US 2026/0244264 A1Published application

Systems, methods, and techniques for safely controlling devices using eye gaze control

OwnerJay Curtis Beaversinventor

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Abstract

Methods, systems, and techniques for controlling actuators by using eye gaze technology such as in a wheelchair or bed, are provided. Example embodiments provide an Eye Gaze Actuator Control System (“EGACS”) which enables people with advanced motor neuron diseases or disabilities like amyotrophic lateral sclerosis or muscular dystrophy to use eye gaze technologies to control their actuators that control seating, bed positioning, and movement of motor-controlled devices. In one embodiment, the example EGACS comprises a display device, eye gaze sensor, eye gaze control application, and device interface(s) to one or more other devices that control aspects of a powered wheelchair, bed, vehicle, or other device. These components cooperate to control the powered wheelchair, bed, or vehicle using eye gaze technology as opposed to by manual control.

Claims37

Dependent claims

A microcontroller implemented method in a powered device for enabling a user to control, using eye gaze interaction, one or more actuators configured to modify a position or movement of one or more components of the powered device, the powered device having an associated eye gaze sensor, the method comprising:

presenting a plurality of visual targets positioned in a designated attention area of a display or projection, the attention area comprising a subset of the field of view of the user;
receiving a stream of data points from the eye gaze sensor, the data points including detection of the presence of eyes and coordinate information regarding a visual focus of the eyes within the field of view of the user;
determining from the stream of data points an indication of the presence of eyes, and when the presence of eyes are indicated, a current eye gaze vector and an indication of whether the current eye gaze vector intersects the attention area;
when it is determined that the current eye gaze vector intersects the attention area,
determining whether the eye gaze vector intersects one of the plurality of visual targets presented within the attention area;
when it is determined that the eye gaze vector intersects one of the plurality of visual targets, determining, based upon expiration of an activation delay timer, that the user intends to activate the intersected visual target or maintain activation of the intersected visual target;
and
causing translational or rotational movement of an actuator device associated with the intersected visual target, thereby causing positional changes or movement to the powered device;
when it is determined that the presence of eyes are not indicated or when it is determined that the current eye gaze vector does not intersect the attention area, causing cessation of movement of an actuator device associated with a most recently activated visual target;
determining if the powered device is in semi-latched mode;
and
when it is determined that the powered device is in semi-latched mode and when it is determined that the eye gaze vector intersects the attention area,
determining if the eye gaze vector does not intersect one of the plurality of visual targets;
and
when it is determined that the eye gaze vector does not intersect one of the plurality of visual targets,
continuing to maintain activation of the previously activated visual target;
and
causing continued movement of an actuator device associated with a most recently activated visual target.

15 more elements

presenting a plurality of visual targets positioned in a designated attention area of a display or projection, the attention area comprising a subset of the field of view of the user;
receiving a stream of data points from the eye gaze sensor, the data points including detection of the presence of eyes and coordinate information regarding a visual focus of the eyes within the field of view of the user;
determining from the stream of data points an indication of the presence of eyes, and when the presence of eyes are indicated, a current eye gaze vector and an indication of whether the current eye gaze vector intersects the attention area;
when it is determined that the current eye gaze vector intersects the attention area,
determining whether the eye gaze vector intersects one of the plurality of visual targets presented within the attention area;
when it is determined that the eye gaze vector intersects one of the plurality of visual targets, determining, based upon expiration of an activation delay timer, that the user intends to activate the intersected visual target or maintain activation of the intersected visual target;
and
causing translational or rotational movement of an actuator device associated with the intersected visual target, thereby causing positional changes or movement to the powered device, wherein the causing movement of an actuator device associated with the intersected target, further comprising:
causing execution of an actuation safety check system which is configured to determine whether a potential safety issue is detected;
and
upon receiving an indication that no potential safety issue is detected, causing movement of an actuator device associated with the intersected visual target, thereby causing positional or movement changes to the powered device;
and
when it is determined that the presence of eyes are not indicated or when it is determined that the current eye gaze vector does not intersect the attention area, causing cessation of movement of an actuator device associated with a most recently activated visual target.

10 more elements

An electrically powered device comprising:

one or more actuators configured to adjust a seat or a frame according to a plurality of axes or to cause movement of the powered device;
an eye gaze sensor associated with microcontroller implemented logic to capture eye position of an occupant in order to determine occupant intent to select one or more selectable virtual user interface controls presented on the display or projection;
and
code logic, configured when executed by a microcontroller to:
present a plurality of visual targets positioned in a designated attention area of a display or a projection, the attention area comprising a subset of the field of view of the user;
receive a stream of data points from the eye gaze sensor, the data points including detection of the presence of eyes and coordinate information regarding a visual focus of the eyes within the field of view of the user;
determine from the stream of data points an indication of the presence of eyes, and when the presence of eyes are indicated, a current eye gaze vector and an indication of whether the current eye gaze vector intersects the attention area;
when it is determined that the current eye gaze vector intersects the attention area,
determine whether the eye gaze vector intersects one of the plurality of visual targets presented within the attention area;
when it is determined that the eye gaze vector intersects one of the plurality of visual targets, determine, based upon expiration of an activation delay timer, that the user intends to activate the intersected visual target or maintain activation of the intersected visual target;
and
cause movement of an actuator device associated with the intersected visual target, thereby causing positional or movement changes to the powered device;
and
determine if the powered device is in semi-latched mode;
and
when it is determined that the that the powered device is in semi-latched mode and when it is determined that the eye gaze vector intersects the attention area,
determine if the eye gaze vector does not intersect one of the plurality of visual targets;
and
when it is determined that the eye gaze vector does not intersect one of the plurality of visual targets,
continuing to maintain activation of the previously activated visual target;
and
causing continued movement of an actuator device associated with a most recently activated visual target.

