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Head movement electronic wheelchair is a basic wheelchair which is modified into two modes
This type of wheelchair is designed for those patients who are unable to move their limbs and
are dependent on care takers for their movement. So our projects solves the problem to some
extent. The head set is made up of inertial measurement unit (IMU), which sends the position
of the head to the microcontroller Arduino mega 2560. The controller then follows a control
algorithm and sends the commands to the motor driver H-bridge circuit to drive the motors
accordingly.
Old homes, hospitals and bed ridden soldiers are the application of this type of wheelchair.
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INTRODUCTION
This wheelchair is specially designed for those patients who are unable to move their limbs
except their head. This wheelchair is operated by detecting the motion of the head and
providing such paralysed patient, a certain degree of independence and freedom in their
movement. We used accelerometer, one of the components of the inertial measurement unit
(IMU). Accelerometer detects the orientation of the head and send signals to the
The design we proposed is cost effective and simple. No specific calibration is required
before use. Additional characteristic of wheelchair in the hardware design is that it can be
Standard wheelchair has been purchased from the market and modified mechanically by
applying helical gears which are coupled with the motors. These gears can be attached and
detached according to the patient’s requirement and that can be done by simply unscrewing a
The main objective is to convert a normal wheelchair available in market into an electronic
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Block Diagram
Block diagram represents the main components and basic functioning of our project. The
inertial measurement unit is mounted on the headset. Headset consist of four main parts, we
Accelerometer detects the orientation of the head and sends raw value signals to the
microcontroller which is Arduino mega 2560. It provides ten degree of freedom to the user for
the measurement of a body. Arduino process the information according to control algorithm
we proposed. The processed information is send to the H-bridge to drive the motors
accordingly. If the person moves head towards right the wheelchair right wheel stop and left
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PROJECT DESIGN
1. Standard Wheelchair
The quality of our project design is that any standard wheelchair available in the market can be
converted into an electronic wheelchair.We welded a steel plate at the back of the wheelchair
so that motors can be attached on this steel plate. Also a steel plate in the front bottom is welded
2. Specifications of Motors
We use two permanent DC motors having 24V 120W and 5 ampere rating and RPM 180. The
reason behind selecting high power rating is because we want our wheelchair to move smoothly
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3. Electrical components
Two lead-acid batteries connected in series to make total of 24 voltage, which is the
requirement of our design. Motors attached to these batteries drive the wheelchair according to
the input command. These batteries also provide the power to electronic components which
includes Arduino Mega 2560 controller and the Motor driver circuit (H-bridge circuits). The
function of the H- Bridge is to drive the motors in both clockwise and anticlockwise direction.
4. Mechanical Assembly
Two types of gears most widely available and used are spur and helical gears. Gears having
straight teeth are known as spur gears and they can be fabricated easily. Teeth of the helical
gears are at an angle and are difficult to make in comparison to spur gears. Helical gears have
advantage over spur gears because of the fact that they make less noise.
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Figure 4. Helical Gears
Helical gears teeth engage smoothly and gradually. They are more durable and run smoothly
on high loads. Gear ratio was set 1:6 means driving gear has one third the teeth as the driven
gear.
Mechanical design of wheelchair has been modified in such a way that gears between motors
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This has been done by attaching both motors on single plate attached to the main frame of the
wheelchair and bolt is used to lose or tighten the plate hence changing the gear position
The inertial measurement unit was placed on a headset. The module was fixed on the headset
by using double tape on the hair band. A picture of the head set assembly is represented as:
The sensor that we have used for the orientation of the head is an IMU GY-80. It includes an
accelerometer, gyroscope, magnetometer and a barometer. In our project we are only using
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6. Microcontroller interface
The microcontroller that we have used in our project is Arduino Mega (2560). The
Microcontroller specs
The controller here gets these readings from the IMU sensor and then translate them using the
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WORKING OF PROJECT
The IMU sensor attached on the headset gives the movement commands by detecting the
• Forward command
• Stop Command
• Right Command
• Left Command
The micro-controller, Arduino Mega 2560, receives new values from the accelerometer after
every 100ms.
• The H-bridge allows both the motors to power up at the same instant and hence
wheelchair moves forward.When forward loop is executed the LPWM pin of H-bridge
of both the left and right motors is set to HIGH hence both wheels start to move in
forward direction.
• When the Stop loop is executed the ENABLE pins for both motors are set to LOW
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• When the Right loop is executed the LPWM pin for left motor is set to HIGH and
RPWM pin for Right motor is set to HIGH, Hence wheelchair turns towards right.
• When the Left loop is executed the LPWM pin for Right motor is set to HIGH and
RPWM for left motor is set to HIGH. Hence wheelchair turns towards Left.
Arduino is also powered by the 24 V batteries source. As the microcontroller Arduino Mega
2560 operates on low voltage and current, so a circuit was needed to lower the voltage coming
from the battery to power the controller. This was done by LM7809 regulator IC which steps
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Control Algorithm
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CONCLUSION
Main components used in our project is IMU sensor, Arduino Mega 2560, H-bridge and motors.
Values from the movement of head is given by the accelerometer mounted on the IMU sensor,
micro-controller receives that values and processed it. Theses processed commands are then
send to the h-bridge to operate the motors accordingly. Processing of the commands in the
Four commanding action can be performed by patient; forward, right, left, stop. By tilting his
head towards forward wheelchair moves in forward direction and same goes for right and left
command. When person keep his head straight wheelchair stops. In addition by simply unscrew
the bolt on the motor plate so that gears can be detached user can operated wheelchair manually.
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REFERENCES
[1] Manuel Mazo, Francisco J. Rodríguez, José L. Lázaro, Jesús Ureña, Juan C. García,
Enrique Santiso, Pedro Revenga, J. Jesús García, Wheelchair for physically disabled
“Eye Movement Based Electronic Wheel Chair For Physically Challenged Persons”. [3 ] Prof.
Vishal V. Pande, Nikita S.Ubale, Darshana P. Masurkar, Nikita R. Ingole, Pragati P,” Hand
Gesture Based Wheelchair Movement Control for Disabled Person Using MEMS”.
[4]Mohammed Asgar, Mirza Badra, Khan Irshad and Shaikh Aftab, “Automated Innovative
Wheelchair.”
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