Solar Powered Smart Wheel Chair controlled by
MPU6050 and Voice App with obstacle detection.
Abstract— Disable individuals are disregarded more often
than not. Presently, they will have the opportunity to proceed
onward their own without relying upon the full-time backing of a
human person. An alternate methodology has been made for
individuals having various inabilities in all nations. A savvy
wheelchair is planned so that individuals can control the
wheelchair by simply utilizing hand gestures. Other than these,
individuals with another diverse kind of incapacity can likewise
control by voice direction via a phone application. Considering
the source power and its utilization of power, it is being planned
with sunlight-based power (Solar panel used). Along these lines,
while moving around all around the battery can be revived
effectively. This keen wheelchair is additionally fit for hindrance
recognition. This will avoid any sort of obstacle with any objects.
Keywords— BTS7960, Gear Motor, Bluetooth Android App.
I. INTRODUCTION
Insufficiency incorporates at any rate one component of
physical limit, particular development or social collaboration.
A debilitation can be organized into different sorts of hearing
insufficiency, visual failure, physical impediment, talk
handicap, mental powerlessness. Those impairment people are
facing various issues in their regular day to day existence.
People acknowledge them as weight as they are unfit to move
like different people. Those impediments about 15% of people
in the whole world are enduring any kind of physical failure.
For making their lives more straightforward people imagined
wheelchairs quite a while prior. Regardless, as everything is
changing well ordered the development for wheelchairs is
moreover evolving. From the start, individuals used a self-
moved wheelchair, by then in 1890 the electric wheelchair
was concocted and after that electric wheelchairs experience a
few adjustments for better versatility and better comfort for
debilitating people groups. Our principal objective is to give
the opportunity of development to those physically debilitate
individuals. This is a brutal truth for them and at times they
need to confront this sort of awful circumstance in their
everyday life. Other than among 15% incapacitated
individuals 3% of individuals who have numerous inabilities.
The individuals who have incapacity both in their spinal lines
and hand mussel they can't utilize the ordinary wheelchairs.
Along these lines, the voice control framework will help them
so they don't need to confront troubles to control the
wheelchairs. There are just about 10 % to 16% of individuals
in Bangladesh who are handicapped among the complete
populace. It is evaluated in 2011 that there are almost 101,585
individuals in Bangladesh and Asia (more than millions) with
an inability and is frequently discovered without the
advantages of national improvement. From the perspective of
Asia, it will similarly enable many impairments to individuals
and will attempt to make it less expensive.
There are on a fundamental level two sorts of wheelchair open
for incapacitation people one is worked physically using our
body quality and the other is worked thusly using engines.
Regardless, people groups are confronting issues when they
are going to utilize these wheelchairs. If considers manual
wheelchairs, they have a gross loss of mechanical viability,
and as such, the danger of client weakness and upper-
extremity harm is extended. As being handicap they need to
confront plenty of issues in their day by day life and don't
need them to confront any longer.
II. RELATED WORKS
The goal of this paper is to set up a Hand Gesture Controlled
Wheelchair for physically handicapped people who face
trouble in moving to start with one spot then onto the next in
everyday life. Many related works had been studied to find out
a better solution for designing the wheelchair. The summary
of several papers is given below:
The present examination uses a quality capacity
arrangement technique to build up a wheelchair with a client
selectable manual/electric drive mode and an assistant solar
power supply system. The auxiliary solar power supply
expanded the movement scope of the wheelchair by around
26% contrasted and that of a wheelchair controlled by battery
alone. The wheelchair has a particular plan and can be
disassembled and folded for ease of transportation or storage.
By and large, the present results recommend that the proposed
wheelchair gives a successful and helpful method for
gathering the portability needs of people with versatility
challenges. [1]
Another strategy for estimating the joint angle
utilizing a combination of accelerometers and gyroscopes is
exhibited. The strategy proposes a negligible sensor design
with one sensor module mounted on each section. The model
depends on evaluating the acceleration of the joint center of
rotation by setting a couple of virtual sensors on the adjacent
segments at the center of rotation. In the proposed method,
joint angles are found without the requirement for integration,
so total angles can be gotten which are free from any source of
drift. The strategy was approved by estimating knee flexion-
extension angles of eight subjects, walking at three distinct
speeds, and contrasting the outcomes with a reference
movement measurement system. The outcomes are extremely
near those of the reference system showing exceptionally little
errors and incredible correlation coefficients. The calculation
can give joint angles continuously and prepared for use in
walk investigation. [2]
Figure 1: Joint-Angle Measurement Using Accelerometers and Gyroscopes[3]
