Wearable inertial sensor system for human motion analysis

CHAPTER 1: INTRODUCTION
Human motion analysis has a wide range of applications, including telemanipulator
control, athlete training, movie making, health status diagnosis and etc. Among these
applications, biomedical related area is the most prospective and promising application for
the coming aging era. As the age grows, especially after the age of 50, people are facing
various issues and challenges physically and mentally. Among those issues, health
problem acts the quality of daily living most and attracts significant attentions by society
in the past decades. These illnesses have a common point, which is the impact on motor
functions of aging people. Currently, patients are required to go to a lab or a clinic to have
their treatment. An experienced clinician provides appropriate therapy based on their in-
lab observations or subjective o -lab recall from patients themselves. As a matter of fact,
aging people spend a large amount of time at home or walking outside. The disease, such
as PD, varies in severity during a day according to patient's physical and mental status. As
a critical component of human motion analysis, a human motion tracking system with
wearable inertial sensors can be developed for providing unlimited monitoring of uses'
status and motions. Compared with visual motion tracking technique, wearable inertial-
based tracking fully satisfies the medical need of conveniently and continuously
monitoring a patient's motions in free-living environment: Non-intrusive inertial sensors
tracks human motions naturally and they are capable of providing long-term monitoring
of daily activities accurately Besides, human motion analysis can be applied for other
purposes, such as the human positioning . It e effectively enables continuous monitoring,
illness evaluation in one system and sends patient's information to the server. Care-givers
can either locally or remotely diagnose and follow-up the progression of patient's illness
conditions. Human motion analysis overcomes the restriction from current medical
facilities. By innovating means of timely monitoring and diagnosis, the accurate treatment
will be of great help in ameliorating the quality of elder people's life.

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 Wearable inertial sensor system for human motion analysis

Wireless body sensor network (BSN) has attracted increasing attentions due to its
appealing applications, Continuous monitoring by BSN provides information of patients,
which is critical to discover their health problem in time. Besides, it is able to track
motions and position of elders and quickly respond to potential emergencies they are
having. A BSN consists of wearable sensor platforms, such as physiological sensors
(electromyograph (EMG)) and bio-kinetic sensors (accelerometer, gyroscope). They can
be used to monitor the health status and recognize the actions of body segments. Among
these platforms, wireless inertial sensors, such as accelerometers, gyroscopes and
magnetometers, are small, easy to be set up and less cumbersome to the subject. They
release the limitation of wired body sensors in capturing motions. Their advantage of
wireless communication provides favorable opportunities for applying remote health
care.
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 Voice controlled wheel chair system

CHAPTER 2: LITERATURE SURVEY

• Independent mobility plays a vital role in building the foundation for much early learning
for young people. The lack of exploration and control often results into a cycle of
deprivation and lack of motivation that leads to learned helplessness. For aged people,
independent movement is an important aspect of selfesteem and plays a vital role in
“aging in place.” Mobility difficulties led to the problem of activities of daily living
(ADL) and instrumental ADL disabilities because of the need to move to accomplish
many of these activities.
• The impaired mobility often results in reduced opportunities to have socialized policies,
which leads to social isolation, and many mental problems. While the needs of many
individuals with disabilities can be satisfied with traditional manual or self-automated
wheelchairs, a segment of the disabled community finds it difficult or impossible to use
wheelchairs independently
• The disabled population includes people with low vision, visual field reduction, spasticity,
tremors, or cognitive deficits. These individuals dependent on other people for mobility to
push them in a manually handled wheelchair. To accommodate this population, several
researchers have used technologies originally developed for Power wheelchairs have been
designed of different ways, such as assuring collision free travel, aiding the performance
of specific tasks (e.g., passing through doorways), and autonomously transporting the user
between locations. The Idea of using voice based technology for controlling the motion of
the wheels of wheelchair is to prove that this project stands one step ahead of other
average projects.
• The use of this new technology in conjunction with a mechanical system in order to
simplify everyday life would spark interest in the developing modern society. Many
people with disabilities do not have the dexterity necessary to control a joystick on an
electrical wheelchair.

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 Wearable inertial sensor system for human motion analysis

2.1 Block Diagram:

Figure2.1:Block diagram

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CHAPTER3:SYSTEM REQUIREMENT SPECIFICATION

3.1 HARDWARE REQUIREMENTS

3.1.1 Inertial sensors can measure rigid kinematic motions, such as acceleration by
accelerometers, angular velocity by gyroscopes and magnetic field intensity by magnetometers. A
IMU is developed in our lab and introduced in the work of Hu et al. (2010).It contains an
integrated 6-axis motion tracking chip (InvenSense MPU-6000) which combines a 3-axis
gyroscope, 3-axis accelerometer and a Digital Motion Processor. It also contains a 3-axis
magnetometer (Honeywell HMC5843) and an embedded ARM-based processor (STM32F103)
for computations. The sample rate for all the inertial sensors are 60 Hz and the interface between
sensors and a computer is via Bluetooth. A micro-SD slot is optional to install on the board, so
that if necessary the inertial data can be stored in the micro-SD when the communication is
unavailable. The quaternion representation is outputted from the algorithm to describe the 3-
dimension rotations of a joint.

