MALWA INSTITUTE OF

SCIENCE OF
TECHNOLOGY
Project On
Motorized Wheelchair ( joystick and Head controlled )

Submitted by:-
Guided by:- Rajendra Chouhan
Chetan joshi
Mr. Jayant Rampurkar Sumit Panday
Paramjeet singh yadav
(Assistant professor Satayam Khade
Jitendra Chouhan
Abstract

Electric wheelchairs are designed to aid Handicap (paraplegics).

Unfortunately, these can not be used by persons with higher degree of
impairment, such as paraplegics, i.e. persons that, due to age or illness
, can not move any of the body parts, except of the head. Medical
devices designed to help them are very complicated, rare and costly.
In our project a microcontroller system enabled the head and
neck mobility of paraplegics in a cost effective manner .
The system uses electronic and mechanic components. A head motion
recognition technique based on accelerometer data processing is
designed. The wheelchair joystick is controlled by the systems
mechanical actuator. The system can be used with several different
types of standard electric wheelchairs. It is tested and verified through
an experiment performed by our group members.
Objective

To construct a simple and cost effective transport device a

Motorized Wheelchair ( joystick and Head controlled)
for physically disabled people.
Introduction
The number of people moving around the world with the help of artificial means due
to illness or accident is increasing very fast. Their quality of life has to be enhanced
by using simple and cost effective transport devices. Todays technology has shifted
to automation which minimizing the need of human intervention. These automated
systems have less manual operations with high reliability and accuracy. Intelligent
wheel chairs are very much helpful for many handicapped people who have
difficulties in driving mechanical wheel chairs. Persons with high degree of
impairment such as Handicap (quadriplegics) are not able to drive electric wheel
chairs. Medical devices designed to help such persons are very much complicated and
expensive. So, a microcontroller based system that enables wheel chair movement by
head motion is introduced. The system describes a wheel chair for physically disabled
people which use head motion and MEMS sensor interfaced with DC motor. MEMS
sensor is a micro electronic mechanical sensor which effectively translated head
movements into computer interpreted signals. The accelerometer data is calibrated for
motion recognition.
Literature Review
Principle of working

There are many different ways to make an accelerometer. Some accelerometers use
the Handicap (piezoelectric) effect - they contain microscopic crystal structures that
get stressed by accelerative forces, which causes a voltage to be generated. In this
project we use the voltage based accelerometer
By measuring the amount of static acceleration due to gravity, you can find out the
angle the device is tilted at with respect to the earth. By sensing the amount of
dynamic acceleration, you can analyze the way the device is moving.

This tilt with respect to the earth can be used to run the motor of a wheelchair For
example if the tilt is to the left side then the wheel chair moves in left direction.
Wheel chair movement can be controlled in Forward, Reverse, Left and Right
direction along with obstacle detection using MEMS sensor.
Block Diagram

DC
MOTOR 1
MOTION
SENSOR

MICRO
CONTROLLER DRIVER

SERIAL INTERFACE

DC
MOTOR 2
Part Used

Wheel
chair
Part Used

Wheel
Part Used

DC Motor

- 12
Volt
motor
Part Used
Circuit
Part Used

Battery

- 12 Volt
- 7.5 AH
Advantages

Easy to operate
Suitable for handicapped people
Superior level of sensitivity
Better shock resistivity
Applications
This electric Wheelchair along with MEMS Accelerometer can be used
by a paralyzed and Paraplegic or immobilized person to let them move
from one place to another to carry out there lifestyle
It can be also be used by hospitals for the transportation of
patent between rooms which can reduce the hospital staff

The production cost is less therefore it can be easily affordable

by lower and middle class section

It can also be used to modified a mechanical wheelchair into an

electrical wheelchair with MEMS and joystick controller by
installation of very few parts .
Cost Analysis
COMPONENT Cost
Wheelchair 5000
Wheel 210
DC Motor 1 650
DC Motor 2 650
Battery 750
Transformer 100
Relay 100
ULN ( Relay Driver IC ) 50
Rocker Switch 80
(Display) LCD 220
(Controller) ATMEa328 210
MEMS Accelerometer(sensor) 500

Power Supply 110

TOTAL 8650/-
Future Scope
Conclusion & Future Planning
The first important issue is that almost all subjects were
able to navigate the wheelchair quite well after a minimal
training phase of no more than five minutes. Even if the
average time of travel and the driven distance increased
for test runs incorporating driving assistance, the number of
collisions dropping to zero argues for this support, especially
for untrained operators. The increase in travel time and driven
distance is only significant in tight navigation situations
as in our experiment. In situations without obstacles, both
measures are not impeded by the assistance module. Hence,
in normal situations the advantage of collision-free driving
remains, while the drawbacks nearly disappear.
The experiments reported in this project were conducted
with healthy subjects. During the next months, the evaluation
will be repeated with real users at the CHL & M.Y Hospital in
Indore
Thank you