Gaze Behavior and Mental Workload While Using a Whole-Body Powered Exoskeleton: A Pilot Study

Abstract

The mental demands associated with operating complex whole-body powered exoskeletons are poorly understood. This study aimed to explore the overall workload associated with using a powered wholebody exoskeleton among expert and novice users, as well as the changes in workload resulting from novices adapting to exoskeleton-use over time. We used eye-tracking measures to quantify the differences in workload of six novices and five experts while they performed a levelwalking task, with and without wearing a whole-body powered exoskeleton. We found that only novices’ pupil dilation (PD) increased, while experts showed a greater proportion of downward-directed pathfixations (PF) compared to novices while wearing the exoskeleton. These results indicate that novices’ mental demands were higher, and that experts and novices exhibited distinct visuomotor strategies. Eyetracking measures may potentially be used to detect differences in workload and skill-level associated with using exoskeletons, and also considered as inputs for future adaptive exoskeleton control algorithms.