Collaborative robotics is an increasingly relevant field in industrial automation, that aims to improve close interaction between human operators and robots. The main goal of this thesis is to explore human-robot interaction through gaze tracking, by using a UR5 robot from Universal Robots with 6 degrees of freedom and the free toolkit known as OpenFace 2.0. The project was inspired by the previous handover work implemented by the DIMEAS group at the Polytechnic University of Turin with the UR3 but with a different approach, focusing on visual tracking rather than physical handover. The OpenFace 2.0 toolkit played a key role in this work, due to its remarkable ability to extract facial parameters and gaze-related data.