Individuals with upper limb mobility impairments often require assistive technologies to perform activities of daily living. One relevant technique is the use of robotic arms to help such patients. However, constraints originating from these conditions significantly reduce a person’s motor capacity, leaving only a few features that can be used as input in a robotic system, such as voice or gaze. While gaze-tracking has emerged as a promising method for robotic assistance, existing solutions lack sufficient mobility within the workspace and redundancy in marker tracking, resulting in reduced adaptability and uncertainty in recognizing user intent. This paper presents a Mixed-Reality Interface for Human-Robot Interaction via Gaze-Oriented Control (MIHRAGe), an integrated system that combines gaze-tracking, robotic assistance, and a mixed-reality environment to create an immersive environment for controlling the robot using only eye movements. The system was evaluated through an experimental protocol involving four participants, assessing gaze accuracy, robotic positioning precision, and the overall success of a pick-and-place task. Results showed an average gaze fixation error of 1.46 cm, with individual variations ranging from 1.28 cm to 2.14 cm. The robotic arm demonstrated an average positioning error of less than 1.53 cm, with discrepancies attributed to interface resolution and calibration constraints. In a pick-and-place task, the system achieved a success rate of 80%, highlighting its potential for improving accessibility in human-robot interaction with visual feedback to the user.
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