TONGUE MOTION CONTROLLED WHEEL CHAIR

MINI PROJECT REPORT

Submitted by
AMIT PHILIP
JAMES SABY
KISHOR S. BABU
MAAHIR MEHABOOB CHAKKARATHODI
PRAVEEN P. AUGUSTINE

in partial fulfilment for the award of the degree
of
Bachelor of Technology
in
ELECTRONICS AND COMMUNICATION ENGINEERING
of
COCHIN UNIVERSITY OF SCIENCE AND TECHNOLOGY


DEPARTMENT OF ELECTRONICS ENGINEERING
MODEL ENGINEERING COLLEGE
COCHIN 682 021
APRIL 2012



MODEL ENGINEERING COLLEGE
THRIKKAKARA, KOCHI21
DEPARTMENT OF ELECTRONICS ENGINEERING
COCHIN UNIVERSITY OF SCIENCE AND TECHNOLOGY

BONAFI DE CERTI FI CATE

This is to certify that the mini project report entitled

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Submitted by

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

is a bonafide account of the work done by him/her under our
supervision



Dr. Mini M.G Mr. Arun C.R. Mrs. Tushara H.P.

Head of Project Coordinator Project Guide
Department
i

ACKNOWLEDGEMENT

This project would remain incomplete if the mention of gratitude to
the following people were forgotten, whose aspirations, suggestions,
guidance and encouragement were priceless for the success of this
project.
First and foremost, we would like to express our heartfelt thanks to
our principal Prof. Dr. T.K. Mani who is the leading light of our
institution. We would also like to thank Dr. Mini M.G, Head of the
Department, Electronics & Communication Engineering; Project
Coordinator Mr. Arun C.R and Project guide Mrs. Tushara H.P, for
their valuable guidance, ideas and support towards the project from the
beginning to the end and acknowledge the technical assistance given to us
by Mr. Shalumon P.S, Mrs. Suma, Mrs. Geetha and other lab
technicians for the project.
Above all, we thank Lord Almighty for providing us with the
courage and confidence to take up this project.



ii

ABSTRACT
Tongue Drive System (TDS) is a tongue-operated
unobtrusive assistive technology, which
can potentially provide people with severe disabilities
with effective computer access and environment control.
Alternative and effective methods for controlling powered wheelchairs
are important to such individuals with tetraplegia and similar
impairments whom are unable to use the standard joystick. This project
describes a system where tongue movements are used to control a model
of a powered wheelchair thus providing users, with high level spinal cord
injuries, full control of their wheelchair.
It translates users intentions into control commands by detecting
and classifying their voluntary tongue motion utilizing a small
permanent magnet, secured on the tongue, and an array of
magnetic sensors mounted on a headset outside the mouth. The
magnetic sensors are nothing but hall-effect sensors. A Hall Effect sensor
is a transducer that varies its output voltage in response to changes in
magnetic field. The control system consists of Hall Effect sensor and
microcontroller. Microcontroller collects data from the sensor and
Microcontroller makes to move the motors of the wheel chair in
appropriate direction.
iii

TABLE OF CONTENTS

CONTENTS Page No.

1. ACKNOWLEDGEMENT i

2. ABSTRACT ii

3. INTRODUCTION 1

4. TONGUE DRIVE SYSTEM 4

5. HALL EFFECT 6

6. HALL EFFECT SENSORS 8

7. BLOCK DIAGRAM 9

8. BLOCK DIAGRAM DESCRIPTION 10

9. CIRCUIT DIAGRAM 12

10. CIRCUIT DIAGRAM DESCRIPTION 13

11. PCB LAYOUT 14

12. PCB FABRICATION 15

13. SOLDERING AND DESOLDERING 17

14. DEVELOPMENT TOOLS 19

15. PROGRAM 20

16. SYSTEM PERFORMANCE RESULT 22

17. COMPONENT LIST AND PRICE 23

18. CONCLUSION AND FUTURE SCOPE 24

REFERENCES

APPENDIX
iv

LIST OF FIGURES


Figure No.
Description Page No.
Figure 5.1 Block Diagram - Tongue controlled system 9
Figure 7.1 Circuit Diagram - Tongue controlled system 12
Figure 9.1 PCB Layout - Tongue controlled system 14


Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 1

Chapter 1
INTRODUCTION

1.1 Overview
Assistive technologies are critical for people with severe disabilities to lead a
self-supportive independent life. Persons severely disabled as a result of causes
ranging from traumatic brain and spinal cord injuries to stroke generally find it
extremely difficult to carry out everyday tasks without continuous help. Assistive
technologies that would help them communicate their intentions and effectively
control their environment, especially to operate a computer, would greatly improve
the quality of life for this group of people and may even help them to be employed.

A large group of assistive technology devices are available that are controlled
by switches. The switch integrated hand splint, blow-n-suck (sip-n-puff) device, chin
control system, and electromyography (EMG) switch are all switch based systems and
provide the user with limited degrees of freedom. A group of head-mounted assistive
devices has been developed that emulate a computer mouse with head movements.
Cursor movements in these devices are controlled by tracking an infrared beam
emitted or reflected from a transmitter or reflector attached to the users glasses, cap,
or headband. Tilt sensors and video-based computer interfaces that can track a facial
feature have also been implemented. One limitation of these devices is that only those
people whose head movement is not inhibited may avail of the technology. Another
limitation is that users head should always be in positions within the range of the
device sensors. For example the controller may not be accessible when the user is
lying in bed or not sitting in front of a computer.

