Hand Gesture Controlled Wheelchair

ICCT COLLEGES FOUNDATION, INC.
V. V. Soliven Avenue II, Cainta Rizal
COLLEGE OF ENGINEERING
DESIGN PROJECT
COE 008
HAND GESTURE CONTROLLED WHEELCHAIR
A Project Design proposal presented to the faculty of Engineering Department

In Partial Fulfillment for the requirements in COE 008 (Project Design)
PRESENTED BY:
Gonzales, Christan Mark
Bernardo, Edgardo Jr.
Talledo, Mark Ale
Raymundo, Alvin
SUBJECT INSTRUCTOR:
Prof. Buenafe Camaso
Adviser
November 8, 2015

PREFACE
Incidents happen everywhere, even though we make sure that safety is our main priority,
we dont really know if itll occur or not. Some incidents cause major changes in ones life, he or
she could be physically capable of doing normal things before a road accident happens but will
then be unable to do normal things afterwards such as walking normally. Due to this, it will be hard
for his or her to move from one location to another. Some might buy their personal mobility device
such as a wheelchair which will help them lessen the complexity of moving, but in some cases,
there were some disabled individuals who are not able to attain full functionality of their hands due
to another incident. In such case, the disabled individual will have a hard time using such
wheelchair, either the manually hand driven traditional wheelchair or the conventional joystick
controlled wheelchair. It is due to this case that we have come up with this dissertation which
includes the development wheelchair device which enables a user that could not harness full
functionality of his or her hand to gain full access of the controls of the personal mobility device.

DEDICATION
We dedicate this dissertation to the physically disabled individuals whove served as the
inspiration for us researchers to come up with this project. We would also like to dedicate this
dissertation to the future researchers or students who may want to improve or use this research as
a reference for their own.
We also dedicate this dissertation to the wonderful people who have been the constant
source of knowledge and idea. To our instructor Ms. Buenafe Camaso who have been very
supportive to us during the creation of this dissertation by giving us ideas and encouraging us
when we have uncertain thoughts.
Most importantly, we would like to dedicate this dissertation to our Lord and Savior, Jesus
Christ. If not for his presence and guidance, we would not have been able to finish this research.

ABSTRACT
The researchers created a prototype project that enables a person with disability to use a
wheelchair with ease. The said wheelchair enables the user to control the movements of the
prototype just by using a specific body parts (in this research studys case it would be the hand)
movement wherein an accelerometer sensor is mounted. The accelerometer sensor is connected
on an Arduino Uno Microcontroller Board, an open source computing platform based on simple
input/output board and uses standard programming language, to process the signals sent by the
accelerometer in order to manipulate the wheelchairs movement. The wheelchairs movement is
determined via accelerometer sensor which measures the amount of static acceleration due to
gravity every time it is moved, by doing this the tilt movement could be measured with respect to
the earth. The data derived from the accelerometer sensor will be passed on to the Arduino Uno
Microcontroller Board for data evaluation and processing. Afterwards, the Arduino Uno
Microcontroller Board will send a command on to the Motor Driver Circuit which will manipulate the
motors movements based on the signal sent by the microcontroller. The Arduino Uno
Microcontroller will also send a signal to the LCD Module in order for it to display the movement
status of the wheelchair. The battery included in this wheelchair could supply power from 6 12
hours depending on the users discretion of the devices usage. The hand gesture wheelchair has a
maximum weight limit carry of 70 kgs. It is not recommended to be used for individuals with severe
hand shakiness and/or mental disorder. The proposed wheelchair system is not recommended to
be used for long distance travels and/or on rocky paths and inclined surfaces.

ACKNOWLEDGEMENT
This project would never become successful without the aid and guidance of the Lord, he
who never fails to do amazing things to the group. To God be all the glory!
The researches also wanted to express their sincerest gratitude to the following people
who accompanied them and nevertheless showed an unending support throughout the completion
of this project:
To their parents and other family members, for giving us full support on both moral and
financial aspect. The people who continuously encourage us to achieve greater heights.
Prof. Buenafe Camaso, for her full support, effort, and guidance as this dissertations
adviser.
To their classmates and friends, for the encouragement especially when times get rough
and almost seem unbearable.
To all those who have helped directly and indirectly whose names were not mentioned, the
researchers wish to extent their full gratitude and appreciation.

Table of Contents
CHAPTER I PROBLEM AND ITS BACKGROUND ......................................................................... 1
1.1 Background of the Study ........................................................................................................ 1
1.2 Statement of the Problems ..................................................................................................... 3
1.2.1 General Problem ............................................................................................................. 3
1.2.2 Specific Problems ........................................................................................................... 3
1.3 Objectives of the Study .......................................................................................................... 4
1.3.1 General Objective ........................................................................................................... 4
1.3.2 Specific Objectives.......................................................................................................... 4
1.4 Significance of the Study ........................................................................................................ 5
1.5 Scopes and Limitations .......................................................................................................... 6
1.5.1 Scopes ............................................................................................................................ 6
1.5.2 Limitations ....................................................................................................................... 6
CHAPTER II REVIEW OF RELATED LITERATURE AND STUDIES.............................................. 8
2.1 Foreign Literature ................................................................................................................... 8
2.2 Local Literature..................................................................................................................... 21
2.3 Foreign Studies .................................................................................................................... 26
2.4 Local Studies ........................................................................................................................ 31
2.5 Synthesis of the Study.......................................................................................................... 33
2.6 Definition of Terms ............................................................................................................... 35
CHAPTER III CONCEPTUAL AND THEORETICAL FRAMEWORK ........................................... 37
3.1 Conceptual Framework ........................................................................................................ 37
3.2 Theoretical Framework......................................................................................................... 40
3.3 Project Work Breakdown Structure ...................................................................................... 42
3.4 Organizational Flow Chart .................................................................................................... 44
CHAPTER IV RESEARCH METHODOLOGY ............................................................................... 45
4.1 Method of Research ............................................................................................................. 45
4.2 Sources of Data.................................................................................................................... 46
4.3 Data Gathering Instrument ................................................................................................... 47
4.4 Data Collection Procedure ................................................................................................... 48
4.5 Statistical Treatment of Data ................................................................................................ 49
4.6 Ethical Considerations.......................................................................................................... 50
CHAPTER V PRESENTATION, ANALYSIS AND INTERPRETATION OF DATA ........................ 51

5.1 Components of the System .................................................................................................. 51
5.1.1 Hardware Components ................................................................................................. 51
5.1.2 Software Components .................................................................................................. 61
5.2 Circuit Diagram..................................................................................................................... 62
5.3 Data Flow Chart ................................................................................................................... 64
5.4 Design Concept .................................................................................................................... 67
5.5 Specification Table ............................................................................................................... 69
5.6 Experimentation (Testing) .................................................................................................... 70
5.6.1 Procedures of the Design and Fabrication of the System ............................................. 70
5.6.2 Individual Components Testing .................................................................................... 72
5.6.3 Integrated System Testing ............................................................................................ 76
5.7 Survey Results ..................................................................................................................... 79
CHAPTER VI SUMMARY, CONCLUSION AND RECOMMENDATION ........................................ 84
6.1 Summary .............................................................................................................................. 84
6.2 Conclusion ........................................................................................................................... 85
6.3 Recommendation ................................................................................................................. 86
BIBLIOGRAPHY ............................................................................................................................ 87
APPENDIX A QUESTIONNAIRE ................................................................................................... 89
APPENDIX B USERS MANUAL ................................................................................................... 91
APPENDIX C SOURCE CODES .................................................................................................. 100
APPENDIX D DESIGN PROJECT COSTS ESTIMATION ........................................................... 103
APPENDIX E DESIGN PROJECT PROGRESS REPORT ......................................................... 104
APPENDIX F ORGANIZATIONAL FLOW CHART ...................................................................... 107
APPENDIX G CURRICULUM VITAE ........................................................................................... 108
APPENDIX H DESIGN PROJECT PICTURES ............................................................................ 120

CHAPTER I
PROBLEM AND ITS BACKGROUND
This chapter will discuss the studys background, the statement of the different problems, the
different objectives of the project, the scope and limitation of the project, and the significance of the
study.
1.1 Background of the Study

A wheelchair is a device or apparatus, basically a chair that has several wheels attached
to it. Wheelchairs are used primarily by physically challenged individuals who could not walk or
stand. Most of the time, there are handles located at the back of a wheel chair that could be used
by another person to help the user of the wheelchair for maneuvering and navigation. Although
there were still traditional manually operated variants of such device, the advancement of
technology had also been attached to mobility devices. The newer variants of these devices use
batteries and motors for the pushing capability. Such variants are known as electric powered
wheelchairs.
In recent times, there have been a wide range of assistive and guidance systems available
in wheelchair devices to make the users life less complicated. In recent times, there have been
various control systems development that is specialized for people with various disorders and
disabilities. The developed systems are highly competitive in replacing the old traditional systems.
There are many assistive systems using visual aids like smart wheelchair systems, using joystick
and much more. There are even systems based on voice recognition. These applications are quite
popular among people with limited upper body functions. Although there were quite few various

means of controls available for the current systems of automated wheelchairs, there are certain
drawbacks in these systems as it cannot be used by people of higher disability because they
require fine and accurate control which is sometimes not possible.
The proponents of this prototype project wishes to help these disabled individuals by
providing a new means or way of controlling a wheeled chair or seat. The overall aim of this project
prototype is to restore the autonomy of the physically challenged individuals, enabling them to
independently use an electric powered or motorized wheelchair. Thus, this prototype project is
conceptualized by the researchers to let the target users to control the wheelchair by just the use of
his or her hand movements, thus calling this prototype project the hand gesture controlled
wheelchair.

1.2 Statement of the Problems
The researchers developed this design project in order to help the disabled individuals with
their personal mobility. The researchers started this study due to the fact that the current system
was not that sufficient to supply the needs of many. Thus, this study will provide a better or
improved idea for the current system. This study will provide a solution for the complications found
on the current implemented system that is available throughout the market. The complications or
problems will be elaborated below.
1.2.1 General Problem
The lack of self-reliance of a physically challenged individual when it comes to his
or her personal mobility.
1.2.2 Specific Problems
Propelling a manual wheelchair might cause fatigue and pain on the users upper
body parts (i.e. wrists, shoulders, elbow, and hands).
For physically challenged individuals with weak grip, the conventional electronic
wheelchair becomes unreliable because most of the time, the accumulated force
on the fingers of these individuals are not sufficient.
In some rare cases, it will be difficult for a possible wheelchair user with no
available finger (this may be due to an accident) to manipulate the joystick module
connected into conventional wheelchairs, thus increasing the difficulty of moving
the wheelchair for the users mobility.

1.3 Objectives of the Study
The researchers developed this design project idea for the betterment of the current
implemented system throughout the market. It could be said that this study will contain the aid or
solution for such problems present in the current system. As like any other study, this study also
has its own objectives. The objectives of this study will be the known aid or solution for the
elaborated problems or complications found on the current system. The objectives of this study are
the following:
1.3.1 General Objective
To develop a wheelchair that will increase the self-reliance of a physically challenged
individual when it comes to his or her personal mobility, thus designing a wheelchair
that is somehow automated.
1.3.2 Specific Objectives
To develop a mobility device that is easy to use and will decrease the possible fatigue
and pain that the user might experience when using a manually propelled wheelchair.
To provide a controller module which will enable a user with weak grip to control or
manipulate the movement of the developed mobility device by moving the controller to
a certain direction.
To enable a potential user with no finger tips to control the developed mobility device.

1.4 Significance of the Study
The project prototype hand gesture controlled wheelchair aims to develop an innovation on
electronic wheelchair technology. The hand gesture will be used as the primary direction controller
of the project prototype. The proponents have come up with this project in order to help the
persons with disability to be slightly independent when it comes to controlling their personal
traveling or strolling companion, the wheelchair. The findings of this study will benefit the following:
The friends and family of the person with disability:

The patient will become slightly independent or self-reliant, it only means that the
time his loved ones need to watch the patient will be lessened, thus if this
happens, theyll be having more time to accomplish the task that is needed to be
done.
The person with disability himself:

This is a project intended to help them become self-reliant, it only means that they
will be the greatest beneficiaries of this project, thus, this project will give them the
autonomy to feel or feel once more that they are somewhat independent, that they
are free in a way.
The fellow researchers or students:

This project is a final year project, it only means that they could read this study as
part of their reference. Thus, if theyre interested to somewhat add an extra
feature, they could be able to more easily innovate this project since they have a
reference.

