  Real-time robot actuation is one of the main challenges to overcome in
human-robot interaction. Most visual sensors are either too slow or their data
are too complex to provide meaningful information and low latency input to a
robotic system. Data output of an event camera is high-frequency and extremely
lightweight, with only 8 bytes per event. To evaluate the hypothesis of using
event cameras as data source for a real-time robotic system, the position of a
waving hand is acquired from the event data and transmitted to a collaborative
robot as a movement command. A total time delay of 110 ms was measured between
the original movement and the robot movement, where much of the delay is caused
by the robot dynamics.
