Motion control of a powered wheelchair using eye gaze in unknown environments

Airi Ishizuka, Ayanori Yorozu, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


This paper describes the motion control system for a powered wheelchair using eye gaze in an unknown environment. Recently, new Human-Computer Interfaces (HCIs) that have replaced joysticks have been developed for a person with a disability of the upper body. In this paper, movement of the eyes is used as an HCI. The wheelchair control system proposed in this study aims to achieve an operation such that a passenger gazes towards the direction he or she wants to move in the unknown environment. This paper presents a system based on gaze detection and environment recognition that are integrated by the fuzzy set theory in real time. This motion control system can support safe and smooth movement of the wheelchair by automatically calculating its direction of motion and velocity, to avoid obstacles and move in the gaze direction of the passenger. The effectiveness of the proposed system is demonstrated through experiments in a real environment.

Original languageEnglish
Title of host publication2017 Asian Control Conference, ASCC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509015733
Publication statusPublished - 2018 Feb 7
Event2017 11th Asian Control Conference, ASCC 2017 - Gold Coast, Australia
Duration: 2017 Dec 172017 Dec 20


Other2017 11th Asian Control Conference, ASCC 2017
CityGold Coast

ASJC Scopus subject areas

  • Control and Optimization

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