HEAD MOTION CONTROLLED

WHEEL CHAIR

3/14/17 1
 CONTENTS
OBJECTIVES
INTRODUCTION
EXISTING SYSTEMS
PROPOSED SYSTEM
BLOCK DIAGRAM
BLOCK DIAGRAM EXPLANATION
IMPLEMENTATION PLATFORM
ADVANTAGES
APPLICATIONS
RESULTS
CONCLUSION
REFERENCES
3/14/17 2
 OBJECTIVES
To help the quadriplegic patients to move
independently from one place to another with the help
of wheelchair by tilt movement of their head.
To alert family members in time of emergencies.

Avoiding obstacles like edges or staircase.

3/14/17 3
 INTRODUCTION

Quadriplegics are persons who are not able to move

any of the body parts.

This may be due to age, stroke, arthritis, high blood

pressure, paralysis and birth defects.

The patients with such disabilities are not able to

perform their everyday actions such as feeding,
toilette usage and movement through space.

3/14/17 4
 EXISTING SYSTEMS
1. EYE MOVEMENT
BASED WHEEL CHAIR

Eye ball is sensed.

DISADVANTAGES

100% efficiency cannot be

provided in dim
environment. Figure1: Eye movement tracking by
Itching or irritations. camera

3/14/17 5
2. TONGUE CONTROLLED
WHEEL CHAIR
Tongue is used as the medium.

DISADVANTAGES
Tongue needs to be pierced.

Users should avoid inserting

Ferro magnetic objects into their
mouth.

Magnetic tracer should be

removed if the user is undergoing Figure 2:Tongue Drive System
MRI.

6
3. VOICE RECOGNITION
SYSTEM
Controlled by human voice.

DISADVANTAGES
5% error.
Individual needs to be trained.
Dumps cannot use.
Not suitable in noisy
environment.

Figure3: Voice Recognizing System

3/14/17 7
4. BRAIN CONTROLLED
WHEELCHAIR

Brain controls the

mechanical device.

DISADVANTAGES

Brain impulse varies from

person to person.
Figure4: Brain Controlled Wheelchair

3/14/17 8
 PROPOSED SYSTEM
Proposes a system in which the wheelchair move towards left,
right, forward and backward direction with respect to the
motion of head.

3/14/17 9
 BLOCK DIAGRAM

Accelerometer Mechanical
Accelerometer
(attached to the head Microcontroller Mechanical Wheelchair
of the patient)
(attached to the head Microcontroller actuator Wheelchair
of the patient)
actuator

( To microcontroller and other chipsets) ( To motor control unit and motors)

Obstacle
Obstacle
Sensor
Sensor

Regulated
Regulated Power
Power Power
Power Supply 12V
Supply 5V. Supply 12V
Supply 5V.
Figure 5 : Block Diagram
10
BLOCK DIAGRAM EXPLANATION
1) ACCELEROMETER

Figure 6: Accelerometer
) An accelerometer is needed to sense the head motion.
) 2 axis sensing (+x, -x, +y and y axis).
) X axis for left and right motion.
) Y axis for forward and backward motions.
) Right and forward are the positive motions.
3/14/17 11
 Figure7: Internal block diagram

3/14/17 12
 3 axis sensing is possible.

Z axis can be combined with both Phase sensitive modulation

of the tilting axis to improve techniques are used to determine
angle/ tilt sense precision and the magnitude and direction of
accuracy. acceleration.

The output signals are analog The demodulated output is

voltages. amplified and brought through a
resistor of 32Kohms.
The analog output is signal
conditioned and given to ac This filtering improves
amplifier. measurement resolution and helps
prevent aliasing.

3/14/17 13
2) MICRO CONTROLLER (ATmega8)

FEATURES
8 bit RISC architecture.
131 instructions.
20 MIPS.
Low power consumption.
1KB EEPROM.
2KB SRAM.
1.8-5.5V.
0-20MHz.
Figure8:ATmega328

3/14/17 14
3) MECHANICAL ACTUATOR
DC MOTOR
An electric motor is a machine
which converts electrical energy to
mechanical energy

It is based on the principle of

Flemings Left Hand Rule.

When it is supplied by an electric

current, it develops a torque which
in turn produces mechanical
rotation.
Figure9: DC Motor
Direction of rotation changed by
changing the direction of current.
3/14/17 15
 Pins 1 and 9 are the enable pins.

Pins 1 and 9 need to be high for

driving the motor.

Pins 2 and 7 are the inputs for left

motor.

Pins 10 and 15 are the inputs for right

motor.

