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CHAPTER 1
INTRODUCTION

Census 2001 has revealed that over 21 million people in India is

suffering from one or the other kind of disability. This is equivalent to
2.1% of the population. Among the total disabled in the country, 12.6
million are males and 9.3 million are females. Although the number of
disabled is more in rural and urban areas. Such proportion of the
disabled by sex in rural and urban areas. Such proportion has been
reported between 57-58 percent for males and 42-43 percent females.
The disability rate (number of disabled per 100,000 populations) for the
country as whole works out to 2130. This is 2,369in the case of males
and 1,874 in the case of females. Among the five types of disabilities on
which data has been collected, disability In seeing at 48.5% emerges as
the top category. Others in sequence are: In movement (27.9%), Mental
(10.3%), In speech (7.5%), and In hearing (5.8%).

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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]

Percentage of disabled persons in India has increased both in rural

and urban areas during the last decade.
Proportion of disabled population is higher in rural area.
Decadal increase in proportion is significant in urban areas

Disabled Population by Type of Disability India : 2011

Type of Disability Persons Males Females
Total 26,810,557 14,986,202 11,824,355
In Seeing 5,032,463 2,638,516 2,393,947
In Hearing 5,071,007 2,677,544 2,393,463
In Speech 1,998,535 1,122,896 875,639
In Movement 5,436,604 3,370,374 2,066,230
Mental Retardation 1,505,624 870,708 634,916

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Mental Illness 722,826 415,732 307,094

Any Other 4,927,011 2,727,828 2,199,183
Multiple Disability 2,116,487 1,162,604 953,883
Table 1.1. Disabled Population by Type of Disability India: 2011

Fig 1.2. Disability by Type and Sex India,2011

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

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useful for severely-handicapped people who have spinal cord injury or

quadriplegia which cannot use their hands to control the wheelchair.
This will be an effective method to eradicate the social problems faced
by the physiologically challenged persons. This is directly interfering
with the social relevance of the society. The mobility aid which will help
to an extend for the challenged people for their locomotion. Usually
these peoples are bedridden and difficult for their movements from their
bed. It is very difficult to make them move from one place to another.
The main reason behind the implementation of this project is to give a
helping hand for the sufferings of the challenged people. They have no
way to get rid of from the bed due to their lack of movements.
Degeneration of nerve cells and muscle fibers can lead to the challenges.
To defeat the challenges is the main objective of this project. By
designing the wheelchair for the challenged people can reduce the
sufferings of the patients to an extent. Powered wheelchairs play a vital
role in bringing independence to the severely mobilityimpaired and
allow people to get on with their activities of daily living. Many people
who suffer from mobilityimpairments rely on powered wheelchairs to
get out and about.
The challenging problem faced by the paralyzed people is their
independent mobility. They need an external help to perform their daily
activities. The main objective of this project is to provide an automated
system for disabled people. The wheel chair will work based on the head

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movement of the user. The recognized gestures are used to generate

motion control commands to the controller so that it can control the
motion of the wheel chair according to the user intention. The head
movement is the gesture which can be performed by the quadriplegic
patients whose body parts below the neck is paralyzed. So the head
movement is possible for the patients. The wheelchair includes the
accelerometer sensor which detects the movement of head and the
controller will process the signal and will transmit to the wheel chair for
its navigation. The wheel chair is implemented in a cost effective way
which reduces the complexity in the design. It is intended to be used as a
human-friendly interface for elderly and disabled people to operate
wheelchair using their head gestures rather than their hands. This
autonomous navigation ensures safety, flexibility, mobility, obstacle
avoidance and an intelligent interface for the users.

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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.

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3. Yves Lozac'h, Gilles Gossalin, E. David Sherman, M .D. ,Gustave Gingras , M

.D., Mary Ritchuk, O .T. Reg.NEW HEAD CONTROL FOR
QUADRIPLEGIC PATIENTS this project was to provide the quadriplegic
patient, who cannot use his arms, with means of control over his direct
environment. Residual head motion was considered to be adequate, first, to
control an electric wheelchair and, second, to extend that which may include an
active same control to an orthotic device elbow and a prehension orthosis.

4. Kohei Arai, Eyes Based Electric Wheelchair Control System, 2011Eyes

base Electric Wheel Chair Control: EBEWC is proposed. The proposed
EBEWC is controlled by human eyes only. Therefore disabled person can
control the EBEWC by themselves. Most of the computer input system with
human eyes only consider in specific condition and does not work in a real time
basis. Moreover, it is not robust against various user races, illumination
conditions, EWC vibration, and user's movement. Though experiments, it is
found that the proposed EBEWC is robust against the aforementioned
influencing factors. Moreover, it is confirmed that the proposed EBEWC can be
controlled by human eyes only accurately and safely.

5. Holly A. Yanco, Wheelesley: A Robotic Wheelchair System: Indoor

Navigation and User Interface, 1998.A robotic wheelchair can provide users
with driving assistance, taking over low level navigation to allow its user to
travel efficiently and with greater ease. Our robotic wheelchair system,
Wheelesley, consists of a standard powered wheelchair with an on-board
computer, sensors and a graphical user interface running on a notebook
computer.

