Assistive and Wearable Robotics have the potential to support humans with different types of motor impairments to become independent and fulfil their activities of daily living successfully. The success of these robot systems, however, relies on the ability to meaningfully decode human action intentions and carry them out appropriately. Neural interfaces have been explored for use in such system with several successes, however, they tend to be invasive and require training periods in the order of months. We present a robotic system for human augmentation, capable of actuating the user's arm and fingers for them, effectively restoring the capability of reaching, grasping and manipulating objects; controlled solely through the user's eye movements. We combine wearable eye tracking, the visual context of the environment and the structural grammar of human actions to create a cognitive-level assistive robotic setup that enables the users in fulfilling activities of daily living, while conserving interpretability, and the agency of the user. The interface is worn, calibrated and ready to use within 5 minutes. Users learn to control and make successful use of the system with an additional 5 minutes of interaction. The system is tested with 5 healthy participants, showing an average success rate of $96.6\%$ on first attempt across 6 tasks.

中文翻译：

---

无创认知级人机交互技术，用于机器人到达和抓取的恢复

辅助和可穿戴机器人技术有潜力支持患有各种类型的运动障碍的人变得独立，并成功地完成其日常生活。但是，这些机器人系统的成功依赖于有意义地解码人类行动意图并适当执行它们的能力。已经探索了在这种系统中使用神经接口的方法，并取得了一些成功，但是，它们往往具有侵入性，并且需要数月左右的训练时间。我们提出了一种用于人体增强的机器人系统，该系统能够为用户的手臂和手指致动，从而有效地恢复其到达，抓握和操纵物体的能力；仅通过用户的眼睛运动来控制。我们结合了可穿戴式眼动追踪，环境的视觉环境和人类动作的结构语法，以创建认知级别的辅助机器人设置，使用户能够执行日常活动，同时保持可解释性和用户的主动性。界面已磨损，已校准且可以在5分钟内使用。用户需要额外的5分钟互动来学习控制和成功使用系统。该系统经过5位健康参与者的测试，显示在6个任务中首次尝试的平均成功率为$ 96.6 \％$。用户需要额外的5分钟互动来学习控制和成功使用系统。该系统经过5位健康参与者的测试，显示在6个任务中首次尝试的平均成功率为$ 96.6 \％$。用户需要额外的5分钟互动来学习控制和成功使用系统。该系统经过5位健康参与者的测试，显示在6个任务中首次尝试的平均成功率为$ 96.6 \％$。