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Licensed Unlicensed Requires Authentication Published by De Gruyter October 11, 2019

Controlling a motorized electric wheelchair based on face tilting

Hassan M. Qassim EMAIL logo , Abdulrahman K. Eesee , Omar T. Osman and Mohammed S. Jarjees


Disability, specifically impaired upper and/or lower limbs, has a direct impact on the patients’ quality of life. Nowadays, motorized wheelchairs supported by a mobility-aided technique have been devised to improve the quality of life of these patients by increasing their independence. This study aims to present a platform to control a motorized wheelchair based on face tilting. A real-time tracking system of face tilting using a webcam and a microcontroller circuit has been designed and implemented. The designed system is dedicated to control the movement directions of the motorized wheelchair. Four commands were adequate to perform the required movements for the motorized wheelchair (forward, right, and left, as well as stopping status). The platform showed an excellent performance regarding controlling the motorized wheelchair using face tilting, and the position of the eyes was shown as the most useful face feature to track face tilting.


The authors would like to thank Mr. Mothana Aziz and Mr. Ali Alhafidhth for their cooperation and help in the implementation of this project.

  1. Ethical Approval: The conducted research is not related to either human or animal use.

  2. Author contributions: All the authors have accepted responsibility for the entire content of this submitted manuscript and approved submission.

  3. Research funding: None declared.

  4. Employment or leadership: None declared.

  5. Honorarium: None declared.

  6. Competing interests: The funding organization(s) played no role in the study design; in the collection, analysis, and interpretation of data; in the writing of the report; or in the decision to submit the report for publication.

  7. Conflict of interests: The authors declare no conflict of interest.


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Received: 2019-07-21
Accepted: 2019-09-20
Published Online: 2019-10-11

©2019 Walter de Gruyter GmbH, Berlin/Boston

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