{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T15:07:59Z","timestamp":1777734479163,"version":"3.51.4"},"reference-count":20,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2007,1,16]],"date-time":"2007-01-16T00:00:00Z","timestamp":1168905600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2007,1,16]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>This paper presents a novel hands\u2010free control system for intelligent wheelchairs (IWs) based on visual recognition of head gestures.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A robust head gesture\u2010based interface (HGI), is designed for head gesture recognition of the RoboChair user. The recognised gestures are used to generate motion control commands to the low\u2010level DSP motion controller so that it can control the motion of the RoboChair according to the user's intention. Adaboost face detection algorithm and Camshift object tracking algorithm are combined in our system to achieve accurate face detection, tracking and gesture recognition in real time. It is intended to be used as a human\u2010friendly interface for elderly and disabled people to operate our intelligent wheelchair using their head gestures rather than their hands.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>This is an extremely useful system for the users who have restricted limb movements caused by some diseases such as Parkinson's disease and quadriplegics.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Practical implications<\/jats:title><jats:p>In this paper, a novel integrated approach to real\u2010time face detection, tracking and gesture recognition is proposed, namely HGI.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>It is an useful human\u2010robot interface for IWs.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910710718469","type":"journal-article","created":{"date-parts":[[2007,1,15]],"date-time":"2007-01-15T08:38:03Z","timestamp":1168850283000},"page":"60-68","source":"Crossref","is-referenced-by-count":152,"title":["Head gesture recognition for hands\u2010free control of an intelligent wheelchair"],"prefix":"10.1108","volume":"34","author":[{"given":"Pei","family":"Jia","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Huosheng H.","family":"Hu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Lu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kui","family":"Yuan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022031719555902400_b1","unstructured":"Bradski, G. (1998), \u201cReal\u2010time face and object tracking as a component of a perceptual user interface\u201d, Proceedings of the 4th IEEE Workshop on Applications of Computer Vision, Princeton, NJ, USA, October, pp. 214\u20109."},{"key":"key2022031719555902400_b2","doi-asserted-by":"crossref","unstructured":"Ding, D. and Cooper, R.A. (1995), \u201cElectric powered wheelchairs\u201d, IEEE Control Systems Magazine, Vol. 25 No. 2, pp. 22\u201034.","DOI":"10.1109\/MCS.2005.1411382"},{"key":"key2022031719555902400_b3","unstructured":"Galindo, C., Gonzalez, J. and Fernandez\u2010Madrigal, J.A. (2005), \u201cAn architecture for cognitive human\u2010robot integration. Application to rehabilitation robotics\u201d, Proceedings of IEEE International Conference on Mechatronics and Automation, Niagara Falls, Canada, pp. 329\u201034."},{"key":"key2022031719555902400_b4","doi-asserted-by":"crossref","unstructured":"Gomi, T. and Griffith, A. (1998), \u201cDeveloping intelligent wheelchairs for the handicapped\u201d, Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing, Lecture Notes In Computer Science, Vol. 1458, Springer\u2010Verlag, Berlin, pp. 150\u201078.","DOI":"10.1007\/BFb0055977"},{"key":"key2022031719555902400_b6","unstructured":"Jia, P. and Hu, H. (2005), \u201cHead gesture based control of an intelligent wheelchair\u201d, Proceedings of the 11th Annual Conference of the Chinese Automation and Computing Society in the UK (CACSUK05), Sheffield, UK, September 10, pp. 85\u201090."},{"key":"key2022031719555902400_b7","doi-asserted-by":"crossref","unstructured":"Kuno, Y., Murakami, Y. and Shimada, N. (2001), \u201cUser and social interfaces by observing human faces for intelligent wheelchairs\u201d, ACM Int. Conf. Proceeding Series archive, Proc. of the 2001 workshop on Perceptive user interfaces, Orlando, Florida, USA, pp. 1\u20104.","DOI":"10.1145\/971478.971514"},{"key":"key2022031719555902400_b8","doi-asserted-by":"crossref","unstructured":"Levine, S.P., Bell, D.A., Jaros, L.A., Simpson, R.C., Koren, Y. and Borenstein, J. (1999), \u201cThe NavChair assistive wheelchair navigation system\u201d, IEEE Transcations on Rehabilitation Engineering, Vol. 7 No. 4, pp. 443\u201051.","DOI":"10.1109\/86.808948"},{"key":"key2022031719555902400_b10","doi-asserted-by":"crossref","unstructured":"Matsumoto, Y. and Zelinsky, A. (1999), \u201cReal\u2010time