Voice Controlled Wheel Chair System is intended to
control a wheelchair utilizing the voice of an individual.
Discourse acknowledgment is a key innovation that can give
human correspondence with machines for controlling a
wheelchair. For the commitment of the human voice, the
Android telephone is utilizing as a go-between. Arduino unit
is utilized as a controller to control the development of a
wheelchair dependent on the human voice. [3]
The main point of this paper is to build up a smart
wheelchair for physically challenged persons. This voice-
controlled smart wheelchair comes with enhanced features
like electric-powered, voice control, line follower with
obstacle avoidance, etc. The smart wheelchair control unit has
the combination of AVR type microcontroller particular model
ATmega328 with a Bluetooth module, ultrasonic and infrared
sensors and a circuit that is motor driven for controlling motor
speed.
Figure 2: Demonstrates the chair and route that travels.[4]
The Smart Wheelchair comprises of voice recognition, line
follower circuit along with obstacle detection, temperature
sensor along with GSM module. Ward k, Ward M, Ward V
must be spoken in the android app. And the chair will follow
the line and reach the destination.[4]
Gesture-Based Wheel Chair Control Using Kinect
Camera: The system has three parts: gesture recognition, Tx-
Rx operation, and mobile application, Kinect, a PC server, IR
sensors, and a Zigbee interface. The PC server with the Kinect
interface handles the gesture recognition; identifies the
disabled elder location. Once the PC server detects the
request, it decides the wheelchair moving path based on the
algorithms and then the infrared sensors are activated by the
planned route and the wheelchair move towards the elder. The
patient uses a smartphone application for the navigation of the
wheelchair to his desired location through a specific hand
gesture sensed by the Kinect camera. [5]
The principal focus of the voice control shrewd
wheelchair errand is prescribed to control a wheelchair by
using a discourse acknowledgment module. The procedure is
intended to control a wheelchair using the voice of a person.
The objective of this task is to support the development of
individuals who are debilitated and elderly folks who are not
prepared to move well. The point of this framework will
empower certain individuals to continue with a presentation
with less dependence on others for their improvement as
consistently needed. Discourse acknowledgment innovation is
a key innovation that will give another technique for human
participation with a machine or gadget. Thusly, the issues that
they face can be handled by using discourse acknowledgment
innovation for the development of a wheelchair. This can be
recognized and progressed with the use of the PDA gadget as
a center individual or interface. In this task, interfaces have
been arranged thusly to develop a program for seeing
discourse moreover controls the development of the seat and
an application which can bargain or deal with the graphical
headings. [6]
Solar Energy is delivered by the sunlight is a non-
disappearing renewable source of energy which is free from
eco-friendly. Consistently enough daylight energy achieves
the earth to satisfy the world's energy needs for an entire year.
In the present age, Electricity is required consistently. Sunlight
based Energy is produced according to applications like
mechanical, business, and private. It cans effectively energy
drawn from direct daylight. So, it is very effectiveness and
free environment pollution for surrounding. In this article, it
has been having looked into Solar Energy from Sunlight and
talked about their future patterns and viewpoints. The article
additionally attempts to talk about working, sun-based board
types; emphasize the different applications and strategies to
advance the advantages of solar energy.
9. Gesture Recognition 3D Accelerometer: The initial step of
the accelerometer-based signal acknowledgment framework is
to get the time arrangement of a motion movement. Past
examinations have received explicit gadgets to catch
quickening information of a signal. For instance, TUB-Sensor
Glove can gather hand direction and increasing speed, and
finger joint points. Tsukada structured a finger-based motion
input gadget with an IR transmitter, contact sensor, twist
sensor, and speeding up sensor. Mäntyjärvi put a sensor
enclose into a telephone request to recognize the 3-pivot
speeding up of clients' hand movements. Presently most
accelerometers can catch three-pivot increasing speed
information, for example, 3D accelerometers, which pass on
more movement data than 2D accelerometers. They have been
installed into a few business items, for example, iPhone and
Wiimote. This paper utilizes Wiimote as the motion input
gadget for test set-up and execution assessment. To perceive
motion from the caught information, scientists have connected
different AI and example acknowledgment systems. The
fundamental calculations in the writing are DTW (dynamic
time traveling)- based methodology [17,18,20] and HMM
(concealed Markov model) - based methodology [1,5,6,7,24].
The two arrangements of calculations process the increasing
speed information in the time area. (Wu, Zhang, and Pan,
2019)
III. BASIC COMPONENTS REQUIRED
The components needed for the project to be completed is
given below:
12V battery, Gear Motor, BTS7960 Motor Driver, Arduino
Mega 2560, Bluetooth Module HC-06, Accelerometer
(MPU6050), Arduino Nano, Monolithic 20-Watt Solar Panel,
Distance Measuring Sensor, Jumper wires and Cables,
Wheel Structure Components: Hollow cube metal rod, Bicycle