Figure3.1:Aurdino UNO board

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 Voice controlled wheel chair system

Figure3.2:Pin diagram of ATMEGA328

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Table 3.1:Pin Description of ATMEGA328

3.1.2 HC-05 BLUETOOTH MODULE

HC‐05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module,designed for
transparent wireless serial connection setup.The HC-05 Bluetooth Module can be used in a
Master or Slave configuration, making it a great solution for wireless communication.This serial
port bluetooth module is fully qualified Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps
Modulation with complete 2.4GHz radio transceiver and baseband. It uses CSR Bluecore 04‐
External single chip Bluetooth system with CMOS technology and with AFH (Adaptive
Frequency Hopping Feature).

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 Voice controlled wheel chair system

The Bluetooth module HC-05 is a MASTER/SLAVE module.By default the factory setting is
SLAVE.The Role of the module (Master or Slave) can be configured only by AT
COMMANDS.The slave modules cannot initiate a connection to another Bluetooth device, but
can accept connections.Master module can initiate a connection to other devices.The user can use
it simply for a serial port replacement to establish connection between MCU and GPS, PC to
your embedded project, etc. Bluetooth Device is main component when connection of the
wheelchair and android phone is to be made. The Bluetooth device provides the security to the
wheelchair as only one device is connected at a time. Frequency is of 2.4GHz.It is highly cost
effective. Used for serial communication between android device and the wheelchair.

figure 3.3: HC-05 Sensor

3.1.3 ULTRASONIC SENOR

The HC-SR04 Ultrasonic (US) sensor is a 4 pin module, whose pin names are Vcc, Trigger,
Echo and Ground respectively. This sensor is a very popular sensor used in many applications
where measuring distance or sensing objects are required. The module has two eyes like projects
in the front which forms the Ultrasonic transmitter and Receiver. The sensor works with the
simple high school formula that

Distance = Speed × Time

The Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in air and when it gets
objected by any material it gets reflected back toward the sensor this reflected wave is observed
by the Ultrasonic receiver module

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 Voice controlled wheel chair system

Figure 3.4:ultrasonic sensor

Pin Pin Description

Number Name

1 Vcc The Vcc pin powers the sensor, typically with +5V

2 Trigger Trigger pin is an Input pin. This pin has to be kept high for 10us to
initialize measurement by sending US wave.

3 Echo Echo pin is an Output pin. This pin goes high for a period of time
which will be equal to the time taken for the US wave to return back
to the sensor.

4 Ground This pin is connected to the Ground of the system.

Table 3.2: Pin description of ultrasonic sensor

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Specifications

 Theoretical Measuring Distance: 2cm to 450cm

 Operating voltage :+5v
 Practical Measuring Distance: 2cm to 80cm
 Accuracy: 3mm
 Measuring angle covered: <15°
 Operating Current: <15mA
 Operating Frequency: 40H

3.1.4 WHEEL CHAIR BATTERY

The battery is used in this work is wet type. To create electrical energy the chemical reaction
between lead and sulphuric acid which is use wet batteries. There is need filling with distilled
water to the batteries, wheelchair battery do have a higher maintenance rate, but are lighter than
AGM (Absorbed Glass Mat) or Gel batteries.

3.1.5 WHEELS

Wheelchair has two rear wheels. Universal wheel is fixated in wheelchair base in front both
wheels have the same diameter. The two rear wheels are drive using two DC motor connected to
each wheel. The instructions are passed through micro-controller to the motor, the wheels rotated
in the specific direction.

3.1.6 MOTOR SHIELD

Motors are arguably one of the most important parts of a mobile robotics platform. Overpowered
motors cause waste the already limited supply of power and inefficiency from the on-board
batteries. At critical times undersized motors could be short on torque. The available speed range
as well as the optimal rotation speed of the motor must also be taken into consideration. Too high
of an output rpm from the motor shaft will cause the robot to operate at a fast, uncontrollable
speed. Too low of an output and the robot will not be able to attain a speed and the available
speed range of the motor must also be considered. Too high of an output rpm from the motor

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shaft will cause the robot to operate at a fast, uncontrollable speed. To meet the user‟s needs it is
low of an output and the robot will not be able to attain a suitable speed. The torque is the output
of the motor plays a role in the performance because locomotion may not occur in certain
situations .Therefore, the selection of the proper motor for the platform is very important. There
is many shapes and sizes of motors. The 12VDC motor is connected to the wheels and driver of
the microcontroller Atmega328. One Driver is sufficient to control two motors simultaneously.

It is an interface between the DC motor and the microcontroller Atmega328. The commands are
processed further to Atmega 328 towards driver and executed by DC motor to rotate the wheels
in specific direction or to stop.

