User Evaluation of a Shared Robot Control System Combining BCI and Eye Tracking in a Portable Augmented Reality User Interface

This study evaluates an innovative control approach to assistive robotics by integrating brain–computer interface (BCI) technology and eye tracking into a shared control system for a mobile augmented reality user interface. Aimed at enhancing the autonomy of individuals with physical disabilities, particularly those with impaired motor function due to conditions such as stroke, the system utilizes BCI to interpret user intentions from electroencephalography signals and eye tracking to identify the object of focus, thus refining control commands. This integration seeks to create a more intuitive and responsive assistive robot control strategy. The real-world usability was evaluated, demonstrating significant potential to improve autonomy for individuals with severe motor impairments. The control system was compared with an eye-tracking-based alternative to identify areas needing improvement. Although BCI achieved an acceptable success rate of 0.83 in the final phase, eye tracking was more effective with a perfect success rate and consistently lower completion times ($p<0.001$). The user experience responses favored eye tracking in 11 out of 26 questions, with no significant differences in the remaining questions, and subjective fatigue was higher with BCI use ($p=0.04$). While BCI performance lagged behind eye tracking, the user evaluation supports the validity of our control strategy, showing that it could be deployed in real-world conditions and suggesting a pathway for further advancements.