A PLATFORM FOR STUDYING HUMAN INTENTION IN ROBOTIC ASSISTIVE TECHNOLOGY: HEAD CONTROL OF A WHEELCHAIR

This project utilizes head pose tracking to gauge human intention in order to control a wheelchair. It is often impossible for people with certain disabilities to control assistive machines, such as a wheelchair, through classical methods like a joystick. This platform demonstrates an alternative method for controlling a wheelchair for people who retain mobility of the head. Through the use of a Kinect depth sensor, the project estimates the head pose of the user and drives the wheelchair in the direction the user is looking. Additionally, a user can tilt ones head forwards or backwards to indicate driving forward or in reverse. In this way, this project provides a platform for attempting to gauge the intent of the user and to use this intention in assisting their mobility