1.5 Scopes and Limitations
1.5.1 Scopes
The research covers up the creation of an automated wheelchair system that will
benefit the disabled individuals.
The controller uses the movements of a certain body part wherein the sensor is
located for control or movement, for example the hand.
A specific movement of a hand could initiate one of five different states of
movement, namely forward, reverse, left turn, right turn, and stop.
In order to ensure the safety of the user, the researchers have chosen a low speed
but high torque motor, it means that the movement speed will be slow, but still,
due to these motors, the wheelchair could carry an individual with bigger or
heavier weight.
For users who wanted to lay down, the hand gesture controlled wheelchair also
has a reclining back support.
1.5.2 Limitations
The design project prototype hand gesture controlled wheelchair could not be
used as a means of transportation for long distances such as going from one town
to another, but it could be used for personal, outdoor and short distance
transportations.
The hand gesture controlled wheelchair is not advisable to be used by fully
paralyzed individuals that could not move any part of his or her body, but it could

be used by individuals who are physically incapable of standing up or walking as
long as they can move one of their hands.
Unlike other conventional electric wheelchairs, the hand gesture controlled
wheelchairs speed could not be adjusted because the researchers prefer a low
speed operation than an adjustable speed control operation to ensure the users
safety.
The hand gesture controlled wheelchair is not recommended to be used by
individuals with severe hand shakiness as it could trigger the sensor to calculate
unwanted movement.
The hand gesture controlled wheelchair is not recommended to be used by
persons with mental illnesses as it is too dangerous to be used by persons that are
not mentally capable or fit.
The proposed wheelchair system is not advisable to be used on inclined surfaces
or paths and rocky terrains as the wheelchair might not be able to move properly.
The proposed wheelchair system is not advisable to be used by people exceeding
the weight limit of 70 kgs. because the wheelchairs motor system might not be
able to carry such load properly, thus possibly making the wheelchair impossible
to move. The recommended weight limit was 50 - 60 kgs. only as the wheelchair
could still move smoothly at such load.

CHAPTER II
REVIEW OF RELATED LITERATURE AND STUDIES
This chapter will discuss the review of the related literature, coming from both foreign and
local sources, and related studies, coming from both foreign and local sources, and the definition of
different unusual terms.
2.1 Foreign Literature

Assistive Devices
Assistive devices are devices that helps an individual to do something that might not
otherwise be able to do well or at all. Due to the difficulties that physically disabled individuals
experience on their everyday lives, which makes them limited and otherwise incapable of
experiencing things that they somehow wanted to do, these devices were created. According to
Hearing Loss Association of North Carolina, generally the term assistive device is used
for devices that help people overcome a handicap such as a mobility, vision, mental, dexterity or
hearing loss.
According to the National Child Health and Human Development website, these are some
examples of assistive technologies:
People with physical disabilities that affect movement can use mobility aids, such as
wheelchairs, scooters, walkers, canes, crutches, prosthetic devices, and orthotic devices,
to enhance their mobility.
Hearing aids can improve hearing ability in persons with hearing problems.

Cognitive assistance, including computer or electrical assistive devices, can help people
function following brain injury.
Computer software and hardware, such as voice recognition programs, screen readers,
and screen enlargement applications, help people with mobility and sensory impairments
use computer technology.
In the classroom and elsewhere, assistive devices, such as automatic page-turners, book
holders, and adapted pencil grips, allow learners with disabilities to participate in
educational activities.
Closed captioning allows people with hearing impairments to enjoy movies and television
programs.
Barriers in community buildings, businesses, and workplaces can be removed or modified

to improve accessibility. Such modifications include ramps, automatic door openers, grab
bars, and wider doorways.
Lightweight, high-performance wheelchairs have been designed for organized sports, such
as basketball, tennis, and racing.
Adaptive switches make it possible for a child with limited motor skills to play with toys and
games.
Many types of devices help people with disabilities perform such tasks as cooking,
dressing, and grooming. Kitchen implements are available with large, cushioned grips to
help people with weakness or arthritis in their hands. Medication dispensers with alarms

can help people remember to take their medicine on time. People who use wheelchairs for
mobility can use extendable reaching devices to reach items on shelves.
According to the World Health Organization, assistive devices and technologies such as
wheelchairs, prostheses, mobility aides, hearing aids, visual aids, and specialized computer
software and hardware increase mobility, hearing, vision and communication capacities. With the
aid of these technologies, people with a loss in functioning are better able to live independently and
participate in their societies. However, in many low-income and middle-income countries, only 5%15% of people who require assistive devices and technologies have access to them. The
Convention on the Rights of Persons with Disabilities (CRPD) requests the states to promote
access to assistive devices and technologies at an affordable cost and facilitate training for people
with disabilities and professionals and staff working in habilitation and rehabilitation services. WHO,
in partnership with collaborating centers and partners, is assisting these efforts by:
developing normative guidelines;
organizing regional and country workshops, meetings and seminars to promote and
facilitate access to assistive devices especially in low-earning countries;
providing assistance for the development of national policies and programs on assistive
devices and technologies with a focus on human resource development;
creating a database on availability of appropriate assistive devices and technologies.
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Brief History of Personal Mobility Assistive Devices
People have been using personal mobility devices for many hundreds of years. Their
history and benefit to society is well recorded and known. Wheelchairs and mobility scooters, two
popular types of mobility devices, have been greatly improved upon over the years, but there are
many other devices as well that have been used for thousands of years. The first known image of a
wheelchair was carved into a stone in the 6th century and King Philip II, who was the King of Spain
during the 16th century, used a very elaborate wheelchair that had both armrests and leg rests. In
the 18th century the first wheelchair similar in design to those available today was developed. It
had large front wheels and a single wheel in back. By the 19th and 20th century wheelchairs were
constructed of wood and wicker design. A US patent was issued for this design in 1894 and they
were used by veterans of the Civil War and the First World War.
The first folding wheelchair was designed in 1932, by two engineers, one of whom was
injured in a mining accident. In 1950 the first powered wheelchair was designed. It was designed
by an inventor named George Klein and was intended to help veterans of World War II. Unlike the
first war, many of the individuals who suffered spinal cord injuries had survived World War II, which
created an influx of disabled veterans. During this time there were some advances in manual
wheelchair technology, but many quadriplegic individuals were still unable to use manual
wheelchairs without assistance. Klein, backed by the Canadian government and many other
scientists, spearheaded the development of a motorized wheelchair. Many soldiers and veterans
played a part in the devices creation and its design was billed as one of the first times that
rehabilitation engineering had occurred.
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After the invention of the motorized wheelchair, many more advancements were made.
Manual wheelchairs became much lighter and maneuverable. Many athletes who were mobility
challenged pushed for more athletic models and there were many advances in the technology that
was behind the motorized wheelchair.
Mobility scooters were first introduced in the late 1960's and by the early 1970's they had
become a very popular alternative to the powered wheelchair. Mobility scooters are more intended
for people who are able to walk for short distance, but find it painful to do so over extended periods
of time. A mobility scooter can not be pulled up to a table or desk as easily as a wheelchair.
Modern mobility devices are very advanced, are electric powered, and feature
rechargeable batteries. The specific range of these devices can vary, but some are able to travel
over 40 miles per charge. There have also been many advances in non-motorized devices. The
walker is a non-motorized mobility device that has been used in some shape or form as long as the
wheelchair. Modern walkers often feature front wheels and are called rolling walkers or rollators.
These types of devices are great because you can push the walker instead of having to lift it. They
feature hand brakes and also double as a chair.
As is usually the case, humans have greatly improved upon the designs of early mobility
devices. The models and types available today are some of the most reliable and dependable
available and will provide many years of dependable service.
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Assistive Devices for a Neuromuscular Disordered Individual
There are many aids and devices that can help people with neuromuscular disorders such
as muscular dystrophy, spina bifida and many more. These devices tend to make them feel more
comfortable and independent. As most neuromuscular disorders are progressive, it is more likely
that an individuals need for assistive devices will change over time. Here are some of the most
common assistive devices that is used by people who were suffering from such disorder:
POWER SCOOTERS
Figure 2.1 Power Scooter

Power scooters are an option to maximize functional independence. They require
strong upper body strength, are relatively lightweight, and can be disassembled and
transferred in a vehicle.
Power scooters may include the following features:
Seat over three, four, or five wheels
Foot plates
Handlebars to turn one, two, or three wheels
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Steering column with forward/reverse directions and speed controls
There are two main types of power scootersfront-wheel drive (FD) and rearwheel drive (RD). FD power scooters are usually smaller than RD with a weight capacity of
250 pounds, and are appropriate for indoor use. RD power scooters have a weight
capacity of 350 pounds, and are appropriate for both indoor and outdoor use. Some RD
power scooters have a weight capacity of 500 pounds depending on the manufacturer.
WALKERS AND CANES
Figure 2.2 Walkers and Canes

Using a walker or cane can help to reduce fatigue and increase ones mobility.
Canes are useful when one leg is stronger than the other. Walkers provide greater overall
stability and support. An Occupational Therapist or Physical Therapist could help a patient
determine the right device to meet his or her needs.
WHEELCHAIRS
Many people with neuromuscular disorders use a wheelchair to increase and ease
mobility. Getting fitted with a wheelchair requires careful consideration and professional
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advice. An Occupational Therapist will complete a seating assessment to determine a
patients needs. Although a wheelchair can be purchased from a home health supplier, it is
preferable to first have a complete assessment from an Occupational Therapist to
determine the most suitable equipment a patient.
There are two main types of wheelchairs manual and power. Each has its own
list of features and considerations.
Figure 2.3 Manual Wheelchair

Manual wheelchairs are useful for people who have upper body stability and can
easily position themselves in the chair. These chairs are light to push and usually collapse
to fit easily in a car.
Manual wheelchairs may include the following features:
high reclining back with headrest
elevating leg rests
seat and back cushions
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adjustable height arm rests removable for transfers
quick-release rear wheels for easy breakdown and storage in a vehicle
correct seat height for transfers and propelling yourself forward
seat width appropriate for entry and exit through doors at home
Figure 2.4 Power Wheelchair

Power wheelchairs are appropriate for people who cannot manually propel
themselves. They are operated using a joystick or other devices that can be controlled by
almost any part of the body that you can move. These chairs are specifically tailored to the
user to ensure they are properly fitted and easy to manage. While more expensive than a
manual wheelchair, power wheelchairs allow for greater mobility and independence,
especially outdoors. They do not fold, so special ramps are needed for a power wheelchair
to move into a car.
Power wheelchairs may include the following features:
power control switches that can be modified to operate with very small
muscle movements
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back recline with head support
recline and tilt
power-operated elevated leg rests
power tilt
ORTHOPEDIC DEVICES
Many neuromuscular disorders lead to weakening of the joints and muscles, so
the doctor or physiotherapist may recommend a type of body support called an orthosis.
People use orthoses to:
support the joints in certain positions when muscles weaken
prevent contractures (permanent shortening of a muscle or joint caused

by prolonged spasticity or stiffness in the muscles)
enhance comfort
assist the movement of joints, limbs, and the spine
Figure 2.5 Ankle-foot orthoses
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Ankle-foot orthoses sometimes called AFOs, these are simple plastic splints that
may be worn under pants. AFOs are useful for people who have weak muscles supporting
the ankle joint. Weak ankle muscles may make it difficult to pick up the foot to walk
properly. This is called foot drop, and can lead to stumbling on stairs or curbs and tripping
while walking.
Figure 2.6 Hand and Wrist Supports

Hand and wrist supports. A wrist and thumb splint can stabilize the wrist and
thumb, which makes grasping eating utensils and other objects easier. Additional supports
can be added for positioning the fingers, which allows fine motor movements, such as
writing with weakened fingers.
Figure 2.7 Universal Cuffs
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The universal cuff may be the most familiar orthotic aid. The cuff straps over the
hand, which enables a person with weakened hand muscles to grasp objects like cutlery,
hairbrushes, and other small items.
Figure 2.8 Shoulder and Neck

Shoulder and neck supports. Over time, weak shoulder muscles can cause the
arms to hang unsupported. A shoulder sling can reduce the pressure on arm muscles and
ligaments. Similarly, cervical collars are sometimes used to support the head when neck
muscles are weak.
Implants and Prosthetics
Figure 2.9 Implants and Prosthetics

