Development of control assistant system for robotic wheelchair-estimation of user´s behavior based on measurements of gaze and environment

We develop a control assistant system for a robotic wheelchair as a guide robot. This system detects the head pose and gaze direction of the user and recognizes a position and surrounding environment using sensors and a map. Since the system can detect where the user is looking from the measurements, it can estimate attentions of the user on the wheelchair. Experimental results prove that the user´s intentions and attentions are related with the duration of gaze and can be distinguished by the information which our robotic wheelchair system can measure.