19 more elements

An electrically powered device comprising:

one or more actuators configured to adjust a seat or a frame according to a plurality of axes or to cause movement of the powered device;
an eye gaze sensor associated with microcontroller implemented logic to capture eye position of an occupant in order to determine occupant intent to select one or more selectable virtual user interface controls presented on the display or projection;
and
code logic, configured when executed by a microcontroller to:
present a plurality of visual targets positioned in a designated attention area of a display or a projection, the attention area comprising a subset of the field of view of the user;
receive a stream of data points from the eye gaze sensor, the data points including detection of the presence of eyes and coordinate information regarding a visual focus of the eyes within the field of view of the user;
determine from the stream of data points an indication of the presence of eyes, and when the presence of eyes are indicated, a current eye gaze vector and an indication of whether the current eye gaze vector intersects the attention area;
when it is determined that the current eye gaze vector intersects the attention area,
determine whether the eye gaze vector intersects one of the plurality of visual targets presented within the attention area;
when it is determined that the eye gaze vector intersects one of the plurality of visual targets, determine, based upon expiration of an activation delay timer, that the user intends to activate the intersected visual target or maintain activation of the intersected visual target;
and
cause movement of an actuator device associated with the intersected visual target, thereby causing positional or movement changes to the powered device;
and
perform an actuation safety check and receive indication that no potential safety issue is detected prior to causing movement of an actuator device associated with the intersected visual target.

11 more elements

A computer-readable memory medium containing instructions, when executed on a microcontroller in a powered device, for enabling a user to control, using eye gaze interaction, one or more actuators configured to modify a position or movement of one or more components of a powered device, the powered device having an associated eye gaze sensor, by performing a method comprising:

presenting a plurality of visual targets positioned in a designated attention area of a display or projection, the attention area comprising a subset of the field of view of the user;
receiving a stream of data points from the eye gaze sensor, the data points including detection of the presence of eyes and coordinate information regarding a visual focus of the eyes within the field of view of the user;
determining from the stream of data points an indication of the presence of eyes, and when the presence of eyes are indicated, a current eye gaze vector and an indication of whether the current eye gaze vector intersects the attention area;
when it is determined that the current eye gaze vector intersects the attention area,
determining whether the eye gaze vector intersects one of the plurality of visual targets presented within the attention area;
when it is determined that the eye gaze vector intersects one of the plurality of visual targets, determining, based upon expiration of an activation delay timer, that the user intends to activate the intersected visual target or maintain activation of the intersected visual target;
and
causing translational or rotational movement of an actuator device associated with the intersected visual target, thereby causing positional changes or movement to the powered device;
and
determining if the powered device is in semi-latched mode;
and
when it is determined that the powered device is in semi-latched mode and when it is determined that the eye gaze vector intersects the attention area,
determining if the eye gaze vector does not intersect one of the plurality of visual targets;
and
when it is determined that the eye gaze vector does not intersect one of the plurality of visual targets,
continuing to maintain activation of the previously activated visual target;
and
causing continued movement of an actuator device associated with a most recently activated visual target.

15 more elements

presenting a plurality of visual targets positioned in a designated attention area of a display or projection, the attention area comprising a subset of the field of view of the user;
receiving a stream of data points from the eye gaze sensor, the data points including detection of the presence of eyes and coordinate information regarding a visual focus of the eyes within the field of view of the user;
determining from the stream of data points an indication of the presence of eyes, and when the presence of eyes are indicated, a current eye gaze vector and an indication of whether the current eye gaze vector intersects the attention area;
when it is determined that the current eye gaze vector intersects the attention area,
determining whether the eye gaze vector intersects one of the plurality of visual targets presented within the attention area;
when it is determined that the eye gaze vector intersects one of the plurality of visual targets, determining, based upon expiration of an activation delay timer, that the user intends to activate the intersected visual target or maintain activation of the intersected visual target;
and
causing translational or rotational movement of an actuator device associated with the intersected visual target, thereby causing positional changes or movement to the powered device;
and
performing an actuation safety check and receive indication that no potential safety issue is detected prior to cause causing movement of an actuator device associated with the intersected visual target.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/978,397Filed 12 Dec 2024
Priority: 11 Apr 2023
Published: 20 Aug 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification6 codes

G06F 3/013
Arrangements for interaction with the human body, e.g. for user immersion in virtual reality: eye tracking input arrangements
G05B 19/0423
Using digital processors: input/output
G05B 2219/2608
Pc applications: hospital bed
G05B 2219/2637
Pc applications: vehicle, car, auto, wheelchair

Family

Application18/133,177Continuation · filed 11 Apr 2023
Application18/978,397Continuation
US 12,204,687 B2Related patent
US 2024/0345656 A1Published application
US 2026/0244264 A1This patent

From the US filing history. Foreign family members aren’t listed.