Medical implants are devices or tissues that are placed inside or on the surface of the
body. Many implants are prosthetics, intended to replace missing body parts. Other implants
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deliver medication, monitor body functions, or provide support to organs and tissues. Some
implants are made from skin, bone or other body tissues. Others are made from metal, plastic,
ceramic or other materials.Implants can be placed permanently or they can be removed once they
are no longer needed. For example, stents or hip implants are intended to be permanent. But
chemotherapy ports or screws to repair broken bones can be removed when they no longer
needed.
The risks of medical implants include surgical risks during placement or removal, infection,
and implant failure. Some people also have reactions to the materials used in implants. All surgical
procedures have risks. These include bruising at the surgical site, pain, swelling and redness.
When your implant is inserted or removed, you should expect these types of complications.
Infections are common. Most come from skin contamination at the time of surgery. If an individual
get an infection, he or she may need to have a drain inserted near the implant, take medication, or
even have the implant removed. Over time, an implant could move, break, or stop working
properly. If this happens, the patient may require additional surgery to repair or replace the
implant.
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2.2 Local Literature
Status and Production of Assistive Devices in the Philippines
According to Dr. Betty Dy-Mancao of PGH-UP Manila, at present, 15 workshops in the
Philippines had been established by an NGO that makes orthoses and prostheses. Thirteen
private workshops are located around the country, but are mainly located in the metropolitan areas.
There are only four workshops for other assistive devices, primarily ambulation aids like canes,
crutches, walkers, and wheelchairs. These devices are usually imported instead, bought from
Germany and Taiwan, province of China. Materials used in prostheses are also imported from
Germany and Taiwan, province of China. Since these materials were imported, they are subjected
to customs duties and tariffs. Due to this, the Philippines has adopted the service of SGS (Society
General Surveillance) so that the computation of customs duties is performed in the country of
origin of the materials, making customs clearance easier in the Philippines.
In the Philippines, ambulation aids are mostly donated to people with disabilities.
Prostheses, orthoses and orthopedic shoes were also used to be donated in large numbers. This
practice, however, has been discouraged because these devices are highly user-specific and must
custom-fit each user. Donated devices are still made use of by removing reusable components like
the knee joint and shaft. The socket is then modified, or one is newly made to fit the user properly.
The need for ambulation aids has been met without great difficulty through the Community-Based
Rehabilitation Program, because their manufacture is easily taught. Orthoses, prostheses,
motorized wheelchairs and hearing aids, however, are more complicated to produce. Meeting
needs has been difficult as a result.
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At present, the workshops established by the NGO which creates orthoses and prostheses
could manufacture an average of three below knee and two above knee prostheses a month, or
900 lower-limb prostheses annually. Other private agencies can each make six to seven
prostheses per month or a total of up to 936 lower-limb prostheses annually. The manufacture of
Jaipur-type below knee prostheses is substantial, at 35 units per month or 420 annually. Local
manufacture of upper-limb prostheses is less common, with only about five to eight limbs made per
year. These are usually made by privately-owned workshops. Wheelchairs are produced locally at
a rate of 30 chairs monthly or 360 a year.
Production is relatively limited for the following reasons:
A limited number of workshops, in limited areas within the country;
A small number of formally trained orthoptists and prosthetists;
A lack of trainers and training programs for orthoptists and prosthetists;
Non-availability of raw materials used for making devices, especially in the rural areas;
High cost of technology and poor financial situation of users, making devices unaffordable;
Conditions, such as medical complications, that make it difficult to apply a prosthesis or

other device;
A lack of awareness among community members, potential users and health professionals
about the need for referrals and the availability of resources and devices.
Repairs are supposed to be carried out by the workshops where these devices are made.
Often, however, they are undertaken by users themselves, family members, or local shoemakers.
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The Z Package
In April 2013, Alan Santos, a 25-year-old construction worker hit a live electrical wire while
working on a building site and sustained injuries that required amputation of his leg below the knee.
His contract did not provide health insurance or hospital benefits. He is married, has a one-year-old
child and was his familys sole breadwinner. Without his monthly wages, his family was
impoverished.
In the "World report on disability", published in 2011, WHO recommended that countries
include rehabilitation within health insurance schemes to increase access for people like Alan.
In 2012, the Philhealth board was presented national data which showed that an
estimated 30% of people with disabilities in the Philippines could return to work if provided with an
assistive device like a prosthesis for a missing limb. The gap was substantialone NGO had a
registry of some 2000 people in need of a prosthesis but could not afford one. The board was
convinced. Prosthesis provision was then selected as the first rehabilitation service to be covered
by Philhealth, and is called the "Z package". Due to this, with support from the local government,
Alan Santos was able to subscribe to Philhealth and become the first recipient of a Z package
prosthesis. In September, he was admitted to the Philippine General Hospital in Manila to be
measured for a prosthesis and receive training on how to walk on his new leg. His employer has
offered to re-hire him after his discharge.
23

Figure 2.10 Alan Santos availing the Z Package
The State of Accessibility in the Philippines

Accessibility refers to the design of products, devices, services, or environments for people
with disabilities. According to Even Grounds.com, as a developing Asian country, the Philippines
realizes the importance of accessibility to its disabled citizen. The Philippine government is open to
the idea of providing more support to accessibility. However, due to other national issues and
concerns, accessibility has become a low priority for assigned government agencies. Accessibility
has nonetheless garnered more recognition now than in the past few years.
In public places in the Philippines, there are lack of facilities for disabled people. Only few
areas have audio traffic signals and tactile marks in walkways which could help individuals with
visual impairments to walk around with ease. Wheelchair ramps are present only in certain
government properties and disability-related establishments. As a result, one can rarely find a
disabled person traveling alone around the city. Most persons with disabilities prefer to have a
companion when commuting to other places.
Colleges generally do not have services specifically for disabled students. These groups of
students therefore have to provide their own assistive devices and software at school. In spite of
24

this, academic institutions are now more receptive towards disabled students. With regard to
academic events, there are only a handful of conferences and seminars wherein Braille and large
print formats of materials are available.
Commercial establishments such as malls also have only few accessibility-related facilities.
For instance, not all department stores have wheelchair ramps and restrooms designated for
persons with disabilities. Companies however are trying their best to train their staff on properly
serving and interacting with disabled customers.
25

2.3 Foreign Studies
Assistive devices were tools, products or types of equipment which may help a disabled
individual to perform tasks and activities that he or she could not do. These devices help these
individuals in such a way that these tools enable them to explore or do new things or activities
which they normally cannot execute because of a disorder or disease. As time passes by,
technology evolves. Advancement in technology had also been applied to these assistive tools.
The application of technological advancement to these devices enabled them to be more effective
and otherwise economical or both. The studies or projects below includes different assistive
technologies that undergo technological advancements.
An example assistive technology which undergo technological development is a walking
stick that could alert the user when he or she is about to approach a certain object/obstacle or vice
versa. The device is called the Intelligent Cane or simply the I-Cane. Through the use of a regular
cane that was bought off the market, the blind must rely on their ears to avoid accidents.The
Intelligent Cane will benefit users by sensing approaching objects and providing a warning signal.
Using the I-Cane, a visually impaired individual will gain independence and self-assurance.
Figure 2.11 I-Cane Concept
26

The I-Cane device could detect objects or obstacles within a range of 1 meter. The sensor
device that is attached to the cane sends a signal to the circuit board. Afterwards, the circuit board
will then send a signal or command to a buzzer or vibrator in order to activate it. The buzzer or
vibrator will be able to alert the user once it is activated. This would be of great help in order to
avoid accidents and could save lives.
Figure 2.12 I-Cane Processing Concept

The I-Cane is made up of a hollow plastic tube, a circuit board, a buzzer, a vibrating motor,
a sonar sensor device, and a battery. Hung Huy Thai, was the engineer heading the project. Thai
has won several awards for the I-Cane project and hopes to enhance the product further. These
future enhancements will include making the product more portable. Such features include the
ability to be foldable and having a smaller and lighter circuit board. However, according to Thai,
including an LED light that will shine at night, a MP3 player, a GPS feature, a "clap hands" buzzer
so users can locate the cane, are also other features that could be possibly added.
27

Figure 2.13 Intelligent Crutches

Crutches was also one assistive device that recieve the gift of technological advancement.
Using a sensor to monitor the usage of such device, an Intelligent Crutch was developed by
engineers at the University of Southampton in September 12, 2009. The crutch, which was
developed by Professor Neil White and Dr Geoff Merrett at the University's School of Electronics
and Computer Science in conjunction with Georgina Hallett, a physiotherapist at Southampton
General Hospital, is fitted with three accelerometers that detect movement and force sensors that
measure the weight being applied to a patient's leg and the position of his/her hand on the grip.
Data are transmitted wirelessly to a remote computer and visual information is displayed
on the crutch if the patient uses it incorrectly.
28

'A growing number of people are in need of physiotherapy, said Professor White, but
reports from physiotherapists indicate that people do not always use crutches in the correct
manner. Until now, there has been no way to monitor this, even though repeated incorrect use of
the crutch could make the patient's injury worse. The new crutch has been developed using lowcost, off-the-shelf technology and sensors similar to those used in Nintendo Wii. These crutches
will make it much easier for patients to be taught how to use them properly, and how much weight
they are allowed to put through their injured leg, said Georgina Hallett. This will help them to get
out of hospital faster and also reduce their risk of further damaging an already injured leg by putting
too much or too little weight through it.
At the moment, the crutch is suitable for monitoring and training patients in hospital
environments; the researchers have plans to develop a pair for use in patients' homes.
Figure 2.14 Torque Sensor Free Power Assisted Wheelchair
29

In January 2007, someone by the name of Jonas Johansson and Daniel Petersson
conducted a master thesis design that was a power assisted wheelchair system. A power assisted
wheelchair is a mobility device which combines both human power and electric power. These types
of wheelchairs are commonly used by individuals who have used regular wheelchairs but have
become weaker or those individuals who just need additional power when going uphill. The
wheelchair system which they developed is a rebuilt electric wheelchair which does not include a
torque sensor. Instead of using torque sensor, which was commonly used by powered assisted
wheelchairs, their prototype mainly rely on rotational encoders or speed sensors that measures the
velocity or speed of the wheelchair when it starts moving. The main objective of these researchers
for conducting this study is to give a new, better and more economical way for individuals to use a
powered assisted wheelchairs because torque or force sensors are not that cost efficient.
According to Johansson and Petersson, aside from being economical, the power assisted
wheelchair that theyve develop could help not only the user but the assistant that will push the
mobility device since the device itself gives additional speed or power boost by the use of speed
sensors which was not possible when force sensors (connected to push rims) was used.
30

2.4 Local Studies
In the Philippines, during the year 2012, a group of young aspiring Computer Engineers
from the Mapua Institute of Technology developed their own wheelchair system. This wheelchair
systems primary means of control or command is via voice recognition. Darryll Jade Arias, Francis
Mark Luna, Aljon Santillan, Lloyd Edwinson Arellano and Jonathan Temea built a prototype of a
wheelchair that has the ability to stop automatically and detect objects with the help of infrared (IR)
sensors installed at the front and back of the mobility device. It also has three pairs of LED lights
that light up when the IR sensors detect obstacles in its path, preventing users from colliding with
the blockages along their way. The group also placed a pair of sensors beneath the wheelchair to
give it the capability to halt its movement once the sensors detect the lack of surface underneath, a
feature that will prevent users from falling off the stairs. The wheelchair can also be elevated to a
height of eight inches at most, high enough to steer clear of sidewalk gutters. The groups primary
objective of this mobility devices development is to enable physically challenged individual with no
hands to move freely using a mobility companion which is the wheelchair.
Figure 2.15 Voice Controlled Wheelchair
31

Another study regarding the wheelchair technology was conducted on the year 2013,
wherein several students from De La Salle Araneta University innovated a simple manually
propelled wheelchair into an eye-controlled wheelchair. The study was entitled as The
Development of Eye Controlled Wheelchair for Amputees and was awarded as the best thesis.
This wheelchair technology uses eye gesture recognition which calculates or detects certain looks
and blinks of the users eye. According to one of the researchers, which is Ms. Keeshia Cuesta,
this project was intended to replace the arms and legs control for wheelchair which cannot be done
for some individuals with severe physical injuries. According to Ms. Cuesta, although it requires
some skills to operate, the wheelchair is easy to use and maneuver.
32

2.5 Synthesis of the Study
Based from the past and present recent-on-going studies or projects presented above,
there were several similarities and differences that these projects have with the proposed design
Hand Gesture Controlled Wheelchair. Most of the studies involved the use of wheelchair devices,
each of which has its own unique means of control. The most similar study in a sense is the
wheelchair system which uses a voice and eye controlled wheelchairs. Aside from being same
devices, the aim for their developments are almost the same, as both could be used by patients
without arms or without a functioning arm. The proposed project on the other hand, Hand Gesture
Controlled wheelchair, could be modified to also fit for this purpose, especially if wireless
technology is to be used. If this is to be done with the proposed system, its flexibility would greatly
increase as it could still be used by individuals who have a higher form of disability.
Although there are differences in the specific purposes of each of these projects, there is
still a common interest, which is to help the physically challenged individual. The Intelligent Cane
was intended to help the blind with their mobility as it will serve a warning device if there is some
obstacle in their path. Through the help of the I-Cane, injuries or even death due to incidents will
have a lower rate. On the other hand, although the Intelligent Crutches were not made for users
practical automation, it helps individuals by monitor the crutch use, enabling therapists and doctors
in a rehabilitation to monitor if an individual properly uses the device or not. Due to this device,
furtherly increasing the injuries of an individuals because of equipment misuse would be prevented.
Also, through the use of this device, it will be easier for crutch users to learn how to properly use
their equipment which would furtherly enhance their mobility experience.
33