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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.

7. Vignesh S.N, Vivek Kumar. A, Bharathi Kannan.K Head Motion Controlled

Robotic Wheel Chair.The main objective of this project is to provide an
automated system for disabled people. The wheelchair will work based on the
head movement of the user. The recognized gestures are used to generate
motion control commands to the controller so that it can control the motion of
the wheel chair according to the user intention. The head movement is the
gesture which can be performed by the quadriplegic patients whose body parts
below the neck is paralyzed.The wheelchair includes the accelerometer sensor
which detects the movement of head and the controller will process the signal
and will transmit to the wheel chair for its navigation.

8. Narender Kumar, Vidhi Two Dimension Head Movements Based Smart

Wheelchair Using Accelerometer: Head Motion CanControl Wheel Chair.
This paper introduces a automated wheel chair for physically handicapped
persons for their independent movement. It will able to navigate in indoor and
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outdoor environment. It is a reactive system and does not require mapping or

planning. Interaction between user and wheelchair is investigated. We will
implemented 2 dimension head movement for good control. This shows a novel
hands-free control system for intelligent wheelchair based on visual recognition
of head gestures.

CHAPTER 3
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PROBLEM STATEMENT AND OBJECTIVES

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.

Interfacing of ultrasonic sensor to microcontroller.

Interfacing of DC motor to microcontroller.

Writing code for motors through UART serial communication mode.

Finding reference values for accelerometer

Design of gearsand Redesign of shafts.

CHAPTER 4

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METHODOLOGY

4.1.Block Diagram

Fig 4.1 Block diagram for the Methodology

The above block diagram shows the proposed model. It consists of Accelerometer
sensor, Ultrasonic sensor, Microcontroller, DC Motor driver circuit and DC Motor.

Head movement based wheelchair for quadriplegics does the operation

based on the movement of the head. Here, we use accelerometer which is placed
on the cap worn by the quadriplegic person. Accelerometer is a dynamic sensor
which is capable of measuring initial position, inclination tilt and sends the data to

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the microcontroller in 3 dimensions. Power supply is fed to the accelerometer

through microcontroller. Ultrasonic sensor is a transducer that helps to detect
obstructer through ultrasonic waves. The output of the ultrasonic sensor is given to
the microcontroller.

The input to the microcontroller is the signal sent by the accelerometer

and ultrasonic sensor, based on these data the microcontroller is programmed such
that it operates the wheels of the wheel chair through DC motor.

Programmable microcontroller consists of general purpose input output pins.

Output of the microcontroller is connected to the drive circuit which helps to rotate
the DC motor. Based on the movement of head, motor is operated. If there is any
obstruction the ultrasonic sensor will sense it and stops the motor.

Circuit Diagram

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4.1.1Accelerometer

Fig 4.2. Accelerometer internal construction

An accelerometer is a device that measures proper acceleration. Here, we

use accelerometer which is placed on the cap worn by the quadriplegic
person.
Accelerometer is a dynamic sensor which is capable of measuring initial
position, inclination tilt and sends the data to the microcontroller in 3
dimensions.
Single- and multi-axis models of accelerometer are available to detect
magnitude and direction of the proper acceleration, as a vector quantity, and

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can be used to sense orientation (because direction of weight changes),

coordinate acceleration, vibration, shock, and falling in a resistive medium.

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

Fig 4.3. Arduino Mega Ports

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Arduino is an open source, computer hardware and software company,

project, and user community that designs and manufactures Single-board
microcontrollers.
microcontroller kits for building digital devices and interactive objects that
can sense and control objects in the physical world.

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.

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Ultrasonic Sensor

Fig 4.4. Construction of ultrasonic sensor

Ultrasonic transducers are divided into three broad categories:

transmitters, receivers and transceivers.
Transmitters convert electrical signals into ultrasound, receivers convert
ultrasound into electrical signals, and transceivers can both transmit and
receive ultrasound.
An Ultrasonic sensor is a device that can measure the distance to an
object by using sound waves.
It measures distance by sending out a sound wave at a specific frequency
and listening for that sound wave to bounce back.
By recording the elapsed time between the sound wave being generated
and the sound wave bouncing back, it is possible to calculate the distance
between the sonar sensor and the object.

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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.

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Geared DC Motor

Fig 4.5. Internal construction of DC motor

A gear motor is a specific type of electrical motor that is designed to

produce high torque while maintaining a low horsepower, or low speed,
motor output.
A gear motor can be either an AC (alternating current) or a DC (direct
current) electric motor. Most gear motors have an output of between
about 1,200 to 3,600 revolutions per minute (RPMs).
These types of motors also have two different speed specifications:
normal speed and the stall-speed torque specifications.