Another category of computer access systems operate by tracking eye
movements from corneal reflections and pupil position. Electro-oculographic (EOG)
potential measurements have also been used for detecting the eye movements.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 2

A major limitation of these devices is that they affect the users eyesight by
requiring extra eye movements that can interfere with users normal visual activities
such as reading, writing, and watching. The needs of persons with severe motor
disabilities who cannot benefit from mechanical movements of any body organs
are addressed by utilizing electric signals originated from brain waves or muscle
twitches. Such brain computer interfaces, either invasive, or non-invasive have been
the subject of major research activities. Brain Gate is an example of an invasive
technology using intracortical electrodes, while Cyberlink is a non-invasive interface
using electrodes attached to the forehead. These technologies heavily rely on signal
processing and complex computational algorithms, which can results in delays or
significant costs. Think-a-Move Inner voice is yet another interface technology
platform that banks on the capabilities of the ear as an output device. A small earpiece
picks up changes in air pressure in the ear canal caused by tongue movements, speech,
or thoughts.

Up until now, very few assistive technologies have made a successful
transition outside research and widely utilized by severely disabled. Many technical
and psychophysical factors affect the acceptance rate of an assistive technology.
Among the most important factors are the ease of usage and convenience in control.
Operating the Device assistive device must be easy to learn and require minimum
effort on the users' part. Finally, a factor that is often neglected is that the device
should be cosmetically acceptable. The last thing a disabled person wants is to look
different from an intact person.

1.2 Use of tongue for manipulation
Since the tongue and the mouth occupy an amount of sensory and motor
cortex that rivals that of the fingers and a dental retainer and attached on the outside
of the teeth to the hand, they are inherently capable of sophisticated motor measure
the magnetic field from different angles and provide control and manipulation tasks.
This is evident in their usefulness in vocalization and ingestion.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 3

The tongue is connected to the brain by the cranial nerve, which generally
escapes severe damage in spinal cord injuries. It is also the last to be affected in most
neuromuscular disorders. The tongue can move very fast and accurately within the
mouth cavity. It is thus a suitable organ for manipulating assistive devices. The
tongue muscle is similar to the heart muscle in that it does not fatigue easily.
Therefore, a tongue operated device has a very low rate perceived exertion.

An oral device involving the tongue is mostly hidden from sight, thus it is
cosmetically inconspicuous and offers a degree of privacy for the user. The tongue
muscle is not afflicted by repetitive motion disorders that can arise when a few
exoskeletal muscles and tendons are regularly used. The tongue is not influenced by
the position of the rest of body, which may be adjusted for maximum user comfort.
The tongue can function during random or involuntary neurological activities such as
muscular spasms. Also non-invasive access to the tongue movements is possible.

The above reasons have resulted in development of tongue operated assistive
devices such as the TongueTouch Keypad (TTK), which is a switch based device.
Tongue-mouse is another device that has an array of piezoelectric ceramic sensors,
which elements can strength and position of a touch by the tongue. The sensor module
is fitted within the oral cavity as a dental plate. Tonguepoint is another tongue
operated device that adapts the IBM Trackpoint pressure sensitive isometric joystick
for use inside the mouth. The latter two devices have fairly large protruding objects
inside the mouth, which can cause inconvenience during speaking or eating.







Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 4

Chapter 2
TONGUE DRIVE SYSTEM

2.1 Overview
In the Tongue Drive system, the motion of the tongue is traced by an array of
Hall-effect magnetic sensors, which measure the magnetic field generated by a small
permanent magnet that is contained within a nonmagnetic fixture and pierced on the
tongue. The magnetic sensors are mounted on a dental retainer and attached on the
outside of the teeth to measure the magnetic field from different angles and provide
continuous real-time analog outputs. In this project, we have made use of four Hall
Effect sensors, each of which are used for the movement of the wheel chair in
different directions. The four Hall Effect sensors are placed on the dental retainer. The
output of the first sensor (from the left) assists the forward motion. The outputs of the
second and third sensors are used for turning left and turning right respectively. The
output of the fourth sensor helps in backward motion.

2.2 Advantages
The signals from the magnetic sensors are linear functions the magnetic field,
which is a continuous position dependent property. Thus a few sensors are able to
capture a wide variety of tongue movements. This would provide a tremendous
advantage over switch based devices in that the user has the options of proportional,
fuzzy, or adaptive control over the environment. These would offer smoother, faster,
and more natural controls as the user is saved the trouble of multiple on/off switch
operations. Alternative assistive technologies that emulate a computer mouse use an
additional input device such as a switch for the mouse button clicks besides the
primary method for moving the pointer. In the Tongue Drive system on the other
hand, the additional switches are unnecessary since a specific tongue movement can
be assigned to the button press.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 5

The permanent magnet which generates the magnetic field is a small, passive,
and inherently wireless component leading to user convenience and additional power
saving. The mouthpiece electronics can be integrated on an application specific
integrated circuit (ASIC). The ASIC along with the transmitter antenna can be
incorporated into a miniaturized package that may be fitted under the tongue as part of
the dental retainer. Due to the proximity of the magnet and Hall-effect sensors in the
oral cavity, the Tongue Drive system is expected to be more robust against noise,
interference, and involuntary movements compared to alternative technologies. Many
aspects of the system can be customized and fine-tuned through software for a
particular individual's oral anatomy, requirements, and disabilities. Therefore, the
Tongue Drive system can serve as a platform to address a variety of needs of different
individuals.














Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 6

Chapter 3
HALL EFFECT
3.1 Introduction
The Hall-Effect principle is named for physicist Edwin Hall. In 1879 he
discovered that when a conductor or semiconductor with current flowing in one
direction was introduced perpendicular to a magnetic field a voltage could be
measured at right angles to the current path.
The Hall voltage can be calculated fromV
Hall
= B where:
V
Hall
= emf in volts
= sensitivity in Volts/Gauss
B = applied field in Gauss
I = bias current
3.2 Hall Effect Senor IC Categories
Bipolar Hall Switch
Unipolar Hall Switch
Latch Hall Sensor IC
Ratiometric linear hall Effect IC
3.3 Advantages over other methods
Hall Effect devices when appropriately packaged are immune to dust, dirt,
mud, and water. These characteristics make Hall Effect devices better for position
sensing than alternative means such as optical and electromechanical sensing.
When electrons flow through a conductor, a magnetic field is produced. Thus,
it is possible to create a non-contacting current sensor. The device has three terminals.
A sensor voltage is applied across two terminals and the third provides a voltage
proportional to the current being sensed. This has several advantages; no additional
resistance (a shunt, required for the most common current sensing method) need be
inserted in the primary circuit. Also, the voltage present on the line to be sensed is not
transmitted to the sensor, which enhances the safety of measuring equipment.
Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 7

3.4 Disadvantages compared with other methods
Magnetic flux from the surroundings (such as other wires) may diminish or
enhance the field the Hall probe intends to detect, rendering the results inaccurate.
Also, as Hall voltage is often on the order of millivolts, the output from this type of
sensor cannot be used to directly drive actuators but instead must be amplified by a
transistor-based circuit.
3.5 Hall Effect in Semiconductors
When a current-carrying semiconductor is kept in a magnetic field, the charge
carriers of the semiconductor experience a force in a direction perpendicular to both
the magnetic field and the current. At equilibrium, a voltage appears at the
semiconductor edges.
The simple formula for the Hall coefficient given above becomes more
complex in semiconductors where the carriers are generally both electrons and holes
which may be present in different concentrations and have different mobilities. For
moderate magnetic fields the Hall coefficient is

where is the electron concentration, the hole concentration, the electron
mobility, the hole mobility and the absolute value of the electronic charge.
For large applied fields the simpler expression analogous to that for a single carrier
type holds.

with


Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 8

Chapter 4
HALL EFFECT SENSORS
4.1 Introduction
The Hall Effect sensor used in this project is MH 183. MH 183 is a unipolar
Hall Effect sensor IC. It incorporates advanced chopper stabilization technology to
provide accurate and stable magnetic switch points. The design, specifications and
performance have been optimized for applications of solid state switches. The output
transistor will be switched on (BOP) in the presence of a sufficiently strong South
Pole magnetic field facing the marked side of the package. Similarly, the output will
be switched off (BRP) in the presence of a weaker South field and remain off with 0
field. The package type is in a lead (Pb)-free version was verified by third party
organization.

4.2 Features and Benefits
CMOS Hall IC Technology
Solid-State Reliability
Chopper stabilized amplifier stage
Unipolar, output switches with absolute value of South pole from magnet
Operation down to 2.5V
High Sensitivity for direct reed switch replacement applications
Small Size in To 92S or Sot 23 package.
100% tested at 125 for K Spec.
Custom sensitivity / Temperature selection are available.

4.3 Applications
Solid state switch
Limit switch
Current limit
Interrupter
Current sensing
Magnet proximity sensor for reed switch replacement
Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 9

Chapter 5
BLOCK DIAGRAM




Figure: 5.1: Block Diagram of Tongue Motion Controlled Wheel Chair




Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 10

Chapter 6
BLOCK DIAGRAM DESCRIPTION

6.1 Microcontroller
The central element of the system is the PIC16F877A 8-bit microcontroller. It
continuously takes in information from the Hall-effect sensors to make decisions on
driving the DC motors.

6.2 Hall-Effect Sensors
The Hall-effect sensors, mounted on the tongue piece, communicate to the
microcontroller when they are driven low, indicating the direction of the wheelchair.
Depending on which sensor is driven low, the microcontroller determines the
direction of motion of the wheelchair. The microcontroller continuously monitors the
output of all the four Hall-effect sensors.

6.3 Crystal Oscillator
A 12MHz crystal is used as clock source for the microcontroller with its necessary
filter capacitors.