Most of the studies presented above were wheelchairs. Wheelchairs have been popular
for individuals who were unable to use crutches or canes because of full lower body paralysis due
to some kind of disease. The first wheelchair device presented above is the Torque free Power
Assisted Wheelchair which could let a person who was versed in using manual wheelchair to have
an extra pushing boost. This would help a lot for those individuals who tend to choose manual
propelling rather than electronic controls, but still needs help when going uphill. This could also
benefit the assistant of a disabled individual because it uses rotary encoder rather than force
sensors which would mean that as long as the wheels move the extra pushing boost would still be
activated. The two automated wheelchair devices coming from the same country, the Philippines,
was both useful for individuals who have limited upper body functions or have higher forms of
disability.
All of these automation studies tend to help physically challenged individuals by letting and
otherwise teaching them the proper way of being more self-reliant with their personal mobility,
which ensures that external human intervention would be lessened and otherwise no longer
needed.
34

2.6 Definition of Terms
Terms
Definition
accessibility
the design of products, devices, services, or environments for

people with disabilities.
amputation
the removal of a limb by trauma, medical illness, or surgery.
cerebral palsy
a disease which causes an individual to have speaking and

movement problems
closed captioning
The processes of displaying text on a television, video screen, or

other visual display to provide additional or interpretive information.
crutches
mobility aids that transfer weight from the legs to the upper body.
dexterity
the ability to use ones hand skillfully
eye gesture recognition
refers to the mathematical interpretation of human eye motion using

a computing device
genetic disease
a disease caused by an abnormality in an individual's genome.
infrared sensors
a device or instrument that is used to detect or measure infrared

radiation
mainstream
a prevailing current or direction of activity or influence
microcontroller
a microprocessor that controls some or all of the functions of an

electronic device or system
mobility
being readily able to move from one place to another
muscular dystrophy
a serious disease that causes increasing weakness of muscles
multiple sclerosis
a chronic, typically progressive disease involving damage to the
35

sheaths of nerve cells in the brain and spinal cord
myelopathy
a disease on the spinal cord
orthoses
an externally applied device used to modify the structural and

functional characteristics of the neuromuscular and skeletal system
osteogenesis imperfecta
an inherited disorder characterized by extreme fragility of the bones.
progressive muscular
a rare subtype of motor neuron disease (MND) that affects only the
atrophy
lower motor neurons.
prostheses
are artificial device that replaces a missing body part, which may be
lost through trauma, disease, or congenital conditions.
rollators
was designed using the same basic principles of the regular

standard walker but was to address specific needs that were not
being met by the traditional walker
rotational encoders
electromechanical device that converts the angular position of a

shaft to an analog or digital code
speed sensors
devices used to detect the speed of an object, usually a transport

vehicle
spina bifida
a birth defect where there is an incomplete closing of the backbone

and membranes around the spinal cord
torque sensors
a device for measuring and recording the torque on a rotating

system, such as an engine
voice recognition
the field of computer science that deals with designing computer

systems that can recognize spoken words
36

CHAPTER III
CONCEPTUAL AND THEORETICAL FRAMEWORK
This chapter of the study is intended to describe the conceptual and theoretical framework
of the study.
3.1 Conceptual Framework
INPUT
Requirements:
Accelerometer
Sensor
Arduino Uno
Microcontroller
Board
Motor Driver Circuit
and Motor
LCD module
Knowledge in
Arduino
Programming and
Circuits or
Electronics
PROCESS
Planning
-purpose of the
project
Design
-materials, costs,
circuitry diagram,
structure or design
Development and
Testing
-prototype
assembly and
testing
Finalization
-finalization of the
prototype design
OUTPUT
Hand Gesture
Controlled
Wheelchair
Evaluation of
prototype
limitations
FEEDBACK
Figure 3.1 Conceptual Framework
As shown on figure 2.1, the conceptual frameworks illustration shows that there were
three different phases such as the input, process and output. The input phase, as shown on the
figure, contains the different requirements needed to start the project prototype. These
37

requirements were basically divided into two which is the hardware or materials requirements and
the knowledge requirements. The hardware or materials requirements are the physical
components that are needed in order to build the project prototype namely the sensor
(accelerometer), the microcontroller, the motors, the motor driver and the LCD screen. The
knowledge requirements on the other hand pertain to the knowledge that one must have in order to
start building the prototype. This knowledge could be used as a guide to accomplish the project in
a faster, easier, and safer way.
The process phase pertains to the activities done during the creation or development of
the prototype project. This phase is sub-divided in four different sub-phases namely the planning,
design, development and testing, and finalization phase. The planning phase involves the
determining of the researchers intention of creating such project. The design phase includes the
gathering of project materials, determining of the costs involved, development of the circuitry
diagram, and the development of the structure or physical appearance of the project. During the
development and testing phase, the prototype projects assembly commences, the components
were being interfaced and the logical structure or source codes were being developed. Afterwards,
when the prototype is developed, it will be tested. After the development and testing phase, the
finalization phase will start. The finalization phase is the process or activity wherein the prototypes
overall design is being finalized.
The output phase pertains to the outcome of the activities done during the development of
the prototype project. In simple terms, it could be said that the output phase pertains to the
prototype itself and the evaluation of its capabilities and functions. The results of the evaluation will
38

reflect to the input and process phase by which is mainly responsible for the concepts result or
outcome.
39

3.2 Theoretical Framework
The Hand Gesture Controlled Wheelchair was developed based on the principles of an
existing prototype project called the Accelerometer Based Hand Gesture Controlled Robot. The
Accelerometer Based Hand Gesture Controlled Robot is a kind of robot which can be controlled
by the users hand movements, not by old buttons. A small transmitting device is needed to be
mounted on to the users hand which includes an acceleration meter. This device will transmit an
appropriate command to the robot so that its movements could controlled. The transmitting device
included an ADC for analog to digital conversion and an encoder IC(HT12E) which is used to
encode the four bit data and then it will be transmitted by an RF Transmitter module. At
the receiving end, an RF Receiver module receives the encoded data and decode it by the
decoder IC(HT12D). This data is then processed by a microcontroller and finally will be passed on
to the motor driver to control the motor's movements.
Figure 3.2 Accelerometer Based Hand Gesture Controlled Robot
40

The notable differences between the Accelerometer Based Hand Gesture Controlled
Robot and Hand Gesture Controlled Wheelchair, aside from the size and specific functionality, are
the devices or components used for the system which makes it more efficient. The Accelerometer
Based Hand Gesture Controlled Robot uses a parallel-type connection accelerometer which is the
ADXL335, the predecessor of the accelerometer included in this study. The researchers agreed to
change this sensor because it uses much more data line space and consumes more power than
what is used in this project. The indication feature was also improved, instead of using LED lights
as indicators, which would be unreliable if the user is unfamiliar with the device, the researchers of
this study decided to use LCD module which uses serial data connection on the prototype in order
to have a clear indication and at the same time less data space and power consumption. Aside
from that, the researchers of this study agreed to use a wired communication rather than a wireless
one because RF communication tend to have a less secured connection, meaning, if two devices
are to meet which both uses RF communication for wireless control, there would be a tendency of
control malfunction over these devices because of possible signal distortion, especially if it has a
same type of encoder and decoder.
The Accelerometer Based Hand Gesture Controlled Robot truly served as the researchers
guide for this study. Due to this robotic project reference, the researchers of this study were able to
create a project which has the same control mechanism but with new and improved features to
help out our brothers and sisters that is going through physical challenges. The Accelerometer
Based Hand Gesture Controlled Robots primary purpose is to create a new means of control for
devices which could create a better and improved manipulation. The Hand Gesture Controlled
Wheelchair was one of the bearing fruit for the purpose of that project.
41

3.3 Project Work Breakdown Structure
The preparation of the proposed system and activities of the group in accomplishing and
finalizing the project is presented on the table shown below. This serves as the schedule for the
weekly accomplish of the Hand Gesture Controlled Wheelchair design project.
Week Week Week Week Week Week Week Week Week Week Week
Preparation
1
Submission
of Project
Proposal
Submission
of Title
Project
Approval for
Title Project
Data
Gathering
Chapter 1
Documents
Chapter 2
Documents
System
42
10
11

Development
Chapter 3
Documents
Completed
20% of the
system
Completed
50% of the
system
Chapter 4
Documents
Chapter 5
Documents
Completed
100% of the
system
43

3.4 Organizational Flow Chart
Collaboration between members of a group or team is very essential in getting the job
done. The chart below illustrates the part that a member contributes for this study.
Programmer &
Leader
Christan
Mark
Gonzales
Mark Ale
Talledo
HAND
GESTURE
CONTROLLED
WHEELCHAIR
Materials/
Research
Alvin
Raymundo
Documents
Edgardo
Bernardo
Prototype
Design
44

CHAPTER IV
RESEARCH METHODOLOGY
This chapter of the study is intended to describe the methodology of research used in the
study.
4.1 Method of Research

This study uses a quantitative research method. As widely accepted, the quantitative
method of research is an empirical study of observable phenomena through the use of statistical or
mathematical process. The technique that was used under quantitative research is the normative
survey approach and evaluation, which is commonly used to explore opinions according to
respondents that can represent a whole population. The survey-questionnaire is appropriate in this
study because it enables the researchers to formulate generalizations from the responses of
participants. The experimental approach was also used in this study. It aims to test or evaluate the
parts of the system to be developed, as a unit and as an integrated technology, ensuring that each
component would be free from errors, miscalculations and failures.
45

4.2 Sources of Data
The respondents for this study may be either normal or disabled individuals or both
because the proponents believe that one or both could still perceive whether the device is effective
or not. The respondents for this study were randomly selected students from ICCT Colleges. They
shall be selected by non-probability sampling and shall be composed of males and females.
Experimentation or testing of the prototype device will be done in order to ensure that errors will be
checked and not disregarded. Experimentation or testing is combined with normative survey
approach in order to strengthen the justification that the collected information or data was genuine
or valid.
46

4.3 Data Gathering Instrument
Data Gathering will be done by the use of survey questionnaires. These questionnaires
were carefully formulated, arranged and set by the researches of this study. Each question will be
under a certain field or sub-field which will evaluate the effectiveness of the prototype project.
These survey questionnaires will be handed over to the chosen respondents of the study. After the
respondents completed the survey, the questionnaires will be collected back so that the responses
could be systematically evaluated and tabulated. These data collecting instrument is used solely
for the purpose of gathering the needed data for this study.
47

4.4 Data Collection Procedure
Random people will be asked to answer the survey questionnaires upon their approval.
These survey questionnaires will be helpful to seek the significance of the study to be conducted.
The results or findings of the conducted survey will enable the researchers to make proper or
appropriate generalizations by evaluating peoples specific opinions and ideas about the study. As
for the proposed system, as the materials needed is collected, each of these components were
tested in order to ensure that it is free from errors and failures. After these components were
integrated together to form a prototype system, the components functionality as a whole was
tested and evaluated.
48

4.5 Statistical Treatment of Data
The Likert scale was used to interpret items in the questionnaire. The responses were
based on the respondents assessment about the study. The range and interpretation of Likert
scale are given at the table below.
Scale
Range
Interpretation
4.01 - 5.00
Strongly Agree
3.01 - 4.00
Agree
2.01 - 3.00
Fairly Agree
1.01 - 2.00
Disagree
0.01 - 1.00
Strongly Disagree
Table 3.1 Statistical Treatment of Data

Weighted mean was used to measure the general response of the survey samples, whether they
agree to a given statement or not. The formula in computing weighted mean is as follows:
WM = fx
xt
Where:
WM = Weighted Mean
f = weight given to each response
x = number of responses
xt = total number of responses
49

4.6 Ethical Considerations
The survey forms were created in a way that is very clear and concise in order to prevent
conflicts among respondents. People who participated in the research were given an ample time
to respond to the questions posed on them to avoid errors and inaccuracies in their answers. The
respondents' cooperation was eagerly sought after, and they were assured that the data gathered
from them would be treated with the strictest confidence, so that they would be more open. This
was done with the hope that this would promote trust between the researchers and the
respondents.
50

CHAPTER V
PRESENTATION, ANALYSIS AND INTERPRETATION OF DATA
This chapter presents the components of the system, circuitry design or diagram, flow of
data and overall cost of the system. This will give an overview of the overall proposed system in
terms of procedures and figures presented.
5.1 Components of the System
5.1.1 Hardware Components
1.) ADXL345 3-Axis Accelerometer
Figure 5.1. ADXL345 3-Axis Accelerometer