Specifications
10RPM,60RPM,100RPM,200RPM,300RPM,600RPM,900R High-Torque
DC Motor
Metal Gearbox and Gears
18000RPM base motor

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High-Current DC Constant-Torque motor drive integrated with the motor

Motor speed control interface via UART, I2C, PPM signal and analog input
Speed control possible in both directions down to almost 1% of max. speed
Small package and integration allows for easy installation and operation
Speed/Motion can be controlled using a terminal or MCU via simple
UART/I2C commands
I2C master device can control multiple RMCS-210x via simple I2C
command structures
An RC receiver or any PPM source can directly control the speed of the
motor
Driver Circuit
In an electronic circuit that enables a voltage to be applied across a load in either
direction. These circuits are often used in robotics and other applications to allow
dc motors to run forward and backward direction and can be built from power
electronic components

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BATTERY

Fig 4.6. Internal structure of the battery

An electric battery is a device consisting of one or more electrochemical

cells with external connections provided to power electrical devices such
as flashlights, smart phones etc.
When a battery is supplying electric power, its positive terminal is
the cathode and its negative terminal is the anode.
The terminal marked negative is the source of electrons that when
connected to an external circuit will flow and deliver energy to an
external device.

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When a battery is connected to an external circuit, electrolytes are able to

move as ions within, allowing the chemical reactions to be completed at
the separate terminals and so deliver energy to the external circuit.
It is the movement of those ions within the battery which allows current
to flow out of the battery to perform work.

Specifications
Current used is 7.5A.
voltage of the battery is 12v

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MECHANICAL MODEL

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Flow chat

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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

The speed of the vehicle is low

Can't carry load above 40kg
Not flexible for long distance
The weight of vehicle is more which adds net weight

APPLICATIONS
School premises
Railway station platform
Hospitals
Domestic usage

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University Complexes

CHAPTER 5

RESULTS AND IMPLEMENTATION

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CHAPTER 6

CONCLUSION AND FUTURE SCOPE

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.

Interaction between user andwheelchair is investigated. This is tested to work

successfully with a 45kg adult and battery capacity lasting to ~3hours. So, this is
an extremely useful system for user having restricted limbmovements. We can use
this wheelchair for the person whose only one sense is working that is their mind
and their body does not respond to any machine which may be due to any reason
i.e. by birth or accidental case this wheelchair is good gift for them.

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.
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3. Since our wheelchair is running at constant optimal speed even during

ascending and descending of slop, it can be designed for dynamic speed
variation by PWM technique.
4. This can be put up for factory manufacturing if at least the above conditions
are met and can be subsidized among lower socio economic groups.

APPENDIX

DATA SHEETS

a)Accelerometer

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b)Ultrasonic Ranging Module HC - SR04

Ultrasonic ranging module HC - SR04 provides 2cm - 400cm non-contact measurement
function, the ranging accuracy can reach to 3mm. The modules includes ultrasonic transmitters,
receiver and control circuit.

The basic principle of work:

(1) Using IO trigger for at least 10us high level signal,
(2) The Module automatically sends eight 40 kHz and detect whether there is a pulse signal back
(3) IF the signal back, through high level , time of high output IO duration is the time from
sending ultrasonic to returning. Test distance = (high level timevelocity of sound (340M/S) / 2,

Wire connecting direct as following

5V Supply
Trigger Pulse Input
Echo Pulse Output
0V Ground

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c) DC Motor and Driver

circuit connection

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TECHNICAL SPECIFICATION

Specification Min Max Units Comments

Supply Voltage 11 13 Volts DC Between V+ and GND

Current 0.5 7 Amps No-load to stalled condition

Input Signal High 4 6 Volts Dc With respect to GND
Voltage
Input Signal Low 0 1 Volts DC With respect to GND
Voltage
UART Baud Rate 9600 bps For UART interface

I2C clock freq. 10 200 kHz For I2C interface

Ambient Temp. 0 70 Celsius Operating Temperature

Humidity 0 95% Non condensing

Analog Input 0 5 Volts DC For Analog Voltage

Voltage
interface

PPM Pulse Width 600 2400 usec For PPM signal interface

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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

3. Tom Carlson & Jose del R. Millan, 2013, BrainControlled Wheelchairs:A

Robotic Architecture IEEE Robotics and Automation Magazine,20(1),
pp.65-73

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

5. Vignesh S.N, Vivek Kumar. A, Bharathi Kannan.K, "Head Motion

Controlled Robotic Wheel Chair", International Journal of Emerging
Technology and Innovative Engineering Volume I, Issue 3, March 2015
ISSN: 2394 - 6598
6. Satish Kumar, Dheeraj, Neeraj, Sandeep Kumar, Oct., 2015, DESIGN AND
DEVELOPMENT OF HEAD MOTION CONTROLLED WHEELCHAIR International
Journal of Advances in Engineering & Technology

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

8. Tom Carlson & Jose del R. Millan, 2013, BrainControlled Wheelchairs: A

Robotic Architecture IEEE Robotics and Automation Magazine,20(1),
pp.65-73

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