Universiti Teknologi Malaysia

Head Movement Control Wheelchair (HMC Wheelchair)

Team Members: Mohd Adib bin Sarijari Syed Norazizul bin Syed Nasir Abdul Rahman Bin M.Asmuei Team Supervisor: Assoc. Prof. Dr. Rosbi Mamat
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Presentation Layout
Background of the Problem Objectives Target Users Product Descriptions Product Features Market Potential RAC-Technological Aspects RAC-Tests Results Conclusion

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Cari gamba said tgh wat mekanikal

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Background of Problem

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Objectives
To assist severely disabled1 person to control their wheelchair with head movements. To grant the severely disabled person becoming more mobile and enjoy a better life.

1severely

disabled means physically challenge people that cannot use their hands and legs in normal life
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Product Descriptions
C for head movement processing & wireless comm.
Cap with movement detection & wireless comm.

Wireless comm between HM(head movement) controller and base controller

Motorized platform with C for intelligence motor control & obstacle avoidance

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Product Features
Head movement control: Motorized wheelchair is controlled by the head movements. HMC part is very small/compact & light which can be mounted easily on cap, head band, ears etc. Infra Red sensor: For obstacles avoidance.

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Product Features cont

Safety features:
Bumper sensors stop when platform hit surrounding objects emergency STOP button useful for emergency cases

Alternatively wheelchair can be controlled by joystick. Useful for interruption by the training supervisor during the training of using the HMC wheelchair.

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Product Features cont

Integrated microcontroller intelligence control
Head movements detection & decoded to actual wheelchair motion Obstacles detection & avoidance through Infra-red sensors Handling wireless comm between HM(Head movement) controller & base controller.

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Product Features cont

Wireless communication is used to communicate between HM controller & base controller therefore:
No direct contact between head movement controller and base controller less wiring and less messy.

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Conventional VS HMC
Features Conventional Wheelchair

HMC

Motorize Direction Control Obstacle avoidance Alternative control

Unmotorized operation: use Motorize operation: hands to operate. fully driven by motor. Direction is fully controlled by hand. No obstacle avoidance facility Has to be manually pushed Directions are control by head movements. Automatic obstacle avoidance (for safety reason). Alternative control using joystick.

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Target Users

Quadriplegia: ALL FOUR LIMBS i.e. arms and legs are paralysed. Paraplegia: BOTH LEGS are paralysed.

SPINAL COLUMN STUCTURE

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Market Analysis
About 12 to 53 new spinal injuries per million population in the developed countries every year1. Current estimates: 250,000 - 400,000 individuals living with Spinal Cord Injury.

So there is market for HMC

1 www.spinalcord.uab.edu

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Impact Toward Society

These HMC wheelchair will be a great solution for disable people especially for people with Quadriplegia & Paraplegia injuries. We hope that this project will serve as UTMs & Agilent contribution to the physically challenged community.

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Process Flow

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Tasks Distribution
Mar
Mohd Adib Sarijari Design circuit Test and calibration Integration with base controller Abdul Rahman Samuei Design circuit Test and calibration Integration with upper controller Syed Norazizul Syed Nasir Mechanical Part Base Controller Part

April

May

June

July

Aug

Sept

HMController Part

Design wheelchair
Fabrication of all mechanical part All team members Discussion Integration all parts

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Gantt Chart

Proposed schedule Actual schedule

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Minimum activities being done due to team members practical training

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Causes of Delay
Practical training Technical problems:
o Learning the technology many unexpected things happened o accelerometer burn o ATMEGA8 (C) easily burn migrate to ATTINY2313 o LM298 motor driver burn develop own high current motor driver (60Amp) o Unreliable RF module migrate to Zigbee module
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Main Sub Systems In HMC Wheelchair

Bumper Infrared Sensor accelerometer Emergency Stop Button

HMC
Wireless comm
Motor microcontroller

microcontroller

ZigBee Module

ZigBee Module

HMC situated on users head

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Base Controller on the wheelchair

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Technical Aspect of HMC

Software
Motorize Wheelchair to prove the concept

Technologies Involve

HM Controller
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Base Controller

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HM Controller
ATTINY2313: High-performance and Low-power small size C used to decode HM and send to base controller

Rechargeable battery 9V 150mAh

IP-Link1270: 2.4GHz zigbee wireless module for comm between HM controller and base controller.

Average current consumption of HM = x mA

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ADXL202: Low Cost 2g Dual Axis Accelerometers with used for detection of HM

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BASE CONTROLLER
main processing unit for intelligence wheelchair motion control based on received data from HMC & other sensors

C circuit: main processing unit for intelligence wheelchair motion control

Zigbee Wireless Module: For Comm between HM & based controller

Motor driver circuit: provide high current driver for 2 DC motors

IR sensor & interface circuit: For obstacle avoidance capability

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MOTORIZE WHEELCHAIR
As a platform for evaluating HMC

Joystick holder: hold joystick if not being use

Safety starter: HMC will only functioning when there is a person on it.

2 DC motors: 24volt, 2Amp Stainless steel: used to construct the HMC base.

Foot pad: For comfortable resting for user

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Software
BASCOM
BASIC language compiler for software development for ATMEL microcontroller (Attiny2313). Demo (Free) version from MCS Electronics

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Results

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Conclusions
Help Quadriplegia & Paraplegia to be mobile with the used of HMC wheelchair. Testing results show that this system can be used with little training (~5min). The system had been design with safety consideration so that it will make the user feel confident to used it.

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References
Performance of a Head movement Interface for Wheelchair Control, P.B Taylor, H T Nguyen. Faculty of Engineering, University of Technology, Sydney, NSW, Australia. http://www.electropedicbeds.com/Used-ElectricWheelchairs.html http://www.adremo.nl/index.php www.microchip.com http://en.wikipedia.org/wiki/Wheelchair http://www.ti.com/ http://www.sunx-ramco.com/ http://www.analog.com/en/ http://www.atmel.com/ http://www.mcselec.com/

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Thank You

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Q & A Session

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Operational
Two mode of operation
Head Movement control: wheelchair can be controlled by HM Joystick Control: wheelchair can be controlled by joystick.

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Adremo Wheelchair
The Adremo

wheelchair (Holland) is an electric wheelchair fitted with specially combined head And foot controls.

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Adremo Wheelchair cont

A specially constructed adjustable head support enables steering by way of a slight head movement. Currently, Adremo wheelchair is not available in Malaysian market so there are no price could be quoted and Maybe it is very expensive to own.

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Spastic School Visit JB

Agilent Malaysia Innovator Award 2007