal-title":"Proceedings of the 2013 International Conference on Intelligent user Interfaces"},{"key":"bibr19-TAD-200264","author":"S Dziemian","year":"2016","journal-title":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)"},{"key":"bibr20-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1037\/h0055392"},{"key":"bibr21-TAD-200264","author":"Fuji K","year":"2013","journal-title":"Europe PMC Funders Group"},{"key":"bibr22-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1561\/1100000005"},{"key":"bibr23-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2013.2275695"},{"key":"bibr24-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1145\/2578153.2578156"},{"key":"bibr25-TAD-200264","unstructured":"iBUG 300-W dataset, Available at https:\/\/ibug.doc.ic.ac.uk\/resources\/facial-point-annotations\/, Accessed on 06\/03\/2019. 2019."},{"key":"bibr26-TAD-200264","doi-asserted-by":"publisher","DOI":"10.3233\/TAD-180206"},{"key":"bibr27-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/NGCT.2015.7375255"},{"issue":"4","key":"bibr28-TAD-200264","first-page":"229","volume":"3","author":"Kim DH","year":"2001","journal-title":"Transaction on Control, Automation and Systems Engineering"},{"key":"bibr29-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2014.2365834"},{"key":"bibr30-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1016\/j.promfg.2017.07.141"},{"key":"bibr31-TAD-200264","author":"Kohlbecher S","year":"2012","journal-title":"7th ACM\/IEEE International Conference on Human-Robot Interaction, Boston, Massachusetts, USA"},{"key":"bibr32-TAD-200264","first-page":"2176","author":"Krafka K","year":"2016","journal-title":"Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition"},{"key":"bibr33-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2003.1191708"},{"key":"bibr34-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1145\/2157689.2157811"},{"key":"bibr35-TAD-200264","first-page":"36","author":"Lin CS","year":"2006","journal-title":"Optica Applicata"},{"key":"bibr36-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1007\/s11042-012-1202-1"},{"key":"bibr37-TAD-200264","author":"Miller DP","year":"1998","journal-title":"Mittal VO, Yanco HA, Aronis J, Simpson R, (eds) Assistive Technology and Artificial Intelligence. Lecture Notes in Computer Science"},{"key":"bibr38-TAD-200264","first-page":"5048","author":"Palinko O","year":"2016","journal-title":"Intelligent Robots and Systems (IROS), 2016 IEEE\/RSJ International Conference on"},{"key":"bibr39-TAD-200264","author":"Papoutsaki A","year":"2017","journal-title":"Proceedings of the ACM SIGIR Conference on Human Information Interaction & Retrieval"},{"key":"bibr40-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/70.954751"},{"key":"bibr41-TAD-200264","unstructured":"RosebrockA. Facial landmarks with dlib, OpenCV, and Python, Available at https:\/\/www.pyimagesearch.com\/2017\/04\/03\/facial-landmarks-dlib-opencv-python\/, Accessed on 06\/ 03\/2019. 2019."},{"key":"bibr42-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1145\/1743666.1743685"},{"key":"bibr43-TAD-200264","first-page":"3739","author":"Sewell W","year":"2010","journal-title":"CHI\u201910 Extended Abstracts on Human Factors in Computing Systems"},{"key":"bibr44-TAD-200264","unstructured":"SICK sensor intelligence. Available at https:\/\/www.sick.com\/us\/en\/-\/human-robot-collaboration\/w\/human-robot-collaboration\/, Accessed on 25 June, 2019."},{"key":"bibr45-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.907484"},{"issue":"3","key":"bibr46-TAD-200264","volume":"2","author":"Vasanth J","year":"2014","journal-title":"Optometry & Visual Performance"},{"key":"bibr47-TAD-200264","first-page":"1","author":"Viola P","year":"2001","journal-title":"Computer Vision and Pattern Recognition, 2001. CVPR 2001. Proceedings of the 2001 IEEE Computer Society Conference on"},{"issue":"5","key":"bibr48-TAD-200264","first-page":"127","volume":"3","author":"Wakhare A","year":"2013","journal-title":"International Journal of Emerging Technology and Advanced Engineering"},{"key":"bibr49-TAD-200264","unstructured":"Webgazer. Available at https:\/\/webgazer.cs.brown.edu\/ Accessed on 19\/3\/2020."},{"key":"bibr50-TAD-200264","doi-asserted-by":"publisher","DOI":"10.1515\/bpasts-2015-0100"},{"key":"bibr51-TAD-200264","first-page":"3","author":"Woodworth RS","year":"1899","journal-title":"Psychological Review"},{"key":"bibr52-TAD-200264","author":"Zaira PR","year":"2014","journal-title":"Thesis Submitted for the Degree of Doctor of Philosophy the University of Leicester"},{"key":"bibr53-TAD-200264","author":"Zhang G","year":"2019","journal-title":"Proceedings of the ACM\/IEEE Human Robot Interaction"}],"container-title":["Technology and Disability"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/TAD-200264","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.3233\/TAD-200264","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.3233\/TAD-200264","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T05:32:33Z","timestamp":1777613553000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.3233\/TAD-200264"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,8]]},"references-count":53,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2020,8]]}},"alternative-id":["10.3233\/TAD-200264"],"URL":"https:\/\/doi.org\/10.3233\/tad-200264","relation":{},"ISSN":["1055-4181","1878-643X"],"issn-type":[{"value":"1055-4181","type":"print"},{"value":"1878-643X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,8]]}}}