6.4 DC Motor Driver
The output of microcontrollers is given to the inputs of motor driver L293D. It is a
monolithic integrated high voltage, high current four channel driver designed to
accept TTL logic levels and drive inductive loads. A single DIP package can drive
two DC motors.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 11


6.5 DC Motors
Two 12V/60rpm DC motors are used to drive the wheelchair. The necessary power
required is provided through the motor driver IC. The driver also controls the
direction of rotation.

6.6 Power Supply
We are using a 12V battery as the power source and it is given to the motor driver IC
directly for the motors. It is also regulated to 5V using a voltage regulator IC 7805 and
is given as the supply for the microcontroller and the sensors.














Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 12

Chapter 7
CIRCUIT DIAGRAM




Figure 7.1: Circuit Diagram of Tongue Motion Controlled Wheel Chair




Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 13

Chapter 8
CIRCUIT DIAGRAM DESCRIPTION

In this circuit, four Hall-effect sensors are used to detect the tongue motion of
the user. A small permanent magnet, secured on the tongue, and an array of Hall-
effect sensors are mounted on a headset outside the mouth. The output of
all t he sensors remains high unless a magnetic field of sufficient strength
is detected. The output of each of the sensor are connected to pins RA0,
RA1, RA2, RA3 of Port A and these pins are configured as input pins. The
microcontroller cont inuously monitors the outputs of these sensors. When
any of t he sensor output is driven low, microcontroller provides its
corresponding output signals to the motor drivers input pins. Pins RD4,
RD5, RD6 and RD7 of Port D are configured as the output pins. These
pins are connected to corresponding input pins of the motor driver.
A crystal oscillator of 12MHz is used as the clock source of the
microcontroller. MCLR pin of the microcontroller is pulled up to +5V
through a 10K resistor. A reset switch is provided to reset the controller
whenever necessary. A protection diode is also provided. A 5pin
connector compat ible wit h pickit2 programmer is also provided for in-
circuit programming while test ing and debugging the circuit. A 12V battery
as the power source and it is given to the motor driver IC directly for the motors. It is
also regulated to 5V using a voltage regulator IC 7805 and is given as the supply for
the microcontroller and the sensors. Motor driver IC used is L293D. It is a monolithic
integrated high voltage, high current four channel driver designed to accept TTL logic
levels and drive inductive loads.
A single DIP package can drive two DC motors. Connecting the pulse width
modulated output to its enable can be used to control the speed of the motors. Two
12V/60rpm motors have been used. Led indicators are provided at the regulated
output of 7805 and at the sensors outputs.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 14

Chapter 9
PCB LAYOUT




Figure 9.1: PCB Layout of Tongue Motion Controlled Wheel Chair




Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 15

Chapter 10
PCB FABRICATION

The materials required for PCB fabrication are copper clad, ferric chloride
solution, paint and drilling machine.
The PCB fabrication involves the following steps:

1. Preparation of the PCB Layout
First the circuit is drawn using Express schematic and PCB layout is prepared
using PAD 2 PAD as explained in the layout making procedure. The mirrored
image of layout of bottom layer PAD 2 PAD software is printed on an A4 size
translucent tracing sheet or butter paper. Using this, the thin film can be made
and is exposed to the UV.

2. Film Preparations
In this process, the negative of the plate is made into photographic film. For
this the printed image of the layout in the butter paper is placed over the film
and is exposed to UV rays from the top so that the film will be exposed to the
UV rays from the top so that the film will be exposed to the UV rays in the
region other than the layout. The developer solution then the reaction will take
place, then the region not exposed by UV rays will become transparent and the
other regions are dark in color. Thus the negative is produced. Then the film is
washed in fixing solutions. After that the solution is kept for drying.

3. Transferring the layout to copper clad sheet
Traditional Toner Transfer Method is used here. Here we make use of an
ironer to copy the impression of the layout into the copper clad. First the thin
film is kept over the copper clad such that the impression of the layout lying
on the copper clad. We ten press the thin film using a
switched on ironer. The heat produced by the iron box must be sufficiently
high that the impression of the layout is copied on to the copper clad surface.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 16


4. Etching of the board
When the board is ready for etching, it is placed in the Ferric Chloride solution
of required concentration. It is checked in regular intervals to prevent over
etching and successive damage to the part. After the etching is complete the
board is taken out of the etch and washed in water to remove the excess ferric
chloride. The D13X NC Thinner is applied to remove any dew or paint
material on copper tracks. Then the sheet is cleaned by using steel scrubber
and washed again in water. Now the copper lines are exposed and hence the
body is checked with the magnifying glass to see whether all the lines in the
layout are clearly formed. Now the board is ready for tinning.

5. Drilling
The next process is drilling. In this, holes of required sizes are drilled in the
PCB wherever needed using a PCB drilling machine.

6. Finishing
In the process after drilling holes on PCB, the board is taken and a light coat
of air dying insulating varnish is applied to the bottom side carefully avoiding
the pad areas The PCB is then left till the insulating varnish dry up. The
application of the insulating varnish prevents any type of oxidation on the
track further proving better safeguard to the tracks after tinning.











Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 17

Chapter 11
SOLDERING AND DESOLDERING

11.1 Soldering
Soldering is the process of joining two or more dissimilar metals by melting another
metal having low melting point.
11.2 Soldering Tools
Soldering Iron
It is the tool used to melt the solder and apply at the joints in the circuit. It
operates in 230V main supply. The normal power ratings of the soldering iron are
10W, 25W, 35W, 65W and 125W. The iron bit at the top of it gets heated up within
a few minutes. 10W and 25W soldering irons are sufficient for light duty works.
Soldering Station
The soldering station consists of a handheld hot air blow gun and the base station
comprising of air flow and temperature controls to the hot air blow gun. Tip
temperature is maintained by feedback control loops. Soldering guns usually have
a trigger switch which controls the AC power.
11.3 Making Soldering Joints
Hold the soldering like a pen, near the base of the handle. Remember to never
touch the hot element or tip.
Touch the soldering iron onto the joint to be made. Make sure it touches both
the component lead and the track. Hold the tip there for a few seconds.
Feed a little solder on the joint. It should flow smoothly onto the lead and
track to form a volcano shape. Make sure you supply the solder to the joint,
not to the iron.
Remove the solder, then the iron, while keeping the joint still. Allow the joint
a few seconds to cool before you move the circuit board.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 18

Inspect the joint closely. It should look shiny and have a volcano shape. If
not, you will need to reheat it and feed in a little more solder. This time ensure
that both the lead and track are heated fully before applying solder.
11.4 Desoldering
It is the removal of the solder from previously soldered joint. There are two ways to
remove the solder.
Using De-soldering Pump (Solder Sucker):
De-solder pump is a commonly used device for this purpose. When the solder melts
by the action of the soldering iron, the trigger on the de-solder pump should be
activated to create a vacuum. This vacuum pulls the solder into the tube.
Set the pump by pushing the spring loaded plunger down until it locks.
Apply both pump nozzle and the tip of your soldering iron to the joint.
Wait a second or two for the solder to melt.
Then press the button on the pump to release plunger and suck the molten
solder into the tool.
Repeat if necessary to remove as much solder as possible.
The pump will need emptying occasionally by unscrewing the nozzle.
11.5 Safety Precautions
Never touch the element or tip of the soldering iron. They are very hot (about
673K) and will you a nasty burn.
Take great care to avoid touching the mains flex with the tip of the iron. The
iron should have a heatproof flex for extra protection. Ordinary plastic flex
melts immediately if touched by a hot iron and there is a risk of burns and
electric shock.
Always return the soldering iron to its stand when it is not in use.
Allow joints a minute or so to cool down before you touch them.
Work in a well-ventilated area. The smoke formed as you melt the solder is
mostly from the flux and quite irritating. Avoid breathing it by keeping your
head to the side of, not, above your work.
Wash your hands after using solder.

Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 19

Chapter 12
DEVELOPMENT TOOLS

Features of EAGLE:

System Requirements:
EAGLE is a powerful graphics editor for designing PC board layouts and
schematics. In order to run EAGLE the following is required:
o Windows 2000, XP, or Vista.
o A hard disk with a minimum of 70 MByte free disc space.
o A minimum graphics resolution of 1024 x 768 pixels.

Different editions of EAGLE:
o Professional Edition
o Standard Edition
o Light Edition
For our application we chose the light edition.

The following restrictions apply to the EAGLE Light Edition:
o The board area is restricted to 100 x 80 mm (about 3.9 x 3.2 inches).
Outside this area it is not possible to place packages and draw signals.
o Only two signal layers can be used (no inner layers).
o A schematic can consist of only one single sheet.

Larger Layout and Schematic files can be printed with the higher editions. The
CAM processor can generate manufacturing data as well. It is not possible to
combine modules of different editions. The Light Edition is available as
Freeware for testing, evaluation, and non-commercial use.



Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 20

Chapter 13
PROGRAM

#include <16F877A.h>
#fuses NOWDT, HS
#use delay (clock=12000000)
void main()
{
while(1)
{
if( !input(PIN_A0) ) // if o/p from sensor 0 is detected
{
output_bit( PIN_A1, 1);
output_bit( PIN_A2, 1);
output_bit( PIN_A3, 1);
output_bit( PIN_D4, 1); // Motor1 forward
output_bit( PIN_D5, 0);
output_bit( PIN_D6, 1); // Motor2 forward
output_bit( PIN_D7, 0);
}
else if( !input(PIN_A1) ) // if o/p from sensor 1 is detected
{
output_bit( PIN_A0, 1);
output_bit( PIN_A2, 1);
output_bit( PIN_A3, 1);
output_bit( PIN_D4, 0); // Motor1 backward
output_bit( PIN_D5, 1);
output_bit( PIN_D6, 0); // Motor2 backward
output_bit( PIN_D7, 1);
}


Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 21

else if( !input(PIN_A2) ) // if o/p from sensor 2 is detected
{
output_bit( PIN_A0, 1);
output_bit( PIN_A1, 1);
output_bit( PIN_A3, 1);
output_bit( PIN_D4, 1); // Motor1 forward
output_bit( PIN_D5, 0);
output_bit( PIN_D6, 0); // Motor2 stops
output_bit( PIN_D7, 0);
}
else if( !input(PIN_A3) ) // if o/p from sensor 3 is detected
{
output_bit( PIN_A0, 1);
output_bit( PIN_A1, 1);
output_bit( PIN_A2, 1);
output_bit( PIN_D4, 0); // Motor1 stops
output_bit( PIN_D5, 0);
output_bit( PIN_D6, 1); // Motor2 forward
output_bit( PIN_D7, 0);
}
else // if no sensor o/p is detected
{
output_bit( PIN_D4, 0); // Both motors stop
output_bit( PIN_D5, 0);
output_bit( PIN_D6, 1);
output_bit( PIN_D7, 1);
output_bit( PIN_A0, 1);
output_bit( PIN_A1, 1);
output_bit( PIN_A2, 1);
output_bit( PIN_A3, 1);
}
}
}
Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 22

Chapter 14
SYSTEM PERFORMANCE RESULTS

After completing the hardware and software design, the circuit was tested. The
distance between the Hall Effect sensor and the magnet was varied by displacing the
magnet and the approximate range for obtaining the output was determined.
In order to implement the project, the requirement of a super rare earth magnet
placed on the tongue using tissue adhesive was unavoidable. Unfortunately, owing to
the unavailability of this magnet variant in India, alternate magnets had to be used.
Super rare earth magnets were available at the United States but they could be only
shipped within America. Instead, we made use of magnets found inside the computer
hard disk. Using this magnet, the output could be obtained at an approximate
maximum distance of 2.5cm from the Hall Effect sensor. The magnetic field was also
found to pass through skin and phalanges (finger bones) upon testing. PWM (Pulse
Width Modulation) has not been used in this project as appreciable speed has been
obtained without modulation.
A bus wire of approximately 1m length has been used to interconnect the
wheel chair model to the dental retainer. Initially, 4m of bus wire was used but owing
to attenuation of power due to increased length of wire, the length of the wire was
limited to 1m. The limit for the length of the wire to be used for a 5V supply to obtain
a good output is available in the data sheet and is approximately 1.5m.
A maximum supply voltage of 28V is possible for the Hall Effect sensor. In
this project, a 5V supply has been used for the Hall Effect sensor. The sensor was
tested 12V supply voltage and it had no effect on the range of the magnet.
As per the design, all the requirements were met leading to a successful project.




Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 23

Chapter 15
COMPONENT LIST AND PRICE












Sr.
No.

Equipment Quantity Rate (Rs.)
1 PIC 16F877A Microcontroller 1 200
2
Battery (12V)
1 100
3
Voltage Regulator 7805
1 20
4 Hall Effect Sensor 4 300
5
Crystal Oscillator
1 5
6
Geared DC Motors
2 400
7
L293D Motor Driver IC
1 70
8 LED 5 10
9
Switch
2 8
10
PCB + Fabrication
1 600
11
Connectors -
100
TOTAL
1813
Model Engineering College Tongue Motion Controlled Wheel Chair

Department of Electronics Engineering 24

Chapter 16
CONCLUSION AND FUTURE SCOPE

As to conclude the report, we would like to share our gratitude and thanks
towards our Project Guide, Mini Project Coordinator, and all our supporting friends.
The aim of our project was to achieve excellence in the technical and social aspect of
the initiative. The project is a symbol of the motto, by the society for the society. As
a personal side of the group, we would like to always motivate such kind of projects.
Building the project was a long journey, starting from the idea to design,
implementation and finally debugging. Apart from the theoretical knowledge, we
could successfully learn the application of the concepts and implementation of an
idea, using the knowledge. It was a good experience to learn working as a team to
make a working model out of just the blue prints.
Tongue Controlled Wheelchair, is one of the major assets in the Bio-medical
arena, where a crippled loss of his/her motor abilities can still be encouraged of
his/her right to explore the surroundings. Our next steps would be trying to implement
Tongue Controlled Computer Mouse. The scope of the idea is huge, and can be
transformed into many attributes of innovations for a man incapable of his/her motor
abilities.
Much further reach of the idea is to replace remote controls. Every human can
control almost everything just by the slip of his/her tongue. The project is the
testimony to the might of electronics and its impact to human life. We conclude our
report, with a promise to encourage and motivate innovations using the wide spectrum
of electronics for Humans in the coming time.


REFERENCES


[1] Morten Enemark Lund, Henrik Vie Christiensen, Hector A Caltenco
Inductive Tongue Control Of Powered Wheelchairs, in EMBS 2010,
32
nd
Annual International Conference of the IEEE, Argentina, 2010
[2] Gautham Krishnamurthy and Maysam Ghovanloo Tongue Drive: A
Tongue Operated Magnetic Sensor Based Wireless Assistive
Technology for People with Severe Disabilities, IEEE ISCAS, 2006
[3] Xueliang Huo, Jia Wang, Maysam Ghovanloo Introduction and
preliminary evaluation of the Tongue Drive System: Wireless tongue-
operated assistive technology for people with little or no upper-limb
function, Journal of Rehabilitation Research & Development,
Volume 45, Number 6, 2008
[4] In-O Hwang The design and development of a head mounted
Tongue Drive Power Wheelchair Controller, Georgia Institute of
Technology
[5] PIC Microcontroller Datasheets, www.microchip.com
[6] Hall Effect Sensor Datasheets, Allegro Microsystems Inc.









