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JRM Vol.23 No.1 pp. 66-74
doi: 10.20965/jrm.2011.p0066
(2011)

Paper:

A Prototype of ElectricWheelchair Controlled by Eye-Only for Paralyzed User

Kohei Arai* and Ronny Mardiyanto*,**

*Saga University, 1 Honjo, Saga 840-8502, Japan

**Institut Teknologi Sepuluh Nopember, Keputih, Sukolilo, Surabaya, Indonesia

Received:
March 22, 2010
Accepted:
June 25, 2010
Published:
February 20, 2011
Keywords:
wheelchair, eye gaze, paralysis, computer input by eye-only, hand-free controller
Abstract

The numbers of persons who are paralyzed dependent on others due to loss of self-mobility is growing as the population ages. We have developed a wheelchair prototype exclusively controlled by eye and able to be used different users while proving robust against vibration, illumination change, and user movement. The keys to this flexibility are the camera mounted on the user’s glasses and the use of pupil detection. Image processing analyzes the user’s gaze for wheelchair control. Result of pupil detection method compared to others showed that our method is superior. Also, result of camera placement compared to other systems regarding vibration influence showed that our camera placement reduces vibration almost completely. Moreover, influence of illumination change has been evaluated. Experiments involving five different users in the wheelchair along a 9.73-meter track recorded an average travel time of 85.8 second. Demonstrating the feasibility and reliability of our proposal providing computer input for paralyzed user is to use in controlling wheelchair.

Cite this article as:
Kohei Arai and Ronny Mardiyanto, “A Prototype of ElectricWheelchair Controlled by Eye-Only for Paralyzed User,” J. Robot. Mechatron., Vol.23, No.1, pp. 66-74, 2011.
Data files:
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