wheels, Chain, Motor Plate.
IV. METHODOLOGY
This wheelchair will use renewable energy resources such as
the solar panel to power up the motors and charge the
batteries. There are two special features for different types of
disabled people who can use gesture control and the voice
recognition method for the movement of the wheelchair. In
addition to the movement in case of emergency or any
obstacle found in front of the wheelchair, the wheelchair can
immediately stop moving. And the methods of the individual
features are split into several parts in detail.
A. Working process of Gesture Device Accelerometer:
An accelerometer is an electromechanical gadget used to
quantify speeding up powers. An accelerator resembles a basic
circuit for some bigger electronic gadgets.
The capacitance accelerometer detects changes in capacitance
between microstructures situated in the gadget. In the event
that an accelerative power moves one of these structures, the
capacitance will change and the accelerometer will make an
interpretation of that capacitance to voltage for elucidation.
Increasing speed of Gravity in X Direction: Hold the board so
the board faces you and the line to one side of the chip is
adjusted vertically to the table. The speeding up of gravity is
static on the grounds that the chip is stationary.
In the resultant [1x3] vector, the main worth that speaks to the
speeding up at the X-pivot ≈1 g (9.81 m/s2). The last two
qualities that speak to the speeding up at the Y and Z
tomahawks (opposite to the increasing speed of earth gravity)
≈ 0.00 g.
Push the board upward with an increasing speed of A m/s2.
The quickening of the gravity is dynamic and equivalent to the
speeding up of the square short the power of gravity ≈ (+A-
9.81) m/s2.
After the conversion analog to digital converter over the
Arduino, the signals are passed to the DC motor. DC motors
themselves are extremely basic; any fundamental DC Motor
will have two leads that can be legitimately joined to a battery
or power supply of adequate limit. The side of the engine that
is associated with the positive of the power source will figure
out what direction the engine rotates.[9]
B. Working process of solar panel: The solar panel power
system is one of the main focal points in this project. To make
the system in such a way that consumes less electricity. When
a person moves outside with a wheelchair the solar panel starts
to work automatically. So when the solar panel comes across
to the sunlight it will start charging a storage battery.
Photovoltaic is the main thing in a solar panel system that
converts solar energy into electricity. Photovoltaic cells
produce a direct current or DC energy but a single
photovoltaic cell is not enough to produce much electricity for
the wheelchair. For such reason a module of a photovoltaic
cell to get enough energy. This module of a photovoltaic cell
is a solar panel. The solar panel cell is a semiconductor
device. It works as a PN junction diode. An internal electric
field is made by the semi-conducting materials in photovoltaic
cells and these cells are doped to form P-N structure. The p-
type material has the propensity to give up electrons and
obtain holes. On the other hand, the n-type material accepts
electrons. When the cells are come across to the sunlight, the
photons in the light release some electrons in semi-conductor
to become electron-hole pair.
At the stage where light reaches the p-n junction, light photons
can pass through the meager p-type layer without much of a
stretch in the junction. Like photons, the light vitality provides
the intersection with sufficient vitality to create different
electron-gap sets. The episode light breaks the intersection's
hot equilibrium status. The free electrons in the district of
exhaustion can quickly go to the intersection's n-type side.
Thus, the consumption openings can quickly go to the
intersection's p-type side. Once the newly made free electrons
go to the side of the n-type, they cannot cross the intersection
further due to the intersection's obstruction capacity. Also, the
recent gaps once they go to the p-type side can't cross the
intersection any further was the destiny of the intersection's
same hindrance capacity. [10]
C. Working process of Distance Measuring Sensor:
The IR distance measuring sensor has been used to detect the
distance of any obstacles. An IR separation sensor utilizes a
light emission light to reflect off an article to quantify its
separation. The separation is determined by utilizing the
triangulation of the light emission. The sensor comprises an IR
LED and a light identifier or PSD (Position Sensing Device).
At the point when the light emission gets reflected by an item,
the reflected bar will arrive at the light locator and an 'optical
 spot' will frame on the PSD. Right when the circumstance of
the article changes, the edge of the reflected shaft and the
circumstance of the spot on the PSD changes moreover. The We have learned all the features and after merging together to
sensor has a worked in signal preparing circuit. This circuit achieve a proper plan diagram. The Methodology or the plan
forms the situation of the optical spot on the PSD to decide the diagram is given below:
position (separation) of the intelligent item. It yields a simple
sign which relies upon the situation of the article before the
sensor. Here Sharp GP2Y0A21YK0F has been used and the
Sharp GP2Y0A21YK0F distance measuring sensor is a 3-stick
module, whose stick names are Vcc, IRPin(V0) and Ground
separately. IR separation sensors yield a simple sign, which
changes relying upon the separation between the sensor and an Accelerometer

