University of Twente Student Theses


Development of an Eye-controllable Self-Driving Wheelchair

Jong, Sjoerd de (2023) Development of an Eye-controllable Self-Driving Wheelchair.

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Abstract:This graduation thesis involves the design and implementation of an eye-controlled, self-driving wheelchair for people who are unable to control conventional, often joystick operated, wheelchairs. The wheelchair is developed in co-creation with a fully immobile person and his father. Literature reviews show existing research on eye-controlled wheelchairs, but current implementations require tedious user inputs. There are many examples of indoor mobile navigation systems, however, their applicability to wheelchairs is limited. Therefore a need for a self-driving wheelchair with minimal required eye input, including adhering to strict safety requirements, was established. Suitable hardware was chosen and implemented, as well as software in ROS for controlling the wheelchair. Furthermore, different eye-tracking based GUIs were designed and tested to determine the best way to use eye tracking for wheelchair control. All elements were combined into a final prototype, of which its validity was proved with user tests. While the user was able to use the prototype to move himself around, full self-driving capabilities were not achieved, and thus more research is needed to improve the self-driving abilities of the wheelchair.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general
Programme:Interaction Technology MSc (60030)
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