An accelerometer is a device which measures or senses acceleration. It could
sense either static or dynamic acceleration. Static acceleration includes gravity while
dynamic includes motions and vibration. Accelerometers could measure acceleration from
either one, two or three axes. The more axes an accelerometer has, the better or the more
accurate its positioning calculation is.
The ADXL345 is a small, thin, low power, 3-axis accelerometer. The ADXL345 is
well suited to measure the static acceleration of gravity in tilt-sensing applications, as well
51

as dynamic acceleration resulting from motion or shock. Its high resolution (4 mg/LSB)
enables measurement of inclination changes less than 1.0.
Specifications:
Voltage Consumption : 2 3.6 V DC
Current Consumption: 40 A at measurement mode and 0.1 A at standby mode
13-bit resolution of at up to 16 g
Digital output: 16-bit twos complement via SPI or I2C Communication
Figure 5.2 ADXL345 Pin Configuration
52

Table 5.1 ADXL 345 Pin Description Table
2.) Arduino Uno Microcontroller Board
Figure 5.3 Arduino Uno
53

Arduino is a prototyping platform which provides a flexible easy-to-use hardware
and software. It provides easier components interfacing feature and a better programming
support. Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz
ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset button. It
contains everything needed to support the microcontroller; simply connect it to a computer
with a USB cable or power it with an AC-to-DC adapter or battery to get started.
"Uno" means one in Italian and was chosen to mark the release of Arduino
Software (IDE) 1.0. The Uno board and version 1.0 of Arduino Software (IDE) were the
reference versions of Arduino, now evolved to newer releases. The Uno board is the first in
a series of USB Arduino boards, and the reference model for the Arduino platform; for an
extensive list of current, past or outdated boards see the Arduino index of boards.
Specifications:
Operating Voltage: 5 V
Input Voltage (recommended): 7 12 V
Input Voltage (limit): 6 20 V
Digital I/O Pins: 14 (6 has PWM Output)
PWM Digital I/O Pins: 6
Analog Input Pins: 6
DC Current per I/O Pin: 20 mA
DC Current for 3.3 V: 50 mA
Flash Memory: 32 KB (ATMega328P)
54

SRAM: 2 KB (ATMega328P)
EEPROM: 1 KB (ATMega328P)
Clock Speed: 16 MHz
Figure 5.4 Arduino Uno Pins
Input and Output Descriptions

Each of the 14 digital pins on the Arduino Uno can be used as an input or output,
using pinMode(), digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each
pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor
(disconnected by default) of 20-50 kOhms.
55

In addition, some pins have specialized functions:
Serial: pins 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data.
These pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial
chip.
External Interrupts: pins 2 and 3. These pins can be configured to trigger an interrupt on a
low value, a rising or falling edge, or a change in value. See the attachInterrupt() function
for details.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication
using the SPI library.
LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, its off.
The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10
bits of resolution (i.e. 1024 different values). By default they measure from ground to 5
volts, though is it possible to change the upper end of their range using the AREF pin and
the analog Reference() function. Additionally, some pins have specialized functionality:
TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the Wire
library.
There are a couple of other pins on the board:
AREF. Reference voltage for the analog inputs. Used with analog Reference().
Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button
to shields which block the one on the board.
56

3.) LCD Module
Figure 5.5 LCD Module

LCD (Liquid Crystal Display) screen is an electronic display module and find a
wide range of applications. A 16x2 LCD display is very basic module and is very commonly
used in various devices and circuits. These modules are preferred over seven segments
and other multi segment LEDs. The reasons being: LCDs are economical; easily
programmable; have no limitation of displaying special & even custom character
animations.
A 16x2 LCD means it can display 16 characters per line and there are 2 such
lines. In this LCD each character is displayed in 5x7 pixel matrix. This LCD has two
registers, namely, Command and Data.
The command register stores the command instructions given to the LCD. A
command is an instruction given to LCD to do a predefined task like initializing it, clearing
its screen, setting the cursor position, controlling display etc. The data register stores the
57

data to be displayed on the LCD. The data is the ASCII value of the character to be
displayed on the LCD.
Table 5.2 LCD Pin Description
4.) Motor Driver

The output provided by the microcontroller is not sufficient to drive the actuators in
both directions at high current. Hence, the motor driver is used to control the actuators in bi
direction. This unit takes the input from microcontroller and provides high current for
actuators to rotate the actuators in both directions.
58

Figure 5.6 Motor Driver
Specifications:
Input Voltage: 4.8 ~ 35V
Maximum output current: 15A @ 13.8V per channel
Peak output current: 20A @ 13.8V per channel
PWM capability: up to 25 kHz
Interfaces: 4 digital IO (2 PWM output include)
Driving mode: Dual high-power H-bridge driver
5.) 12V DC Motor
Figure 5.7 Motor

Motors are the most essential part of the power wheelchair as they provide motion
to the system. The operation of motor is based on simple electromagnetism. The current
carrying conductor generates magnetic field; when this is placed in an external magnetic
field, it will experience a force proportional to the current in the conductor, and to the
strength of the external magnetic field. In any electric motor, operation is based on simple
electromagnetism. A current-carrying conductor generates a magnetic field; when this is
59

then placed in an external magnetic field, it will experience a force proportional to the
current in the conductor, and to the strength of the external magnetic field. The internal
configuration of a DC motor is designed to harness the magnetic interaction between a
current-carrying conductor and an external magnetic field to generate rotational motion.
Specifications:
Voltage range: 12 VDC 36 VDC
Steel casing diameter: 82 mm
Load speed range: 22 RPM to 300 RPM
Load output power: 80 W to 600 W
6.) 12V Lead Acid Battery
Figure 5.8 Lead Acid Battery
12V, 32Ah battery supply is used to power the whole system.
It is a lead acid battery which needs to be recharged periodically.
60

5.1.2 Software Components
1.) Arduino IDE
Figure 5.9 Arduino IDE
The open-source Arduino Software (IDE) makes it easy to write code and upload it
to the board. It runs on Windows, Mac OS X, and Linux. The environment is written in Java
and based on Processing and other open-source software. This software can be used with
any Arduino board.
61

5.2 Circuit Diagram
Figure 5.10 Circuit Diagram

Description:
The voltage input is given by the accelerometer using hand gestures. This is given to the
analog pin 4 (SDA) of the Arduino Uno Microcontroller. After the voltage input is accepted by the
Arduino Uno, it will now evaluate that voltage or signal. Based on these voltages, the directions are
displayed on LCD 16X2.If the accelerometer faces the forward direction, the wheelchair will move
62

forward and so on. Speed and direction control is done by using two DC motors that are interfaced
into a motor driver that could provide an output current of up to 15A per channel. The system uses
a 12V 32Ah battery in order to run.
63

5.3 Data Flow Chart
START
INPUT VOLTAGE
(HAND MOVEMENT)
SIGNAL PROCESSING
IF
(100>y>-100)&&
(50>x>-50)
YES
STATUS: ON HOLD
NO
IF
(-180>y>-280)&&
(50>x>-50)
YES
STATUS: MOVING
FORWARD
NO
A
64

A
IF
(180>y>280)&&
(50>x>-50)
YES
STATUS: MOVING
BACKWARD
NO
IF
(280>x>150)
YES
STATUS: MOVING
LEFT
NO
IF
(-280>x>-150)
YES
STATUS: MOVING
RIGHT
NO
C
B
CHANGE
OPERATION?
YES
NO
E
65

E
CONTINUE
OPERATION?
YES
CONTINUE CURRENT
MOVEMENT
NO
STOP
Figure 5.11 Data/System Logic Flow Chart
66

5.4 Design Concept
The hand gesture controlled wheelchair is basically a modified manual wheelchair. The
manual wheelchair is modified to become an electric or automated wheelchair. The notable
difference between the hand gesture controlled wheelchair and a conventional electric wheelchair,
aside from the physical appearance, is the controller. Conventional electric wheelchair uses a
joystick controller in order to manipulate or control the movements of the wheelchair while the hand
gesture controlled wheelchair uses the hand movements of the person in order to control the
movements of the wheelchair. Although it is stated that the hand gesture controlled wheelchair
uses hand movements, it could be modified. It could be modified in a sense that the controller
could be mounted on a different part of the users body if ever his or her hand is unable to be
moved. It could therefore be said that the hand gesture controlled wheelchair could be also called
as the gesture controlled wheelchair since it is not really limited to be operated by the users hand.
Aside from the gesture control, it also has a reclining feature which enables the user to bend the
wheelchairs back for up to 180 degrees. Aside from that, since it was a manual wheelchair
modified to become an electric or automated wheelchair, it could be controlled manually if ever the
controller becomes unreliable or damaged.
67

Figure 5.12 Hand gesture controlled wheelchairs design
68

5.5 Specification Table
Seat Width
16 20
Seat Depth
16
Seat-to-Floor Height
19.5
Overall Width
24 28
Overall Length
42
Overall Height
50
Front Wheel Size
Rear Wheel Size
24
Arm rests
Full length (9.5)
Leg rests
Elevating
Extended Neck-Head
Support
Yes
Speed
5 8 km/h
Weight Carry Limit
50 kgs. 60 kgs.
Maximum Weight Carry Limit
70 kgs.
Accelerometer (via
Controller
Movements/Gestures)
Power Source
12 V 32 Ah
Table 5.3 Specifications Table
69

5.6 Experimentation (Testing)
5.6.1 Procedures of the Design and Fabrication of the System
The researchers have done a series of research about the device before starting to look
for materials or components that is needed in order to develop the proposed system. The first
stage of the design and fabrication of the device formally occured when the researchers started
canvassing for the different materials or components needed in order to create the device. The
researchers have decided to conduct a series of canvassing for the manual wheelchair to be
modified first because it was the part of the proposed system that has the greatest cost.
Afterwards, the researchers started canvassing for the motors to be used for actual wheelchair
(since small motors for testing were already available). Then lastly, the researchers started
canvassing for the small electronic components of the proposed system. The researchers decided
to buy those parts which they believe met their set standards for their proposed system. These
components were individually tested afterwards in order to know if there were any malfunctions or
errors that may occur before the integration testing starts and might bring jeopardy to the systems
operation as a whole.
Upon ensuring that these components were functioning well, the researchers started to
design circuitry connections which will integrate these devices with each other. After ensuring that
the components were functioning properly when integrated, the researchers started to develop the
coding needed for the movement conditions of the hand gesture controlled wheelchair. Series of
adjustments and troubleshooting to the accelerometers inclination sensing was done in order to
ensure that the most proper inclination position is used. When the researchers became satisfied
with the coding or programmings results, the modification process for the manually propelled
70

wheelchair have started. Upon the completion of the wheelchairs modification process, the motors
was attached to the wheels of the wheelchair and the small electronic components had been
placed on positions suited for them.
The last stage of the systems implementation was the testing base on practical
evaluations. The researchers tested the wheelchairs functionality with different weight or loads
acting upon it.
71

5.6.2 Individual Components Testing
After the components were gathered, the testing phase started. In order to ensure that the
finalized prototype system will be free from errors or miscalculations, it is important that the
components to be used are functioning properly. Each of the components to be used is tested in a
way that the desired output will be conforming to the standards set by the researchers. The
components that were tested was the accelerometer or the sensor or controller, the motor driver
along with the motors, and the lcd module. All of these components were tested by interfacing each
one of them to the arduino uno microcontroller when they are individually evaluated.
The first component to be tested was the accelerometer or the controller. The
accelerometer component testing was done by interfacing it with the arduino uno microcontroller
and four LED indicators. Each time the accelerometer is tilted at a certain angle, a certain LED
should be activated. At neutral position or up to 10 degree of upward-downward movement and 40
degree of left-right movement of accelerometer, any LED indicators should not be activated. If the
accelerometer is moved in a degree of starting from 91 to 130 degrees downward, the first LED
would then start to glow. If the accelerometer is moved in 91 to 120 degrees upward, the second
LED will light up. If the accelerometer is moved in 41 to 170 degrees lefward, the third LED will light
up. Finally, if the accelerometer is moved in 41 to 170 degrees rightward, the fourth LED will be
activated.
It seems to be working well in until the fourth trial for the accelerometer, but on the fifth
trial, the researchers tried to combine two conditions, the leftward and forward conditions. The first
and third LED indicators was both activated on the fifth trial. The researchers think that if this
condition is to be applied on to the actual prototype system, the left-forward or any other hybrid
72

movement might not be a good idea, so the researchers tried to change something on the
condition. The researchers added a condition for the first and second LED to be activated. A
condition similar to the neutral condition was added on to the upward and downward movements.
On the revised conditions, the first LED indicator would only be activated when the accelerometer
is moved from 91 to 130 degrees downward and would not exceed the 40 degrees from left-right
movement. The second LED indicator on the other hand would only be activated if the
accelerometer is move from 91 to 120 degrees upward and is within the 40 degrees range from
left-right.
The second component to be tested was the motor driver along with the motors. The
testing was only done to check if the motor driver could really drive the motors. Through the use of
a sample code for motor testing that is provided by the motor drivers page, the researchers was
able to test the motor driver. The motor driver successfully drived or controlled the motor. The third
and final component to be tested was the LCD module. The LCD module was tested in order to
ensure that it displays the desired output on to the screen. Through the use of the sample code
from the LCD modules page, the researchers were able to test the LCD modules display
accuracy. The program will simply let the LCD module display the phrase Hello World. The LCD
module successfully displayed the set word or phrase based on the program.
The table below shows the conducted components testing result:
Component
Testing Condition
1st Trial
ADXL345
No LCD must not be activated
Accelerometer
(move 10 degrees upwarddownward or 40 degrees left-
73
2nd Trial
3rd Trial
Status
Finished

right)
ADXL345
Activate First LED Indicator
Accelerometer
(move 91 to 130 degrees
Finished
Finished
Finished
Finished
Finished
Finished
downward)
ADXL345
Activate Second LED Indicator
Accelerometer

upward)
ADXL345
Activate Third LED Indicator
Accelerometer

leftward)
ADXL345
Activate Fourth LED Indicator
Accelerometer

rightward)
ADXL345
First and Third LED Indicator
Accelerometer
must not be activated at the

same time (move 91 to 130
degrees downward and 41 to
170 degrees leftward).
ADXL345
Activate First LED Indicator
Accelerometer
using the new condition (move