APPENDIX

101807 Page 1 of 7 Rev. 009



MH 183
CMOS Unipolar Hall Switch


MH 183 is a unipolar Hall effect sensor IC. It incorporates advanced chopper stabilization
technology to provide accurate and stable magnetic switch points. The design, specifications
and performance have been optimized for applications of solid state switches.
The output transistor will be switched on (BOP) in the presence of a sufficiently strong
South pole magnetic field facing the marked side of the package. Similarly, the output will be
switched off (BRP) in the presence of a weaker South field and remain off with 0 field.

The package type is in a lead (Pb)-free version was verified by third party organization.

Features and Benefits
CMOS Hall IC Technology
Solid-State Reliability
Chopper stabilized amplifier stage
Unipolar, output switches with absolute value of South pole from magnet
Operation down to 2.5V
High Sensitivity for direct reed switch replacement applications
Small Size in To 92S or Sot 23 package.
100% tested at 125 for K Spec.
Custom sensitivity / Temperature selection are available.

Applications
Solid state switch
Limit switch
Current limit
Interrupter
Current sensing
Magnet proximity sensor for reed switch replacement in low duty cycle applications

Ordering Information
XX-XXX X XX-X-XX XX-X
Lead Free

Handling Code

Package Identification

Sorting Code

Package type

Temperature code

Part number

Company Name and Product Category
Company Name and Product Category
MH:MST Hall Effect/MP:MST Power MOSFET
Part number
181,182,183,184,185,248,249
Temperature range
E: 85 Degree C, K: 125 Degree C, L: 150 Degree C
Package type
UA:TO-92S,SO:SOT-23,ST:Tsot-25,SU:USON
Sorting
, ,Blank..
Package Identification Code
01,02,03..
Handling Code
BLANK: ESD bag, TR: Tape & Reel
Lead Free Code
BLANK: Lead Free Device ,G: Green


101807 Page 2 of 7 Rev. 009



MH 183
CMOS Unipolar Hall Switch


Part No. Temperature Suffix Package Type Package Identification
183 K (-40 to + 125 ) UA ( TO-92S) 01
K (-40 to + 125 ) SO (SOT-23 ) 05
E (-40 to + 85 ) UA ( TO-92S) 01
E (-40 to + 85 ) SO (SOT-23 ) 05

K spec is using in industrial and automotive application. Special Hot Testing is utilized.

Functional Diagram


Note: Static sensitive device; please observe ESD precautions. Reverse V
DD
protection is not included. For reverse
voltage protection, a 100 resistor in series with V
DD
is recommended.


Absolute Maximum Ratings

Supply Voltage (Operating), V
DD
28V
Supply Voltage (Reverse) V
DD
-0.3V
Supply Current (Fault), I
DD
50mA
Output Voltage, V
OUT
24V
Output reverse Voltage, V
OUT
-0.3V
Output Current (Fault), I
OUT
50mA
Operating Temperature Range K, T
A
-40 to +125
Operating Temperature RangeE, T
A
-40 to +85
Storage Temperature Range, T
S
-55 to +150
Note: Do not apply reverse voltage to V
DD
and V
OUT
Pin, It may be caused for Missfunction or damaged device.



101807 Page 3 of 7 Rev. 009



MH 183
CMOS Unipolar Hall Switch

OUT=low(Vdson)
North pole
OUT=low(Vdson)
SO package
UA package
MH-183 Electrical Specifications
DC operating parameters: T
A
= 25, V
DD
=12V
DC
(unless otherwise specified).
Parameter Symbol Test Conditions Min. Typ. Max. Units
Supply Voltage V
DD
Operating 2.5 27 V
Supply Current I
DD
Average 2.5 5.0 mA
Output Leakage I
OFF
B<Brp,Vout=20V 10.0 A
Saturation Voltage V
SAT
Iout=20mA, B>Bop 0.5 V
Output Rise Time Tr Vdd=12V,RL=1.1Kohm,CL=20pf .04 S
Output Fall Time Tf Vdd=12V,RL=1.1Kohm,CL=20pf .18 70.0 S

Magnetic Specifications
DC operating parameters: T
A
= 25, V
DD
=12V
DC
(unless otherwise specified).
Parameter Symbol Test Conditions Min. Typ. Max. Units
Operating Point B
OP
25 mT
Release Point B
RP
5 mT
Hysteresis B
HYS
4.5 mT
Note: 1 mT = 10 Gauss.
Custom sensitivity selection is available.

