  Patients suffering from quadriplegia have limited body motion which prevents
them from performing daily activities. We have developed an assistive robotic
system with an intuitive free-view gaze interface. The user's point of regard
is estimated in 3D space while allowing free head movement and is combined with
object recognition and trajectory planning. This framework allows the user to
interact with objects using fixations. Two operational modes have been
implemented to cater for different eventualities. The automatic mode performs a
pre-defined task associated with a gaze-selected object, while the manual mode
allows gaze control of the robot's end-effector position on the user's frame of
reference. User studies reported effortless operation in automatic mode. A
manual pick and place task achieved a success rate of 100% on the users' first
attempt.