91 to 130 degrees downward
and must not exceed 40
74

degrees left-right)
ADXL345
Activate Second LED Indicator
Accelerometer
using the new condition (move
Finished
Finished
Finished
91 to 120 degrees upward and

must not exceed 40 degrees
left-right)
Motor Driver and Motor Driver must successfully
Motors
drive the Motors.
LCD Module
The Hello World phrase must

be displayed on the screen.
Table 5.4 Individual Components Testing Table
75

5.6.3 Integrated System Testing
After the development of the prototype project, the researchers decided to test and see if
the components used in the system were capable of working to our set standard (wheelchair
should be able to carry 70 kgs. of weight). The researchers conducted some trial runs to test the
systems functionality. These trials enabled the researchers to determine which part of the system
should be changed in order to attain the set standards if it was still not met. During the first run, the
researchers used a motor driver which has a maximum output current of 2 A per channel. The
current draw (with no load) of the motor was 2 3 A. On the second trial, one of the researchers
which has a weight of around 50 kgs. sat on the wheelchair, the current draw became 7 8 A.
After a few seconds, the 2 A motor driver had been broken due to current overloading. The
researchers also checked the functionality of the other components. The researchers didnt notice
any error or failures in other components of the system, thus, therefore leaving only the motor
driver to be unreliable.
During the third run, the researchers used a motor driver which could draw up to 6A of
current per channel. This driver was able to start and successfully run the wheelchair. The only
problem is that when one of the researchers with a 50 kgs. of weight rode the wheelchair, it could
hardly move or not move at all. Luckily, these motor drivers were not burnt because of the regulator
found in its circuitry, which only permits up to 6 A of current draw. Although the motor drivers were
not destroyed, the only downfall is that the weight limit that we have set was not met. Although,
during the fourth run, the researchers let a 15 20 kgs.person ride the wheelchair. The wheelchair
was able to smoothly run while carrying such weight without any problem at low speed.
76

During the fifth run, the researchers used a motor driver which could harness up to 15A of
current per channel. This driver also contains a regulator or protection circuit inside which limits the
current draw of up to 15 A only. Using this motor driver, the wheelchair was able to carry a person
with 50 kgs. smoothly. The researchers tried to increase the weight that the wheelchair should
carry so they let a 70 kgs. person to sit on the device. The wheelchair was able to carry the person
but at a slower speed, this also leaves the motor driver to slightly heat up. The current draw during
the sixth and final trial was around 14 15 A. Due to this observed facts, the researchers have
concluded that the weight limit for the proposed project prototype wheelchair must be around 50
70 kgs. only, and the actual recommended maximum weight limit must be 60 kgs. only.
TRIALS OR
COMPONENT
CURRENT
MOTOR DRIVER
RUNS
WITH PROBLEM
DRAW
CURRENT OUTPUT
RESULTS
(PER CHANNEL)
1st
MOTOR DRIVER
23A
2A
SUCCESS (NO
LOAD)
2nd
MOTOR DRIVER
78A
2A
FAILED (50 kgs.

LOAD)
3rd
MOTOR DRIVER
2 3 A, 7 8 A
6A
SUCCESS (NO
LOAD), FAILED
(50 kgs. LOAD)
4th
NONE
(UNMEASURED) 6 A
(STANDARD
SUCCESS
(apprx. 20 kgs.
77

NOT MET)
5th
LOAD)
NONE (UNSURE
78A
15 A
IF STANDARD
SUCCESS (50
kgs. LOAD)
WILL BE MET)
6th
NONE
13 14 A
15 A
(SUCCESSFUL)
SUCCESS (70
kgs. LOAD, Slight
heating)
Table 5.5 Functionality Test Results
78

5.7 Survey Results
The survey was done on August 19, 2015 at ICCT Colleges Cainta Campus. The students
of the said institution served as the respondents of the conducted survey, most of which are 2 nd
and 3rd year Bachelor of Science in Information Technology. The total number of participants was
85, 46 of them are from the 2nd year BSIT and 39 of them are from the 3 rd year BSIT. A five
category survey questionnaire was developed in order to evaluate the project prototype. Each
category contains four different statements which will primarily evaluate the students perception
regarding the project prototype. The surveys aim is to get information from the idea or perception
of the respondents about the functionality, efficiency, reliability, usability and marketability of the
device.
The following table and graph below summarizes the result of the conducted survey.
For the 2nd Year BSIT Students:
Strongly
Categories
Agree
Fairly
Strongly
Total No. of
Total No. of
Agree Agree Disagree Disagree
Responses
Respondents
Functionality
86
62
32
184
46
Efficiency
74
78
28
184
46
Reliability
88
70
25
184
46
Usability
85
76
20
184
46
Marketability
81
67
29
184
46
Table 5.6 Total Tally of Responses
79

Figure 5.13 Bar Graph Representation of Students Responses

Strongly
Categories
Strongly
Total No. of
Agree
Agree
Fairly Agree
Disagree
Disagree
Students
Functionality
22
16
46
Efficiency
19
20
46
Reliability
22
18
46
Usability
21
19
46
Marketability
20
17
46
Table 5.7 Tabular Representation of Students Responses

Categories
Weighted Mean
Interpretation
Functionality
4.25
Stongly Agree
Efficiency
4.25
Stongly Agree
Reliability
4.33
Stongly Agree
80

Usability
4.32
Stongly Agree
Marketability
4.21
Stongly Agree
Table 5.8 Generalization of the Response for 2nd year BSIT Students
For 3rd year BSIT:

Strongly
Categories
Agree
Fairly
Agree
Agree
Disagree
Strongly
Total No. of
Total No. of
Disagree
Responses
Respondents
Functionality
102
43
11
156
39
Efficiency
100
40
15
156
39
Reliability
100
47
156
39
Usability
101
41
13
156
39
Marketability
87
56
10
156
39
Table 5.9 Total Tally of Responses
Figure 5.14 Bar Graph Representation of Students Responses
81

Strongly
Categories
Fairly
Strongly
Total No. of
Agree
Agree
Agree
Disagree
Disagree
Students
Functionality
26
11
39
Efficiency
25
10
39
Reliability
25
12
39
Usability
25
10
39
Marketability
22
14
39
Table 5.10 Tabular Representation of Students Responses
Weighted
Categories
Mean
Interpretation
Functionality
4.58
Strongly Agree
Efficiency
4.53
Strongly Agree
Reliability
4.58
Strongly Agree
Usability
4.55
Strongly Agree
Marketability
4.46
Strongly Agree
Table 5.11 Generalization of the Response for 3rd year BSIT Students
Based on the findings of the conducted survey, the respondents from the higher year level
have a higher acceptance rate of the presented statements than those from the lower year level.
The researchers presumed that this may be because the students from the 3 rd year levels
technical knowledge were better than those who are from the 2 nd year level. It means that they
have a better understanding of the technical knowledge that we have shared during the brief
82

introduction of our prototype project before we started the survey. Also, the researchers presume
that the students from the higher year level have a more mature way of thinking than those from
the lower year level, thus making them more interested on the possible practical use of the
prototype project that the researchers introduced.
Based on the generalized students response, for the 2nd year students the efficiency field
got the lowest acceptance, while for the 3rd year students, the marketability got the lowest. The
researchers have concluded that the 2nd year students might have think of the wheelchair device
as inefficient because they still have no to very little idea of how the project will work in terms on
technical matters since some or most of the devices incorporated to the proposed system were
new to them. In the 3rd year students case, they might have taught that this device would not
become a big hit to the market because of the current form factor and design because it looks too
simple, but all in all their responses were so far good and is highly appreciated by the researchers.
83

CHAPTER VI
SUMMARY, CONCLUSION AND RECOMMENDATION
This chapter will represent the final ideas, concepts, and findings as well as the
recommendations for the future developments to be done regarding the whole composition of the
system.
6.1 Summary
The study is about an automated wheelchair which is intended to help those individuals
who are physically incapable of standing or walking. The researchers used a sensor that will
enable the wheelchair to move by means of hand movements of the user. It was decided by the
researchers to create this kind of control mechanism so that the controllers flexibility could be
expanded which means that a user with no fingers or hand could still use it. The researchers also
came up with a backup plan in case that controller becomes broken, if possible, the user could still
switch to manual propelling. The wheelchair uses a low speed but high torque motor which provide
slower movements but a greater pushing force or power that will ensure a higher safety percentage
for the prototypes possible user. Upon completion of the prototype, the researchers executed
some practical testing or experimentation which includes the accuracy and responsiveness testing
of the automated wheelchair device.
84

6.2 Conclusion
Based from the existing method of controlling an automated wheelchair, the researchers
have concluded that a sensor which senses the hand movements of the user would be much more
efficient. Instead of using the existing way of controlling an automated wheelchair which is by
means of a joystick controller attached on to the wheelchair itself, using this device would enable
much more control efficiency for the user. It could enable a user to use the wheelchair without
exerting or accumulating force on their fingers or fingertips, which would be of great help for those
who does not have fingers or could not accumulate force on to their fingertips. Therefore, it could
be concluded that the hand gesture control wheelchair had a better flexibility, efficiency and
reliability as compared to the conventional automated wheelchair.
85

6.3 Recommendation
The following statements are recommended by the researchers for the betterment of the study
or project:
This project is highly recommended for disabled individuals that would want to automate
their personal mobility with a lower cost than a conventional automated wheelchair.
This prototype is recommended for the use of disabled people who could not accumulate
enough force on their fingertips, has no fingers or hands, or has weak arms.
The prototypes design could be furtherly enhanced by means of altering its form. For
instance, changing the wheels and body of the wheelchair when the future researchers
wanted to extend the weight limit of the wheelchair, just be sure that the wheels are of the
same size.
It is highly recommended by the researchers that the wheelchairs controller be changed

into a wireless configuration to avoid the strangling of wire connections and creating
different body mounting capabilities for individuals with higher disability.
It is recommended that the future developers add a new and unique feature (i.e. obstacle
avoidance or emergency navigation tools) to this project so that they could be able to show
their innovative ideas to help create a better society.
86

