Enhancing User Convenience in Virtual Reality-based Robotic Control Systems: Utilizing Catmull-rom Splines, Hand Tracking Technology, and Eye Tracking Technology

This paper proposes an enhanced robot control system utilizing hand tracking and eye tracking to overcome the limitations of existing VR-based teleoperation systems, aiming to improve user convenience. After implementing the master system for remote robot control using the “virtual hand” method, we developed a hand tracking based remote robot waypoint designation system and validated its effectiveness through experiments. The results confirmed that the system reduced operational time compared to direct control methods, enhancing user convenience. Additionally, we implemented a mode-switching system using eye-tracking technology and compared its performance. The results indicated that tasks previously requiring a team of two could now be executed individually, demonstrating the functionality of the proposed system.