Intelligent wheelchair based on the integration of human and environment observations

We proposed an intelligent wheelchair which can be controlled by turning one´s face in the direction one would like to go. Although it can be used easily, there is a problem that unintentional movements of one´s face may interfere with wheelchair motion. This paper presents our new intelligent wheelchair improved by observing its interior and exterior, i.e., the user and the environment. It effectively integrates autonomous capabilities and the interface by face direction. It uses sensor information obtained for autonomous navigation to solve the problem of control using face direction. Also, if it can understand the user´s intentions from observing the face, it chooses an appropriate autonomous navigation function to reduce the user´s burden of operation. When the user is off the wheelchair, they becomes a part of the exterior. In this case, it detects the user by recognizing his/her face. Then it can move according to the user´s commands indicated by hand gestures