BIBLIOGRAPHY
Assistive Device, http://www.nchearingloss.org/assistiv.htm?fromncshhh
Types of Assistive Devices,
https://www.nichd.nih.gov/health/topics/rehabtech/conditioninfo/Pages/device.aspx
Muscular Dystrophy Canada, http://www.muscle.ca/living-with-musculardystrophy/mobility/#sthash.sJP8QjXB.dpuf
WHO, Disabilities and Rehabilitation Assistive Devices/Technologies,
http://www.who.int/disabilities/technology/en/
History of Personal Mobility Devices, http://ezinearticles.com/?The-History-of-Personal-MobilityDevices&id=1241655
U.S. Food and Drug Administration Implants and Prosthetics,
http://www.fda.gov/MedicalDevices/ProductsandMedicalProcedures/ImplantsandProsthetics/
Production and distribution of assistive devices for people with disabilities: Philippines
http://www.dinf.ne.jp/doc/english/intl/z15/z15002p2/z1500206.html
Even Grounds, Accessibility Consulting, http://evengrounds.com/blog/accessibility-in-thephilippines
The Intelligent Cane (I-Cane), http://www.engr.sjsu.edu/~mae/projectenable/icane.htm
Intelligent Crutch with Sensors to Monitor Usage,
http://www.sciencedaily.com/releases/2009/08/090805075642.htm
Jonas Johansson, Daniel Petersson. Torque Sensor Free Power Assisted Wheelchair
http://www.diva-portal.org/smash/get/diva2:237836/FULLTEXT01.pdf
Pinoy Students Build voice-activated wheelchair
87

http://www.gmanetwork.com/news/story/255914/scitech/technology/pinoy-students-build-voiceactivated-wheelchair
Accelerometer Based Hand Gesture Controlled Robot
http://www.engineersgarage.com/contribution/accelerometer-based-hand-gesture-controlled-robot
Triple Axis Accelerometer ADXL345
http://www.dfrobot.com/index.php?route=product/product&product_id=383
Arduino Uno https://www.arduino.cc/en/Main/arduinoBoardUno
LCD Module http://www.engineersgarage.com/electronic-components/16x2-lcd-module-datasheet
Motor Driver 2 x15A
http://www.dfrobot.com/wiki/index.php/DC_Motor_Driver_2x15A_Lite_(SKU:_DRI0018)
88

APPENDIX A
QUESTIONNAIRE
Student
Faculty
Others
I.T
Engineering
Respondents Name:
Section:
Project description: The hand gesture controlled wheelchair is an automated wheelchair device
which uses the hand gesture or movements of the user for control or manipulation. This wheelchair
device is a manual wheelchair which is modified or upgraded in order to become an electric or
automated wheelchair. The hand gesture controlled wheelchair has a reclining feature which
enables the user to lay down his or her back at up to 180 degrees or 90 degrees from the original
position of the wheelchairs back. To ensure the users safety the researchers used a motor which
has a low rotational speed but could carry much more weight or load.
Instruction: Put a check () on the number which best describes your position on the statements
given below. Please be reminded that there is no right or wrong answer, and that every data you
will provide will be treated with utmost confidentiality.
Legend:
Point
5
4
3
2
1
Interpretation
Strongly Agree
Agree
Fairly Agree
Disagree
Strongly Disagree
89

STATEMENTS
A. FUNCTIONALITY
The prototype provides an automated form of mobility.
The prototype is easy to use.
The prototype provides user-friendly means of control.
The prototype's control is absolute to the intended user only.
B. EFFICIENCY
The LCD provides an effective means of status indicator.
The prototype provides the user an accurate control.
The design of the prototype gives the user a backup control.
The prototype wheelchair gives the user a safer means of mobility.
C. RELIABILITY
The prototype creates a better means of control.
The controller of the prototype is flexible.
The user will be able to exert less effort when it comes to control.
The prototype gives the user a more natural way of control.
D. USABILITY
The prototype's controls are easy to understand.
The prototype's controls are easy to memorize or learn.
The user could understand the controls in a short period of time.
Even a person with weak grasp could operate the device.
E. MARKETABILITY
The device would have a good demand on the market.
The device's design was simple yet effective.
The reclining feature of the device would be a hit to the market.
The device's controller provides a new and unique control.
90

APPENDIX B
USERS MANUAL
I.
Introduction
The hand gesture controlled wheelchair is an electric or motorized wheelchair device
which provides new means of control a physically challenged individuals mobility companion,
the wheelchair. This device uses hand movements or gestures for the wheelchair's control. It
also features an LCD screen connected to the wheelchair so that the movement status could
be seen clearly. A user manual will be provided to ensure that the users could get enough
information about the device. The manual will give them a better understanding of the devices
capabilities. The user manual will also give warnings or safety reminders regarding the use of
this device.
II. Device Parts
91

92

Description:
Controlling Module (Microcontroller) the module which controls the flow of

information or data, as well as its evaluation or processing and execution.
Controller (Accelerometer) the circuit which calculates the acceleration in the

users hand gestures or movements in order to be used as reference for 3d
positioning or direction.
LCD Module it displays the information or status regarding the wheelchairs

movements.
Motors responsible for driving the wheels of the wheelchair by means of

applying rotational force on to it.
Motor Driver responsible for manipulating or controlling the motors rotation.

It accepts input commands or signals coming from the controlling module to
manipulate the motors.
Toggle Switch a switch was provided for emergency situations if ever the
system malfunctions during run time. Aside from that, the switch provides the
flow of power on to the circuit which means that it is the one responsible for
supplying power to the circuit in order to stop and start its operation.
Reclining Break serves as the switch or manipulator for the reclining feature.
Assistive Handles serves as handles for other persons in order to aid the
mobility of the user if ever the circuitry fails.
Extended Back Support added in order to increase the support up to the

users head.
93

III. Device Controls (Hand Movements)
Neutral Hand Position

The neutral hand position indicates the standby or stop mode of the hand gesture
controlled wheelchair. The stop or standby mode could also be initiated when the
back of the hand/accelerometers angel of inclination is within the range of 40
degrees from either left or right directions and 10 degrees from either the upward
or downward directions.
Forward Hand Movement

When the back of the hand or the accelerometer is moved at a downward direction
with an inclined angle movement of 91 to 130 degrees from the neutral hand
position, the forward direction movement is activated.
Reverse Hand Movement
94

The reverse direction movement of the hand gesture controlled wheelchair could
be triggered by moving the back of the hand or the accelerometer at an upward
direction. The controller should reach at least 91 degrees of inclination from the
neutral hand position and 120 degrees at most.
Right Turn Hand Movement

The Right Turn Direction Movement of the hand gesture controlled wheelchair
could be accessed by turning or moving the back of the hand/controller
(accelerometer) on the right side direction and should at least attain 41 degrees of
inclination from the neutral hand position and 170 degrees at most.
Left Turn Hand Movement

The Left Turn Direction Movement of the hand gesture controlled wheelchair could
be accessed by turning or moving the back of the hand/controller (accelerometer)
on the left side direction and should at least attain 41 degrees of inclination from
the neutral hand position and 170 degrees at most.
IV. How to Use the Device

Basic Operation
1. The user must first sit on the wheelchair and then turn on the circuitry (refer to II
for the position of the switch).
2. The user could either use the strap provided or just hold the accelerometer or
sensor.
95

3. The user must make a hand movement or move the sensor according to the
movement conditions in order for the wheelchair to move in certain directions
(refer to the image and instructions at III.)
4. The wheelchair will then start moving once the hand movement was made or the
sensor was moved to that certain position. Take note that the wheelchairs
direction movement is proportionate to the sensors direction or positioning.
The Reclining Feature

1. The user must first sit on to the wheelchair.
2. The user or an assistant must pull and hold the reclining trigger or break that could
be found at the right side arm rest of the wheelchair device.
3. Once the reclining trigger or break was pulled and hold, the user could start
pushing the back of the wheelchair in backward direction. It could now be noticed
that the back support of the wheelchair could be moved.
4. If the user feels comfortable with the reclined position where he or she is in, the
user or the assistant could let loose of or release the reclining break or trigger so
that the wheelchairs back could be locked on that position.
5. If the user wanted to set the wheelchairs back on to its original position or a
different reclined position (in a position that is higher than the current reclined
position), it is recommend that an assistant should help him or her. Again, the user
or the assistant must first pull and hold the reclining trigger so that the wheelchairs
back is unlocked from position, then an assistant from behind must push the
96

wheelchairs back in forward (or upward) direction until the wheelchairs back is in
its original position or desired position. Afterwards, the reclining trigger must again
be release so that the wheelchairs back is locked in place once more.
6.
V. Specifications Table
Seat Width
Seat Depth
Seat-to-Floor Height
Overall Width
Overall Length
Overall Height
Front Wheel Size
Rear Wheel Size
Arm rests
Leg rests
Extended Neck-Head
Support
Speed (No Load)
Weight Carry Limit
Maximum Weight Carry Limit
Controller
Power Source
Supply Life
16" - 20"
16"
19.5"
24" - 28"
42"
50"
8"
24"
Full length (9.5")
Elevating
Yes
15 - 20 km/h
50 kgs. - 60 kgs.
70 kgs.
Accelerometer (via
Movements/Gestures)
12 V 32 Ah
Approx. 6 - 12 hrs.
VI. Safety Reminders and Maintenance

The hand gesture controlled wheelchair is a device which uses hand movements or
gestures for control. This device is not recommended to be used for/by:
1. Individuals which have severe hand shakiness
Too much hand shakiness could trigger unwanted movements which could
harm the user.
97

2. Individuals which have mental illnesses
Mentally challenged individuals might not fully understand how the

wheelchairs system works. Due to this, the usage for such individuals is
prohibited as it could hurt him or her or the people around him or her.
3. Individuals exceeding the weight limit of 70 kgs.
As of this moment, the maximum recommended weight is 70 kgs. If a much

heavier individual used this wheelchair, it might not function properly.
4. Inclined surfaces and rocky roads or paths
There is no assurance that this wheelchair system could be able to carry an

individual because it always depend on two factors, first one is the weight of
individual and the second is the angle of the inclined surfaces. It is too
dangerous to take the risk because it could severely hurt the user.
5. Long distance travels
This wheelchair system is not designed for continuous or non-stop driving.

Therefore it might not be able to withstand traveling long distances as the
battery might run out of charge while the user is on the road. In addition, it is
too dangerous to drive wheelchairs on main roads where heavy duty trucks
are located so we discourage users to use this device for such purpose.
As for maintenance, the hand gesture controlled wheelchair does not require special
calibration of parts or components. Although there is one thing that regularly needs to be
done, that is charging the battery. If you had a lead acid battery charger, you could just
98

charge this for about 30 minutes to 1 hour. If you dont have a lead acid battery charger,
you could go to the nearest automotive supplies and parts shop near your place and let
them charge the battery for you which costs around P 30.00.
99

APPENDIX C
SOURCE CODES
#include <Wire.h>
#include <rgb_lcd.h>
#define DEVICE (0x53)
#define TO_READ (6)
#define s_rate 5
#define u_limit_adv_stop_back_x 50
#define l_limit_adv_stop_back_x -50
#define u_limit_stop_y 100
#define l_limit_stop_y -100
#define u_limit_adv_y -180
#define l_limit_adv_y -270
#define u_limit_back_y 260
#define l_limit_back_y 180
#define u_limit_left_x 280
#define l_limit_left_x 150
#define u_limit_right_x -150
#define l_limit_right_x -280
#define ab_speed 255
#define t_speed 255
rgb_lcd lcd;
byte buff[TO_READ];
int regAddress = 0x32;
int x, y, z;
int x_array[s_rate];
int y_array[s_rate];
int z_array[s_rate];
int total_x = 0;
int total_y = 0;
int total_z = 0;
int E1 = 5;
int E2 = 6;
int M1 = 8;
int M2 = 7;
void writeTo(int device, byte address, byte
val);
void readFrom(int device, byte address, int
num, byte buff[]);
void action(int x, int y, int z);
void stop();
void advance(char a,char b);
void back_off(char a,char b);
void turn_L(char a,char b);

void turn_R(char a,char b);
void setup() {
Wire.begin();
lcd.begin(16,2);
lcd.setRGB(0,0,150);
lcd.print(F("Wheel Chair"));
lcd.setCursor(0,1);
lcd.print(F("Controller V1.0"));
delay(2000);
writeTo(DEVICE, 0x2D, 0);
lcd.clear();
lcd.print("Current Mode");
lcd.setCursor(0,1);
lcd.print("ON HOLD");
for(int i=4;i<=7;i++){
pinMode(i, OUTPUT);
}
}
void loop() {
for (int a=0; a<s_rate; a++){
readFrom(DEVICE, regAddress,
TO_READ, buff);
x_array[a] = (((int)buff[1]) << 8) | buff[0];
y_array[a] = (((int)buff[3])<< 8) | buff[2];
z_array[a] = (((int)buff[5]) << 8) | buff[4];
delay(5);
}
delay(50);
for (int a=0; a<s_rate; a++){
total_x = total_x + x_array[a];
total_y = total_y + y_array[a];
total_z = total_z + z_array[a];
}
x = total_x/s_rate;
y = total_y/s_rate;
z = total_z/s_rate;
action(x, y, z);
delay(50);
100

total_x = 0;
total_y = 0;
total_z = 0;
//lcd.setRGB(0,0,150);
lcd.setCursor(0,1);
lcd.print("Moving Forward");
}
void writeTo(int device, byte address, byte
val) {
Wire.beginTransmission(device);
Wire.write(address);
Wire.write(val);
Wire.endTransmission();
}
void readFrom(int device, byte address, int
num, byte buff[]) {
Wire.write(address);
}
if
(((y>l_limit_back_y)&&(y<u_limit_back_y))&&
((x>l_limit_adv_stop_back_x)&&(x<u_limit_a
dv_stop_back_x))){
back_off(ab_speed, ab_speed);
lcd.clear();
lcd.setCursor(0,1);
lcd.print("Moving Backward");
}
if ((x>l_limit_left_x)&&(x<u_limit_left_x)){
turn_R(t_speed, t_speed);
lcd.clear();
lcd.setCursor(0,1);
lcd.print("Moving Left");
}
if ((x<u_limit_right_x)&&(x>l_limit_right_x)){
turn_L(t_speed, t_speed);
lcd.clear();
lcd.setCursor(0,1);
lcd.print("Moving Right");
}
}
void stop(void){
digitalWrite(E1,LOW);
digitalWrite(E2,LOW);
}
void advance(char a,char b){
analogWrite (E1,a);
digitalWrite(M1,HIGH);
analogWrite (E2,b);
}
void back_off (char a,char b){
Wire.requestFrom(device, num);
int i = 0;
while(Wire.available()){
buff[i] = Wire.read();
i++;
}
}
void action(int x, int y, int z){
if
(((y<u_limit_stop_y)&&(y>l_limit_stop_y))&&(
(x>l_limit_adv_stop_back_x)&&(x<u_limit_ad
v_stop_back_x))){
stop();
lcd.clear();
lcd.setCursor(0,1);
lcd.print("ON HOLD");
}
if
(((y<u_limit_adv_y)&&(y>l_limit_adv_y))&&((
x>l_limit_adv_stop_back_x)&&(x<u_limit_ad
v_stop_back_x))){
advance(ab_speed, ab_speed);
lcd.clear();
101

analogWrite (E1,a);
digitalWrite(M1,LOW);
analogWrite (E2,b);
}
void turn_L (char a,char b){
analogWrite (E1,a);
analogWrite (E2,b);
}
void turn_R (char a,char b){
analogWrite (E1,a);
analogWrite (E2,b);
}
102

