BelSU Innovates Rehabilitation: Eye-Controlled Robotic Arm for Paralyzed Patients

Led by Professor Andrey Afonin, this pioneering project marks a significant advancement in rehabilitation technology for paralyzed individuals in Russia. The working prototype of the system utilizes a low-cost Tobii Eye Tracker 4C, a desktop manipulator with an Arduino-based control system, and two webcams positioned in perpendicular planes to accurately track the manipulator's movements. This innovative setup enables completely immobilized individuals to perform essential tasks independently, such as drinking, eating, operating household appliances, and other self-care activities.

To control the prototype, the research team developed original software with a user-friendly interface that features two symmetrical halves. These halves manage the manipulator's movement in two perpendicular planes, with its position displayed in separate windows streaming images from the webcams. Users can navigate the manipulator by simply directing their gaze at corresponding buttons and controlling its grip through eye movements.

However, human eyes naturally make spontaneous, chaotic movements necessary for environmental tracking, which can hinder precise control of the mechanism. To address this challenge, the BelSU team incorporated an fNIRS scanner into their system. This advanced technology recognizes mentally imagined movements, significantly enhancing the accuracy of the manipulator's positioning when guided by eye movements. Additionally, users can issue auxiliary commands – such as squeezing and releasing the gripper – simply by imagining these actions, without needing to move their eyes.