face tracking system for human\u2010robot interaction\u201d, Proceedings of the 1999 IEEE International Conference on Systems, Man and Cybernetics (SMC99),Vol. 2, pp. 830\u20105.","DOI":"10.1109\/ICSMC.1999.825369"},{"key":"key2022031719555902400_b9","doi-asserted-by":"crossref","unstructured":"Matsumoto, Y., Ino, T. and Ogasawara, T. (2001), \u201cDevelopment of intelligent wheelchair system with face and gaze based interface\u201d, Proceedings of the 10th IEEE International Workshop on Robot and Human Communication (ROMAN 2001), pp. 262\u20107.","DOI":"10.1109\/ROMAN.2001.981912"},{"key":"key2022031719555902400_b11","unstructured":"Mazo, M., Garcia, J.C., Rodriguez, F.J., Urena, J., Lazaro, J.L. and Espinosa, F. (2002), \u201cExperiences in assisted mobility: the SIAMO project\u201d, Proceedings of IEEE International Conference on Control Applications, Vol. 2, September 18\u201020, pp. 766\u201071."},{"key":"key2022031719555902400_b12","unstructured":"Moon, I., Lee, M., Chu, J. and Mun, M. (2005), \u201cWearable EMG\u2010based HCI for electric\u2010powered Wheelchair users with motor disabilities\u201d, Proceedings of IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 2660\u20105."},{"key":"key2022031719555902400_b13","doi-asserted-by":"crossref","unstructured":"Nakanishi, S., Kuno, Y., Shimada, N. and Shirai, Y. (1999), \u201cRobotic Wheelchair based on observations of both user and environment\u201d, Proceedings of IEEE\/RSJ Conference on Intelligent Robots and Systems (IROS 1999), Kyongju, Korea, pp. 912\u20107.","DOI":"10.1109\/IROS.1999.812796"},{"key":"key2022031719555902400_b14","doi-asserted-by":"crossref","unstructured":"Prassler, E., Scholz, J., Strobel, M. and Fiorini, P. (1998), \u201cMAid: a robotic wheelchair operating in public environments\u201d, Lecture Notes In Computer Science,Vol. 1724, Springer\u2010Verlag, Berlin, pp. 68\u201095.","DOI":"10.1007\/10705474_5"},{"key":"key2022031719555902400_b15","doi-asserted-by":"crossref","unstructured":"Rao, R.S., Conn, K., Jung, S.H., Katupitiya, J., Kientz, T., Kumar, V., Ostrowski, J., Patel, S. and Taylor, C.J. (2002), \u201cHuman robot interaction: application to smart Wheelchairs\u201d, Proceedings of IEEE International Conference on Robotics and Automation (ICRA 2002), Washington, DC, USA, May, pp. 3583\u20108.","DOI":"10.1109\/ROBOT.2002.1014265"},{"key":"key2022031719555902400_b16","unstructured":"R\u00f6fer, T. and Lankenau, A. (1998), \u201cArchitecture and applications of the Bremen autonomous Wheelchair\u201d, in Wang, P.P. (Ed.), Proceedings of the 4th Joint Conference on Information Systems,Vol. 1, Association for Intelligent Machinery, pp. 365\u20108."},{"key":"key2022031719555902400_b17","doi-asserted-by":"crossref","unstructured":"Simpson, R., LoPresti, E., Hayashi, S., Nourbakhsh, I. and Miller, D. (2004), \u201cThe smart Wheelchair component system\u201d, Journal of Rehabilitation Research and Development (JRRD), Vol. 41 No. 3B, pp. 429\u201042.","DOI":"10.1682\/JRRD.2003.03.0032"},{"key":"key2022031719555902400_b18","doi-asserted-by":"crossref","unstructured":"Viola, P. and Jones, M.J. (2004), \u201cRobust real\u2010time face detection\u201d, International Journal of Computer Vision, Vol. 57 No. 2, pp. 137\u201054.","DOI":"10.1023\/B:VISI.0000013087.49260.fb"},{"key":"key2022031719555902400_b19","unstructured":"Wei, Y. (2004), \u201cVision\u2010based human\u2010robot interaction and navigation of intelligent service robots\u201d, PhD dissertation, Institute of Automation, Chinese Academic of Sciences, Beijing."},{"key":"key2022031719555902400_frd1","unstructured":"Texas Instruments (2003), \u201cTMS320LF2407, TMS320LC2406, TMS320LF2402 DSP CONTROLLERS\u201d, SPRS0941\u2010APRIL 1999\u2010REVISED September, Texas Instruments, Dallas, TX."},{"key":"key2022031719555902400_frd2","doi-asserted-by":"crossref","unstructured":"Yang, M.H., Kriegman, D.J. and Ahuja, N. (2002), \u201cDetecting faces in images: a survey\u201d, IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 24 No. 1, pp. 34\u201058.","DOI":"10.1109\/34.982883"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910710718469","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910710718469\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910710718469\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:08Z","timestamp":1753401008000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/34\/1\/60-68\/179337"}},"subtitle":[],"editor":[{"given":"J.O.","family":"Gray","sequence":"first","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2007,1,16]]},"references-count":20,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2007,1,16]]}},"alternative-id":["10.1108\/01439910710718469"],"URL":"https:\/\/doi.org\/10.1108\/01439910710718469","relation":{},"ISSN":["0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2007,1,16]]}}}