APPENDIX D
DESIGN PROJECT COSTS ESTIMATION
Parts
DC Motor Driver 2x15A
LCD 16 x 2
Arduino Uno
DC Motors 12V
Lead Acid Battery 12V
Manual Wheelchair
Wheelchairs
Modifications Costs
Other Parts' Cost
Php
Php
Php
Php
Php
Php
Price
2,350.00
795.00
1,375.00
2,200.00
800.00
5,500.00
Quantity
1.00
1.00
1.00
2.00
1.00
1.00
Total Price
Php 2,350.00
Php 795.00
Php 1,375.00
Php 4,400.00
Php 800.00
Php 5,500.00
Php 1,500.00
Php 1,000.00
Php 17,720.00
103

APPENDIX E
DESIGN PROJECT PROGRESS REPORT
Name
Bernardo, Edgardo
Jr.,
Gonzales, Christan
Mark
Raymundo, Alvin
Talledo, Mark Ale
Project Participation / Accomplishments

Materials / Design & Researcher
Programming
Documents
Materials / Design & Researcher
Remarks
Good
Good
Good
Good
Tasks Completed
- Presenting the Project Proposal last June 21, 2015.
- Title defense held at ICCT Colleges main campus (July 5, 2015)
- Approved the Project Proposal Gesture Controlled Wheelchair (But needs to specify what kind
of gesture it is. So need to change the Title for the project to Hand Gesture Controlled
Wheelchair)
- Presented I/O and Data Flow Defense last July 16, 2015.
- Completed 95% of the prototype and 100% of the system.
- Passed the initial defense last August 9, 2015.
- Conducted a survey (August 19, 2015)
- Submitted Documents for Final Scheduled Deliberation (August 22, 2015)
- Final Deliberation of the Proposed System (August 23, 2015) Subjected to Re-defense due to
prototype failure and Documents are subjected to change
- Passed the Final Re-Deliberation of the Proposed System (November 4, 2015) Documents are
subjected to change and re-evaluation before publishing
104

Attendance Checking for the Whole Design Project Development
Month of
June
8
10
12
15
17
19
22
24
26
29
Month of
July
1
3
6
8
10
13
15
17
20
22
24
27
29
31
Month of
August
3
5
7
10
12
14
17
19
21
Bernardo, Edgardo
Jr.,
Gonzales, Christan Mark
Raymundo, Alvin
Talledo, Mark Ale
Holiday/Seminar
No Classes Due To Typhoon

Holiday
Holiday
105

Project Work Breakdown Chart
Preparation
Week Week Week Week Week Week Week Week Week Week Week
1
2
3
4
5
6
7
8
9
10
11
Submission
of Project
Proposal
Submission
of Title
Project
Approval for
Title Project
Data
Gathering
Chapter 1
Documents
Chapter 2
Documents
System
Development
Chapter 3
Documents
Completed
20% of the
system
Completed
50% of the
system
Chapter 4
Documents
Chapter 5
Documents
Completed
100% of the
system
106

APPENDIX F
ORGANIZATIONAL FLOW CHART
Programmer &
Leader
Christan
Mark
Gonzales
Mark Ale
Talledo
HAND
GESTURE
CONTROLLED
WHEELCHAIR
Materials/
Research
Alvin
Raymundo
Documents
Edgardo
Bernardo
Prototype
Design
107

APPENDIX G
CURRICULUM VITAE
CHRISTAN MARK E. GONZALES
#4 Concepcion St. St.Mary Subd Nangka Marikina City

Mobile Number: 0935-471-5288
Email-ad: Gonzales.christanmark@gmail.com
EDUCATIONAL BACKGROUD
TERTIARY
ICCT COLLEGESFOUNDATION INC.

BACHELOR OF SCIENCE IN COMPUTER ENGINEERING
Cainta, Rizal
2011 Present
SECONDARY
PARANG HIGH SCHOOL

Parang, Marikina
2007 2011
PRIMARY
PEACEMAKER CHRISTIAN ACADEMY

Nangka, Marikina
2001 2007
SKILLS:
Proficient in windows based computer application

Flexible and adaptable in all working conditions
Good interpersonal skills
108

SEMINARS/TRAINING ATTENDED:
Web Application Security, Network Security

ICCT Colleges Foundation Inc., Amphitheater
July 12, 2014
Advancement in Electronics Technology

Excel First Review and Training Center
R. Papa, Sampaloc, Manila
June 12, 2015
IBM 5 in 5
July 31, 2015
What is a PH Engineer Doing Now?

July 31, 2015
CLOUD
July 31, 2015
ADVANCEMENT IN WIRELESS TECHNOLOGY

July 31, 2015
CCTV AND AIPHONE

August 5, 2015
CASIO FX-991 ES PLUS/FX-991EX
109

August 5, 2015
RASPBERRY PI
August 5, 2015
BIONICS (BIOMEDICAL ELECTRONICS)

August 5, 2015
ANDROID MOBILE APPLICATION DEVELOPMENT

August 5, 2015
PERSONAL INFORMATION:
NICKNAME
AGE
BIRTHDATE
BIRTHPLACE
GENDER
CIVIL STATUS
NATIONALITY
RELIGION
HEIGHT
WEIGHT
LANGUAGE SPOKEN
:
:
:
:
:
:
:
:
:
:
:
TAN
21
November 25, 1993
Marikina City
MALE
SINGLE
FILIPINO
Gospel
56
50Kgs
TAGALOG, ENGLISH
110

ALVIN M. RAYMUNDO
Lot 2, Block 2, Signal Corps Subd. Cainta, Rizal

Email-ad: alvin_02_10@yahoo.com
TERTIARY

Cainta, Rizal
2012 Present
MINDORO STATE COLLEGE OF AGRICULTURE AND TECHNOLOGY
Bongabong, Oriental Mindoro
2011 2012
SECONDARY
EASTERN MINDORO COLLEGE

2007 2011
PRIMARY
BAGONG BAYAN CENTRAL SCHOOL

2001 2007
WORKING EXPERIENCE:
None
111


July 12, 2014

June 12, 2015
IBM 5 in 5
July 31, 2015

July 31, 2015
CLOUD
July 31, 2015

July 31, 2015
CCTV AND AIPHONE

August 5, 2015

August 5, 2015
112

RASPBERRY PI
August 5, 2015

August 5, 2015

August 5, 2015
NICKNAME
AGE
BIRTHDATE
BIRTHPLACE
GENDER
CIVIL STATUS
NATIONALITY
RELIGION
HIGHT
WEIGHT
LANGUAGE SPOKEN
:
:
:
:
:
:
:
:
:
:
:
VIN
20
OCTOBER 2, 1995
BONGABONG, OR. MINDORO
MALE
SINGLE
FILIPINO
ROMAN CATHOLIC
57
242 lbs.
TAGALOG, ENGLISH
113

EDGARDO D. BERNARDO JR.
#93 Cambridge St. Cubao, Quezon City

Mobile No.: 0919-527-3678
E-mail Address: bernardoedz@yahoo.com
EDUCATIONAL BACKGROUND
Tertiary
Institute of Creative Computer Technology

Bachelor of Science in Computer Engineering
2011-present
Cainta Main Campus
Associate
Datamex (Nova branch)

2007-2008
Under graduate
Secondary
Tala High School

2003-2007
Bo. San Isidro Tala, Caloocan City
Elementary
Tenejeros Malabon Elementary School

1996-2002
Malabon
SPECIAL SKILLS
Computer Literate
Networking
Troubleshooting (hardware and software)
Flexible
Fast Learner
Can work with a minimum supervision
114

SEMINARS ATTENDED

July 12, 2014

June 12, 2015
IBM 5 in 5
July 31, 2015

July 31, 2015
CLOUD
July 31, 2015

July 31, 2015
CCTV AND AIPHONE

August 5, 2015

August 5, 2015
115

RASPBERRY PI
August 5, 2015

August 5, 2015

August 5, 2015
PERSONAL INFORMATION
NICKNAME
AGE
BIRTHDAY
GENDER
CIVIL STATUS
HEIGHT
WEIGHT
NATIONALITY
RELIGION
LANGUAGES/DIALECTS
:
:
:
:
:
:
:
:
:
:
EDZ
27 YEARS OLD
APRIL 1, 1988
MALE
SINGLE
57
170 lbs.
FILIPINO
ROMAN CATHOLIC
ENGLISH, TAGALOG
116

MARK ALE P. TALLEDO
57 Sitio Taguete, Cupang Antipolo City

Email-ad: talledo.mark@yahoo.com
TERTIARY

BACHELOR OF SCIENCE COMPUTER ENGINEERING
Cainta, Rizal
2008 Present
SECONDARY
MAYAMOT NATIONAL HIGH SCHOOL

Sumulong High way, Antipolo, Rizal
2004 2008
PRIMARY
MAYAMOT ELEMENTARY SCHOOL

Sumulong High way, Antipolo, Rizal
1998 2004
WORKING EXPERIENCE:
None

July 12, 2014
117


June 12, 2015
IBM 5 in 5
July 31, 2015

July 31, 2015
CLOUD
July 31, 2015

July 31, 2015
CCTV AND AIPHONE

August 5, 2015

August 5, 2015
RASPBERRY PI
August 5, 2015

August 5, 2015
118


August 5, 2015
NICKNAME
AGE
BIRTHDATE
BIRTHPLACE
GENDER
CIVIL STATUS
NATIONALITY
RELIGION
HIGHT
WEIGHT
LANGUAGE SPOKEN
:
:
:
:
:
:
:
:
:
:
:
MARK
23
AUGUST 24, 1992
ANTIPOLO CITY
MALE
SINGLE
FILIPINO
ROMAN CATHOLIC
54
136 lbs.
TAGALOG, ENGLISH
119

APPENDIX H
DESIGN PROJECT PICTURES
The wheels had been detached from the manual

wheelchair. The modifications with this equipment is
about to start.
Our team member, Mr. Edgardo Bernardo Jr., as is

working towards the modification of the manual wheelchair
device.
120

Motors have been

attached to the wheels
of the mobility device.
The Hand Gesture Controlled Wheelchair devices body.
121

Hand Gesture Controlled Wheelchairs circuitry is being checked while I, Mr. Alvin Raymundo,
creates our documents on the background.
Inside Mr. Mark Ale Talledos Tammarraw FX, with our leader, Mr. Christan Mark Gonzales taking
the picture.
122

The Hand Gesture Controlled Wheelchair
The final deliberation of our design project have started with our leader, Mr. Christan Mark
Gonzales discussing the introductory part.
123

Hand Gesture Controlled Wheelchairs Demo
Our Design Project Prototype, The Hand Gesture Controlled, along with our team, Team Gesture.
(Members(Left to Right): Mark Ale Talledo, Edgardo Bernardo Jr., Alvin Raymundo, and Christan
Mark Gonzales)
124

Hand Gesture Controlled Wheelchair

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V. V. Soliven Avenue II, Cainta Rizal