article. Voice Control

App

Theoretically, Switch

Distance (cm) = 27.726 *POW (Output voltage, —1.2045)

Obstacle Switch AC/
Detection
Results: For Distance (minimum) > 10cm DC

Accelerometer Accelerometer
The best partition assessed
Accelerometer Voiceis constrained for this sensor by
Control Voice Control
two points of view: theVoiceproportion App
Control of reflected light is Arduino Mega App

lessening and disappointment Appof the PSD selecting the little

changes of the territory of the reflected bar. When evaluating

objects
Switch which are unnecessarily far, the yield stays around Switch
proportionate
Switch to it is while assessing the articles at the most Motor Driver
BTS 7960

outrageous partition. Least partition is restricted in view of the

idiosyncrasy
Obstacle
Detection
of Sharp
Switchsensors,
AC/ which implies the yield starts to Obstacle
Detection
Switch AC/
DC Charge BatteryDC
decrease
Obstacle
Detection
(again) strongly
Switch AC/ as the detachment is at a certain
DC
point (dependent upon the model 4-20 cm). This infers one
estimation of the yield analyzes two estimations of
detachment. This issue can be kept up a key good way from
Arduino Mega Motor Arduino Mega

seeing that the article doesn't unnecessarily approach the

Arduino Mega

sensor. [11]

D. Voice control via the app:

Motor Driver Motor Driver Solar Panel
AC Current

At the point when we control the voice, the main term to be

BTS 7960
Motor Driver
BTS 7960

considered in discourse acknowledgment is where the

BTS 7960
Wheel Control
framework comprehends the words given through discourse.
Charge Battery Charge Battery
The fundamental point of this undertaking is to control the
Charge Battery
wheelchair through the human voice. This venture is for the
most part utilized for physically tested individuals who are
subject toMotora wheelchair and particularly those people who Motor

control utilize
Motor
their hands to drag their wheelchair in view of
some incapacity. In this framework, we have utilized the voice
acknowledgment module to perceive the voice of the client for
controlling the bearing of the wheelchair. The progression of
AC Current AC Current
utilized in this venture is to control home apparatuses by
Solar Panel
AC Current
Solar Panel

utilizing voice order toSolarthis Panel task can likewise fill in as a home

robotization framework.
Wheel Control
For home mechanization, the Wheel Control

transmitter circuitWheelisControl
available at the wheelchair and the
accepting circuit is available at the switchboard. The direction Figure 3: Overall Methodology and Plan Diagram
was set in the Arduino board. The home machines can be
constrained by two techniques, by giving voice directions or
by utilizing versatile as a remote controller.[12]
 V. PROTOTYPE address of the slave module with the master module. After
Our examination empowered us to reason that albeit a few completing the configuration, the circuit must be designed to
Intelligent Wheelchair models are being created in an place the Master Bluetooth module, MPU 6050 and Arduino
enormous number of research ventures, far and wide, the Nano connecting it properly to send signals to the receiver end
adjustment of their UI to the patient is a frequently ignored for controlling the motion of the wheelchair. Below the circuit
research point. In this way, ventures targeting growing new design is given for the hand gesture system.
ideas of Intelligent Wheelchairs are required utilizing
multimodal interfaces and wheelchair interfaces adjusted to
the client attributes. Keeping in concern about the costing and
other additional features we have designed a wheelchair that is
fully made up of metal. We have built a wheelchair from
scratch. We have used the bicycle tire to lift the chair. Four
small rotatable wheels are added to balance the wheelchair
from collapsing. Below we have given the basic prototype of
the wheelchair.

