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 gesture 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 hand angle changes detection. Gesture control sensor analyzes the user’s hand position for wheelchair control. Result of gesture detection method compared to others showed that our method is superior. Moreover, influence of illumination change has been evaluated.