- Article
21 Pages
For individuals with limited limb function, conventional manual control methods such as joysticks are not readily applicable to assistive robot operation, highlighting the need for a hands-free control method. Eye movements, as natural signals of human intention, offer advantages in intuitiveness and accessibility and are particularly suitable for such scenarios. However, prior studies have primarily focused on fixation-based gaze interaction, and relying solely on fixation is inadequate for human–robot interaction tasks that involve both robot movement and target selection. This paper presents an assistive human–robot interaction (HRI) system based on eye-movement behavior recognition. First, an eye-movement dataset named GazeRobDB containing four eye-movement behavior classes was constructed. Representative eye-movement features were then extracted and analyzed to support eye-movement behavior classification. Next, a feature-based recognition approach using machine-learning classifiers was developed to distinguish the four eye-movement behavior classes—fixation, saccade, intentional fixation, and intentional movement. Among the evaluated classifiers, random forest (RF) achieved the highest overall classification performance and was combined with the extracted eye-movement features to form the eye-movement behavior recognition module of the proposed HRI system. The recognized intentional fixation and intentional movement behaviors were then mapped to target selection and robot movement control, respectively. The resulting system was evaluated with 10 participants. These results demonstrate the feasibility of the proposed framework for hands-free robot control under the evaluated conditions and highlight its potential for assistive human–robot interaction.
J. Eye Mov. Res.
6 November 2026



![Developmental trajectory and major directions of expansion in eye-tracking corpus research on reading. References mentioned in the figure: Dundee Corpus [8], MECO [9,10], MECO–Traditional Mongolian [20], GECO [29], ZuCo [32], and EMTeC [33].](https://mdpi-res.com/jemr/jemr-19-00127/article_deploy/html/images/jemr-19-00127-g001-550.jpg)
![Geometry-guided target-commitment framework. (a) Overall framework. The frozen CDDL–PGGM branch preserves directional uncertainty and constructs the full-18 geometry volume, which is fused with RGB input to establish the GCViT-T/FPN geometry-guided reference. DGQI and DCLD are optimized in the second stage on top of the frozen reference, whereas STMRP is used only during training. (b) DGQI forms 216 structured direction–distance candidates from 18 direction groups and 12 radial bins, combines candidate queries with scene tokens under a geometry-biased cross-attention prior, and produces the coarse and refined candidate maps C0 and C together with the context vector g. (c) DCLD conditions the spatial scene feature using g, projects the coarse and refined candidate maps, and combines these signals with H0 to predict the residual correction ΔH; the response-change visualizations are interpretation aids rather than additional inference outputs. (d) STMRP uses the detached reference prediction H0 as a teacher and the final prediction H as a student, standardizes them using statistics from the non-local region, excludes the 3 × 3 target neighborhood from ranking preservation, and penalizes only the reductions in teacher-valid non-local margins. Schematic elements are labeled explicitly; unlabeled embedded response maps show outputs from the representative sample used in the figure. The sample image is from the GazeFollow dataset [8].](https://mdpi-res.com/jemr/jemr-19-00126/article_deploy/html/images/jemr-19-00126-g001-550.jpg)



![The images show the direction of 63% and 95% BCEA fixation ellipses for patients with different axial lengths (AL). (A) The right eye of a 58-year-old male (AL: 26.2 mm) exhibiting a fixation ellipse angle of 97.4°. (B) The right eye of a 50-year-old male (AL: 30.43 mm) demonstrating a more horizontal fixational ellipse angle of 13°. (C) The fixation ellipse undergoes progressive superior rotation as AL increases, with the magnitude of this rotation exceeding that of the optic disc. Reprinted from Zhu, He [19] without modification, under the terms of the Creative Commons Attribution 4.0 International License (CC BY 4.0).](https://mdpi-res.com/jemr/jemr-19-00100/article_deploy/html/images/jemr-19-00100-g001-550.jpg)