Figure 3.5:Motor shield

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3.1.7 WHEEL CHAIR CHASSIS

Figure 3.6: wheel chair chassis

3.2 SOFTWARE REQUIREMENT

 Arduino IDE.
 Android Application.
 Coding language: Arduino programming (java & C++).

ANDROID APPLICATION

The above figure is the screenshot of the application to recognize the voice and control the wheel
chair using voice commands. User first connects the mobile with the Bluetooth module of the
wheel chair. Then, the user can control the wheelchair with the help of various voice commands
like Go-ahead, Go-back, Turn-right, Turn-left and Stop.

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Figure 3.7:AMR_voice

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CHAPTER 4: IMPLEMENTATION

We have two parts in our project. i) Wheel chair using user‟s voice and
ii) Wheel chair using android app.

Figure 4.1:Flow chart of user voice command

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Figure 4.2: flow chart for GUI command

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The first flowchart shows the functioning of the wheel chair using voice commands. Firstly the
user voice application is connected with the wheelchair Bluetooth device. Then user is supposed
to speak specific commands through the application .Then using the Google voice service the
word is checked and converted to text. The text format it processed further to controller, it checks
for the valid input and then gives specific instruction to the motor drivers for Its movement
towards left, right, straight, backward otherwise stop.

The second part of our project where the user will use android device with the GUI app for
sending command by clicking on the specific button and the wheelchair will behave accordingly
as per the command. The commands will produce the movement of wheelchair .The Wi-Fi or
internet connection is must part in this module. Micro- controller checks for the valid input and
then gives specific instruction to the motor drivers for its movement towards left, right, straight,
backward otherwise stop.

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 Voice controlled wheel chair system

CHAPTER 5 : TESTING
The project was tested for the movement of the wheel chair using trained voice after the design
and development of the self-automated wheel chair with its various interfacing units.
• On the basis of two important aspects, firstly, on the accuracy of the voice system and
secondly, wheelchair velocity by means of control commands this design is experimented. This
would be implemented for disabled people. Firstly the voice recognition system will be tested in
a quiet room with only one single user. Every word was correctly recognized.
• For a next time we will test it with a different user on whom the system was not trained .For
example words like “right” were recognized as “write” in this way about 5% errors occurred in
this case.
• This was because the recognizer heard a different pronunciation. However, after the user had to
speak the word a number of times the system had enough examples and properly determined
what pronunciation the user speak of the word.
• After this system was tested in a noisy room by turning on some music in that room. There was
no problem in correctly recognizing the words when the music was light but the recognizer found
it difficult to recognize the users voice when we turned the volume high and often took
commands from what it heard in the song.

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 Voice controlled wheel chair system

CHAPTER 6: ADVANTAGES AND APPLICATIONS

6.1 ADVANTAGES

 It is very economical and easy to handle by the user.

 It is helpful to disabled people.
 It is very easy to install in houses ,offices , etc.
 It reduces manpower and user friendly.

6.2 DISADVANTAGES

• It causes problem during noisy environment.

6.3 APPLICATIONS

• Hospitals,home.
• Can be operated by the handicapped person itself.
• Obstacles in the way of wheelchair are detected and avoided using IR sensors.

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FUTURE SCOPE

• Voice recognition module is used to develop the voice recognition system. Voice
recognition issues a Command to control the movement of wheelchair. For movement of
wheelchair Microcontroller Atmega328 and DC motor circuit were built. For not to occur
disorder during recognize the user voice, this system works in a quiet environment.
Furthermore, the pronunciations accuracy must be ensured and the word-related (voice)
the users voice must clear in short distance on microphone was essential in this
innovation.
• Using gear box we can produce high speed moving wheelchair.
• PWM modulation can also increase speed.
• Solar Panel can also be used to charge the battery for power supply to the components
required to drive the wheelchair.
• The wheelchair can also include the gesture feature to operate the wheelchair.
• Wheelchair only can function properly when the weight of the load for this system must
be below 50 kilogram. Obstacle avoidance sensors are used.

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• Chin-Tuan Tan and Brian C. J. Moore, Perception of nonlinear distortion by hearing-

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Tunisian-German Conference on: Smart Systems and Devices, 2001.
• Mohammad Ilyas Malik et al, International Journal of Computer Science and Mobile
Computing, Vol.6 Issue.6, June- 2017, pg. 411-419 .
• M. Higgins and V. Pant, Biomimetic VLSI sensor for visual tracking of small moving
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• F. Daerden and D. Lefeber, The concept and design of pleated pneumatic artificial
muscles. International Journal of Fluid Power, vol. 2, no. 3, 2001, pp. 41–45.
• K. R. Castle man, Digital Image Processing, Pearson Education, 1996.
• M. A. Maziddi, AVR micro controller and Embedded Systems.
• N. Otsu. A threshold selection method from gray-level histogram, IEEE Trans. System,
Man, and Cybernetic. vol. 9, no.1, pp. 62-66, 1979 .

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