SMART WHEELCHAIR

BASED ON EYE
TRACKING

PRESENTED BY,

MERLIN JAMES
SITHARA SALIM
SREELAKSHMI M MOHAN
 CONTENTS

• INTRODUCTION

• BLOCK DIAGRAM

• EYE BALL DETECTION

• WHEELCHAIR CONTROLLER

• FUTURE SCOPE

• CONCLUSION

• REFERENCES
 INTRODUCTION

• The number of persons who are paralyzed and therefore

dependent on others due to loss of self-mobility is
growing with population.

• In this project we are going to design a smart

wheelchair based on eye tracking for people with
locomotor disabilities.
BLOCK DIAGRAM
• The system starts with webcam to capture
the eye images and send signal to
Raspberry Pi for digital image processing.

• The main component of the system is the

eyeglass installed with USB 2.0 webcam.

• The webcam is connected to Raspberry Pi

microprocessor - the main microcontroller
of our system. FIG: The designed webcam
installed on the eye glass

• Wheelchair-controlled module uses Arduino to receive directional

information from Raspberry Pi to drive the built-in wheelchair joy
stick.

• In our system, a generic 12V DC-Moter electrical wheelchair is used.

In appliance-controlled module, another Arduino is used to receive
ON-OFF command from Raspberry and send ON-OFF command to
remote Arduino which will turn relay on or off accordingly.
 EYEBALL DETECTION
• The eyeball image captured by WebCam is processed by
Raspberry Pi to determine the eyeball position.
• This eyeball position is then used to control the motion of
wheelchair.
• The captured color image is first converted to gray scale image
and finally to binary image by simple thresholding.
• To detect the location of eyeball, Hough circular detection is
applied.

Hough circle detection

 Eyeball Motion Direction

(A) (B)

(C) (D)
WHEELCHAIR CONTROLLER
• The motion direction of eyeball determined in the previous
session is then used to control the direction of the wheelchair.

• The built-in joystick is mounted with bi-directional servo

control unit.

• Once received command from Raspberry Pi, the command is

used to control the bi-directional servo control unit.

• The movement of bi-directional servo control unit, as shown in

figure, simulates the hand control that can control the joystick to
any direction.

• wheelchair can move to any direction depending upon motion

direction of eyeball.
 CONCLUSION

• The smart wheelchair based on eye tracking could

improve the quality of life to the disabled persons
whose eye is still be used as normal.

• The system can be successfully implemented to move

the wheel chair left, right, forward or stay in the same
position.

• This project totally aims at social purpose.

 FUTURE SCOPE
Further advancement in this wheelchair are possible.

• If the person want to move somewhere, all they have to do is

look in that direction. The user interface trace out the path you
want to drive, you would simply wink twice with your left or
right eyes and the wheel chair start driving, to stop wink again.
• Introducing home automation in the system would be an added
feature of the wheelchair where a disabled person can turn
on/off home appliances without getting up from his position.
• Finding a way to automatically charge the battery with the help
of motion of the wheel chair.
 REFERENCES
[1] K. Arai, R. Mardiyanto, “Eyes Based Electric Wheel Chair Control
System,” International Journal of Advanced Computer Science and
Application (IJACSA), Vol. 2, No. 12, 2011.

[2] Poonam S. Gajwani & Sharda A. Chhabria, “Eye Motion Tracking

for Wheelchair Control”, International journal of information
technology and knowledge management, 2010.

[3] Published in: BMEiCON 2016 9th Date of Conference: 7-9 Dec. 2016
Date Added to IEEE Xplore: 23 February 2017 ISBN Information:
INSPEC Accession Number: 16692539 Publisher: IEEE