Left motor connected to output pins 3

and 6 , and right motor to output pins
11 and 14. Figure 10: Pin diagram of L293D

3/14/17 16
 PIN 2/10 PIN 7/15 DIRECTION

LOGIC 1 LOGIC 0 CLOCKWISE

LOGIC 0 LOGIC 1 ANTICLOCKWISE

LOGIC 1 LOGIC 1 IDLE

LOGIC 0 LOGIC 0 IDLE

Figure11: L293D Logic table for left and right motor

3/14/17 17
4) GSM
Wireless MODEM device.

It requires a SIM(Subscriber
Identity Module) card to activate
communication with the network.

Interfacing between
microcontroller and GSM modem
is possible by using RS232 serial
port.

AT commands are sent to interact

microcontroller / processor with
GSM network. Figure12: Block Diagram

3/14/17 18
 GSM operates in either 900MHz
or 1800MHz.

ARFCN is the unique number

given to each radio channel in
GSM.

Within GSM900 band ARFCN 1 Each of these carrier frequency is

to 124 is used. further divided in time using
TDMA into 8 time slots.
Both TDMA and FDMA are used.

In FDMA the total 25MHz

bandwidth is divided into 124
carrier frequencies of 200KHz
bandwidth.

3/14/17 19
5) OBSTACLE SENSOR

Obstacle sensor is used to stop the

wheelchair, incase of any
obstacle.

IR beams are produced from the

obstacle sensor.

It is placed at the bottom of the

wheelchair.

Intensity of reflected beam is

proportional to distance. Figure 13Obstacle sensor placed in
wheelchair

3/14/17 20
6) PULSE-OXIMETER
The sensor unit consists of IR led
and photodiode.

Finger tip placed over the sensor

assembly.

The IR led transmits light into

finger tip.

The photodiode senses the portion

of light reflected back.

The intensity of reflected light

Figure14: Pulse-oximeter placed at finger tip
depends on the blood volume
inside the finger tip.
3/14/17 21
 CIRCUIT DIAGRAM

Figure15: Circuit diagram

3/14/17 22
1) FLOWCHART FOR ACCELEROMETER AND
MOTOR

Start

Read the voltages on x and y

axis

If Vx > Yes
2.5V Move forward

No
If Vx < Yes
2.5V Move backward

3/14/17 23
 No

If Vy > Yes
2.5V Move right

No
Yes
If Vy<
Move left
2.5V

No
If Yes
Stop the
Vx=Vy=
wheelchair
2.5V

Stop

3/14/17 24
3)FLOWCHART FOR COLLISION DETECTION

Start

If
obstacle is Yes Stop the
detected wheelchair

No

3/14/17 25
IMPLEMENTATION PLATFORM

HARDWARE REQUIREMENTS:
ATmega8 microcontroller.
Accelerometer.
Mechanical Actuator.
Obstacle sensor.
SOFTWARE REQUIREMENTS:
Embedded C programming.

3/14/17 26
 ADVANTAGES
Enable young disabled children and their families to enjoy
ordinary lives.

Increase the number of disabled people in employment.

3/14/17 27
 APPLICATIONS
This automated wheelchair is valuable for the people who
could not move independently like:
1. Amputees - missing legs and/or arms.
2. People with weak or no upper body movement.
3. Paralyzed children.

3/14/17 28
 CONCLUSION
Automated wheelchair can be used to help handicapped people, especially
those who are not able to move.

The intelligent wheelchair helps the severely disabled people to lead their
life in an uncomplicated way.

The low cost of the assembly of this intelligent robotic wheelchair is really
a boon for the general public.

3/14/17 29
 REFERENCES
[1] Aleksandar Pajkanovic, Branko Dokic: Wheelchair Control by Head Motion, Serbian Journal
of Electrical Engineering ,Vol. 10, No. 1, February 2013, 135-151.

[2] S.P. Levine, D.A. Bell, L.A. Jaros, R.C. Simpson, Y. Koren & J. Borenstein: The NavChair
assistive wheelchair navigation system, IEEE Transactions on Rehabilitation Engineering,
7(4) pp.443-451,2008

[3] Manju Davy, R.Deepa : Hardware Implementation Based On Head Movement Using
Accelerometer Sensor , Int. Journal of Applied Sciences and Engineering Research, Vol. 3, Issue 1,
2014.

[4] Preeti Srivastava, Dr.S. Chatterjee, Ritula Thakur: A Novel Head Gesture Recognition Based
Control for Intelligent Wheelchairs , International Journal of Research in Electrical & Electronics
Engineering Volume 2, Issue 2, April-June, 2014, pp. 10-17

[5] S.Shaheen & A.Umamakeswari: Intelligent Wheelchair For People With Disabilities,
International Journal of Engineering and Technology (IJET), 5(1), pp.391-397,2013.

3/14/17 30
.