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Visio-Verbal Teleimpedance Interface: Enabling Semi-Autonomous Control of Physical Interaction via Eye Tracking and Speech
Henk H. A. Jekel, Alejandro D\'iaz Rosales, Luka Peternel
https://arxiv.org/abs/2508.20037

Visio-Verbal Teleimpedance Interface: Enabling Semi-Autonomous Control of Physical Interaction via Eye Tracking and Speech
The paper presents a visio-verbal teleimpedance interface for commanding 3D stiffness ellipsoids to the remote robot with a combination of the operator's gaze and verbal interaction. The gaze is detected by an eye-tracker, allowing the system to understand the context in terms of what the operator is currently looking at in the scene. Along with verbal interaction, a Visual Language Model (VLM) processes this information, enabling the operator to communicate their intended action or provide cor…