Output Behaviour versus Magnetic Pole
DC Operating Parameters Ta = -40 to 125, Vdd = 2.5 to 27V (unless otherwise specified)
Parameter Test condition(SO) OUT(SO) OUT(UA)
South pole B<Brp high Low
Null or weak magnetic field B=0 or B < BRP high high
North pole B>Bop low high














South pole

101807 Page 4 of 7 Rev. 009



MH 183
CMOS Unipolar Hall Switch

Performance Graphs


101807 Page 5 of 7 Rev. 009



MH 183
CMOS Unipolar Hall Switch



L293D
L293DD
PUSH-PULL FOUR CHANNEL DRIVER WITH DIODES
600mA OUTPUT CURRENT CAPABILITY
PER CHANNEL
1.2A PEAK OUTPUT CURRENT (non repeti-
tive) PER CHANNEL
ENABLE FACILITY
OVERTEMPERATURE PROTECTION
LOGICAL "0" INPUT VOLTAGE UP TO 1.5 V
(HIGH NOISE IMMUNITY)
INTERNAL CLAMP DIODES
DESCRIPTION
The Device is a monolithic integrated high volt-
age, high current four channel driver designed to
accept standard DTL or TTL logic levels and drive
inductive loads (such as relays solenoides, DC
and stepping motors) and switching power tran-
sistors.
To simplify use as two bridges each pair of chan-
nels is equipped with an enable input. A separate
supply input is provided for the logic, allowing op-
eration at a lower voltage and internal clamp di-
odes are included.
This device is suitable for use in switching appli-
cations at frequencies up to 5 kHz.
The L293D is assembled in a 16 lead plastic
packaage which has 4 center pins connected to-
gether and used for heatsinking
The L293DD is assembled in a 20 lead surface
mount which has 8 center pins connected to-
gether and used for heatsinking.
July 2003

BLOCK DIAGRAM
SO(12+4+4) Powerdip (12+2+2)
ORDERING NUMBERS:
L293DD L293D
1/7
ABSOLUTE MAXIMUM RATINGS
Symbol Parameter Value Unit
V
S
Supply Voltage 36 V
VSS Logic Supply Voltage 36 V
V
i
Input Voltage 7 V
V
en
Enable Voltage 7 V
I
o
Peak Output Current (100 s non repetitive) 1.2 A
P
tot
Total Power Dissipation at T
pins
= 90 C 4 W
T
stg
, T
j
Storage and Junction Temperature 40 to 150 C
THERMAL DATA
Symbol Decription DIP SO Unit
R
th j-pins
Thermal Resistance Junction-pins max. 14 C/W
R
th j-amb
Thermal Resistance junction-ambient max. 80 50 (*) C/W
Rth j-case Thermal Resistance Junction-case max. 14
(*) With 6sq. cm on board heatsink.
PIN CONNECTIONS (Top view)
SO(12+4+4)
Powerdip(12+2+2)
L293D - L293DD
2/7
ELECTRICAL CHARACTERISTICS (for each channel, VS = 24 V, VSS = 5 V, Tamb = 25 C, unless
otherwise specified)
Symbol Parameter Test Conditions Min. Typ. Max. Unit
V
S
Supply Voltage (pin 10) V
SS
36 V
V
SS
Logic Supply Voltage (pin 20) 4.5 36 V
I
S
Total Quiescent Supply Current
(pin 10)
V
i
= L ; I
O
= 0 ; V
en
= H 2 6 mA
V
i
= H ; I
O
= 0 ; V
en
= H 16 24 mA
Ven = L 4 mA
I
SS
Total Quiescent Logic Supply
Current (pin 20)
V
i
= L ; I
O
= 0 ; V
en
= H 44 60 mA
V
i
= H ; I
O
= 0 ; V
en
= H 16 22 mA
V
en
= L 16 24 mA
V
IL
Input Low Voltage (pin 2, 9, 12,
19)
0.3 1.5 V
V
IH
Input High Voltage (pin 2, 9,
12, 19)
V
SS
7 V 2.3 V
SS
V
V
SS
> 7 V 2.3 7 V
IIL Low Voltage Input Current (pin
2, 9, 12, 19)
VIL = 1.5 V 10 A
IIH High Voltage Input Current (pin
2, 9, 12, 19)
2.3 V VIH VSS 0.6 V 30 100 A
Ven L Enable Low Voltage
(pin 1, 11)
0.3 1.5 V
Ven H Enable High Voltage
(pin 1, 11)
VSS 7 V 2.3 VSS V
V
SS
> 7 V 2.3 7 V
I
en L
Low Voltage Enable Current
(pin 1, 11)
V
en L
= 1.5 V 30 100 A
I
en H
High Voltage Enable Current
(pin 1, 11)
2.3 V V
en H
V
SS
0.6 V 10 A
V
CE(sat)H
Source Output Saturation
Voltage (pins 3, 8, 13, 18)
I
O
= 0.6 A 1.4 1.8 V
V
CE(sat)L
Sink Output Saturation Voltage
(pins 3, 8, 13, 18)
I
O
= + 0.6 A 1.2 1.8 V
V
F
Clamp Diode Forward Voltage I
O
= 600nA 1.3 V
t
r
Rise Time (*) 0.1 to 0.9 V
O
250 ns
tf Fall Time (*) 0.9 to 0.1 VO 250 ns
t
on
Turn-on Delay (*) 0.5 V
i
to 0.5 V
O
750 ns
t
off
Turn-off Delay (*) 0.5 V
i
to 0.5 V
O
200 ns
(*) See fig. 1.
L293D - L293DD
3/7
TRUTH TABLE (one channel)
Input Enable (*) Output
H
L
H
L
H
H
L
L
H
L
Z
Z
Z = High output impedance
(*) Relative to the considered channel
Figure 1: Switching Times
Figure 2: Junction to ambient thermal resistance vs. area on board heatsink (SO12+4+4 package)
L293D - L293DD
4/7