Figure 5: Circuit of the Hand gesture System that includes MPU6050, Master
Bluetooth Module HC-06 and Arduino Nano. [13]

After completing the Transmitter end, we move forward to the

Receiver end. The receiver ends do most of the work. It
receives a signal and gives instructions to the motor to rotate
in the preferred direction. The overall circuit of the Receiver
side is given below.

Figure 4: Prototype of the Wheelchair

In this Wheelchair, we had to implement the basic circuit

design of the Gesture control (which is known as the
transmitter end) and this circuit includes the MPU6050,
Bluetooth module HC-06, Arduino nano and a small battery
(power source). Before initializing the source code at the
transmitter end, we need to configure the Master-Slave
Bluetooth module. There are codes online to configure the
Master Bluetooth module (transmitter end) and the Slave
Bluetooth module (receiver end) to receive data sent by the
transmitter end from the hand. Configuring a Bluetooth
module, you need to get inside the AT command mode line to
get the address of the Slave Bluetooth module. Moreover, you
need to set transmission rate for signals (data) to be
transmitted wirelessly. By following the same procedure, we
need to configure the Master Bluetooth module and bind the
 Figure 7: Transmitter side of the hand gesture

Accordingly with the tilting of the transmitter side, in

forwarding direction enables the wheel to move forward. And
tilting the device(transmitter side of hand gesture) in back
position enables the wheel to move in back direction.

Figure 6: Receiver End containing Arduino Mega 2560, Slave Bluetooth

Module, BTS 7960 Motor Driver, Motors, Sharp Distance Sensor, Solar Panel
and 12V Battery Source. [13]

VI. RESULT ANALYSIS

The last finished model is a wheelchair with the intention of
decreasing the movement troubles for handicapped
individuals. The result analysis is shown below:

A. Hand Gesture Working:

There are two Bluetooth modules in hand gesture to transmit
and receive data wirelessly. One is known as a master module
and the other one is known as a slave module. When the
master module gives the command, the slave module receives
the command and executes. We have to pair and bind the
Figure 8: Wheelchair with the connection
modules for master and slave among those two HC06 of all the receiver end devices.
Bluetooth modules. After that we upload the codes to
transmitter end to the Arduino Nano.
B. Solar Panel working:
The solar panel has also been integrated into the wheelchair.
Which is placed in the backside of the wheelchair.
 passed through the phone will execute the motor for the
required movement. A picture below indicates the voice
working with the given commands.

Figure 9: Solar panel integrated at the

the backside of the wheelchair.
Figure 10: Wheelchair movement with the given command “forward”.
The solar that we have integrated is a 20Watt monolithic solar
panel.
Thoratically,

Total battery power = 60 Watt per hour

Solar supply power = 20 Watt per hour
Time required on average to charge
Battery(hour) = 60 watt / 20 watt = 3 Hours

On average with very bright sunlight the minimum time

required to charge the battery is 3 hours. With the current
supply 1.12 A and voltage supply 17.3 V. With this supply of
voltage, it is possible to supply power to the Arduino mega
constantly and to the BTS7960 driver and provide charge to
the battery. As the battery is 24 V, we are using a power
booster charger to increase the supply of the voltage to meet
the requirement of the battery source.

C. Voice App Working:

Over here we have used the same source code and just set
string command fixed for receiver end.
Figure 11: The voice app User interface and command passed forward
Practically, “forward”.

Forward movement = “forward” D. Obstacle detection working:

Backward movement = “back” The Sharp distance sensor is integrated at the front side of the
Left side rotate 90 degree = “let” wheelchair. The distance sensor uses the formula that has been
Left side rotate 90 degree = “right” provided in the Methodology section. To stop the motor the
Stop movement = “stop” minimum distance should be at least 10 cm. At this distance
the sharp distance sensor receives the obstacle and stops the
Applying these commands over the phone app will send the motor and prevents any kind of collision.
command over Bluetooth. So before sending the commands
the phone Bluetooth must be paired with Slave Bluetooth
Module (HC-06) and to get connected to the app. The app VII. CONCLUSION
must be opened and then by searching the module it will be This paper depicts a novel methodology of a wheelchair for
connected automatically. After that the above commands disabled people. People having multiple difficulties can use
this wheelchair easily as it offers hand gestures and voice
control method for the movement of the wheels. This
wheelchair also has a distance measurement sensor which
helps to stop the movement if any immediate threats have
shown up. For reducing the consumption of energy it also has
a solar panel which helps to reduce the charging cost of the
battery. In future GPS can add for live monitoring of the
wheelchair which helps to detect the location of the
wheelchair in case of any emergency.

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