Face tracking control system for wheelchair with depth image sensor

In usual an electric-powered wheelchair is controlled by the joystick. However, joystick control cannot be applied when the user performs certain tasks such as cooking that require holding an object with both hands. We have developed a wheelchair control system that uses the direction of the user\´s face as the direction-control input for the wheelchair. The system is composed of an electric-powered wheelchair, a depth image sensor, and a PC. We use a depth image sensor to recognize the direction of the user\´s face rapidly. The proposed system offers "hands freedom" and helps users perform various daily activities. We performed several experiments to verify the control approach and demonstrated its efficiency.