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CHAPTER 1
INTRODUCTION
2.21 2.24
2.30 2.21
2.17
2.20 2.13
2.10
Percentage
2.00 1.93
1.90
1.80
1.70
Total Rural Urban
2001 2011
Fig1.1. Proportion of Disabled Population by Residence India: 2001-
11[1]
Quadriplegics are persons who are not able to use any of the extremities.
The reasons for such decreased motion possibilities can be due to stroke,
arthritis, high blood pressure, degenerative diseases ofbones and joints
and cases of paralysis and birth defects and the quadriplegia appears as a
consequence of accidents or age. The robotic wheelchair supports
through the movements of head. Head movements control is particularly
CHAPTER 2
LITERATURE SURVEY
1. S.P. Levine et.al, [1999] have developed a system which reduces the cognitive
and physical requirements of operating a power wheelchair for people with
wide ranging impairments that limit their access to powered mobility. The
NavChair is based on a commercial wheelchair system with the addition of a
DOS-based computer system, ultrasonic sensors, and an interface module
interposed between the joystick and power module of the wheelchair. The
obstacle avoidance routines used by the NavChair in conjunction with the
ultrasonic sensors are modifications of methods originally used in mobile
robotics research.
2. K.H. Kim, H.K. Kim, J.S. Kim, W. Son & S.Y. Lee, A biosignal-based
human interface controlling a power-wheelchair for people with motor
disabilities, ETRI Journal ,28(1),111-114, 2006.This system could be used by
physically disable persons who cannotmove their hands or legs but make head
and eye motions. This wheelchair could be operated in any direction using head
tilt movements by the handicapped person. Design and development of Head
motion controlled wheelchair has been achieved using tilt sensors and wireless
modules. The system is implemented practically and works well with a person
sitting on it and has a weight bearing capacity of upto 100 kg. The head motion
controlled wheelchair designed using tilt communicator system turns out to be a
great use for quadriplegic patients and disabled people having more than 45% or
more disability as this could be operated easily through head gestures.
6. P. Jia, H.H. Hu, T. Lu, and K. Yuan. Head gesture recognition for hands-
free control of an intelligent wheelchair.A robust head gesture-based
interface (HGI), is designed for head gesture recognition of the RoboChair user.
The recognised gestures are used to generate motion control commands to the
low-level DSP motion controller so that it can control the motion of the
RoboChair according to the users intention. Adaboost face detection algorithm
and Camshift object tracking algorithm are combined in our system to achieve
accurate face detection, tracking and gesture recognition in real time. It is
intended to be used as a human-friendly interface for elderly and disabled
people to operate our intelligent wheelchair using their head gestures rather than
their hands.
CHAPTER 3
Dept of EEE,KLEIT Hubblli Page 9
MICROCONTROLLER BASED WHEELCHAIR ARRANGEMENT FOR DIFFERENTLY ABLED
3.1.Problem Statement
Since quadriplegia limits the mobility of patients, they are forced to depend
extensively on others. This may even cause emotional stress to the patient. The
patient will not be able to do his day to day activity also. Our project addresses the
problems caused due to mobility impairments. We intend to make the patient
independent at least at their home.
3.2. Objective
Interfacing of accelerometer to microcontroller.
CHAPTER 4
METHODOLOGY
4.1.Block Diagram
The above block diagram shows the proposed model. It consists of Accelerometer
sensor, Ultrasonic sensor, Microcontroller, DC Motor driver circuit and DC Motor.
Circuit Diagram
4.1.1Accelerometer
Specifications
ADXL335 module (triaxial accelerometer analog output)
Power supply :3-5V
Analog X, Y, Z three-axis output Direct output
Full-scale range of 3 g
Arduino
Specifications
The Arduino Uno is a microcontroller board based on the Atmel's
ATmega328
It has 14 digital input/output pins (of which 6 can be used as PWM outputs)
and 6 analog inputs
The Arduino Uno can be powered via USB connection or with an external
power supply
It contains everything needed to support the microcontroller; simply connect
it to a computer with a USB cable (not included)
Arduino IDE supports Windows, Mac OS X or Linux.
Ultrasonic Sensor
Specifications
Working Voltage: 5V(DC)
Static Current: Less than 2mA
Output Signal: Electric frequency signal, high level 5V, low level 0V
Sensor Angle: Not more than 15 degrees
Detection Distance: 2 cm to 450 cm
High Precision: Up to 2mm
Input Trigger Signal: 10us TTL impulse
Echo Signal: Output TTL PWL signal
Note: The module has a blind spot of 2cm (very near)
So obstacle held too closely will not be detected.
Geared DC Motor
Specifications
10RPM,60RPM,100RPM,200RPM,300RPM,600RPM,900R High-Torque
DC Motor
Metal Gearbox and Gears
18000RPM base motor
BATTERY
Specifications
Current used is 7.5A.
voltage of the battery is 12v
MECHANICAL MODEL
Flow chat
ADVANTAGES
User Friendly
Helpful for the paralysis stroke people whodon't have much stamina in the
hands.
Reduces the human activity.
Reduces the physical strain.
Spontaneous output.
DISADVANTAGES
APPLICATIONS
School premises
Railway station platform
Hospitals
Domestic usage
University Complexes
CHAPTER 5
CHAPTER 6
CONCLUSION
This paper introduces a automated wheel chair for physically handicapped persons
for their independent movement. It will able to navigate in indoor and outdoor
environment. It is a reactive system and does not require mapping or planning.
FUTURE SCOPE
1. Since the vehicle can carry a weight of 30-50kg ,it is possible weight
bandwidth can be increased by using higher torque motors.
2. This can also be used for staircase climbing vehicle with an added capability
of tri-wheel system at the rear ends.
Dept of EEE,KLEIT Hubblli Page 27
MICROCONTROLLER BASED WHEELCHAIR ARRANGEMENT FOR DIFFERENTLY ABLED
APPENDIX
DATA SHEETS
a)Accelerometer
circuit connection
TECHNICAL SPECIFICATION
PPM Pulse Width 600 2400 usec For PPM signal interface
REFERENCES
1. S.P. Levine, D.A. Bell, L.A. Jaros, R.C. Simpson, Y. Koren & J. Borenstein,
1999 The NavChair assistive wheelchair navigation system, IEEE
Transactions on Rehabilitation Engineering ,7(4) pp.443-451.
2. K.H. Kim, H.K. Kim, J.S. Kim, W. Son & S.Y. Lee, 2006 A biosignal-based
human interface controlling a power-wheelchair for people with motor
disabilities, ETRI Journal ,28(1),111-114
4. Pei Jia, Huosheng H. Hu , Tao Lu & Kui Yuan ,2007, Head gesture
recognition for hands-free control of an intelligent wheelchair, Industrial
Robot: An International Journal ,34(1) , pp.60-68
7. K.H. Kim, H.K. Kim, J.S. Kim, W. Son & S.Y. Lee, 2006, "A biosignal-
based human interface controlling a power-wheelchair for people with motor
disabilities", ETRI Journal ,28(1),111-114