HAWASSA UNIVERSITY

INSTITUTE OF TECHNOLOGY

FACULTY OF MANUFACTURING

DEPARTMENT OF ELECTROMECHANICAL ENGINEERING

DESIGN & FABRICATION OF SEMI-AUTONOMOUS WHEEL CHAIR FOR

POTENTIALLY DISABLED PERSONS

Principal Investigator: Beselamu Gobedo (MSc)

Co-Investigator : 1. Daniel Asrat (MSc

JUNE, 2022
HAWASSA, ETHIOPIA

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 TABLE OF CONTENTS
CHAPTER TITLE PAGE NO
LIST OF FIGURES iv
LIST OF TABLES iv
SUMMERY 1
1 INTRODUCTION 2
1.1 Background 2
1.2 Review of Literature 3
1.3 Statement of Problem 5
1.4 Significance of Research (Justification) 5
1.5 Objective(s) 5
1.5.1 General objective 5
1.5.2 Specific objectives 5
2 MATERIALS AND METHODS 6
2.1 Mathematical Design Calculation 6
2.1.1 Mathematical Design Calculation for torque 6
2.1.2 Motor Selection

2.2 Components 10
2.2.1Me Ultrasonic Sensor 10
2.2.2 LIDAR 10
2.2.3 Sprocket & Chain 12
2.2.4 Joystick 13
2.2.5 DC Motors 13
2.2.6 DC-DC Converter 14
2.2.7 Arduino Mega 2560 15
2.2.8 Driver Circuit Module 15
2.2.9 Bluetooth Module 16
2.2.10 GRS Sensor Module 16
2.2.11 MPU 6050 IMU Sensor 17
2.2.12 Battery 17
2.2.13 Wheelchair 18
2.3 Block Diagram 19
2.4 Working 20
2.5 Work Flowchart 20
3 BUDGET BREAK DOWN 21
3.1 Components (Consumable materials) 21
3.2 Per-diem Expense (Researchers and Assistant) 22
3.3 Transport or fuel cost 22
3.4 Fabrication Cost 22
3.5 Summary of budget breakdown 23
4 TIME FRAME 23
5 EXPECTED OUTPUT 24
6 REFERENCES 25

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 DESIGN & FABRICATION OF SEMI-AUTONOMOUS WHEEL
CHAIR FOR POTENTIALLY DISABLED PERSONS
SUMMARY

The wheel chair is more indigenous for those potentially challenged persons for their feasible
mobility. But it is significant to consider the parameters which makes them easier for
navigation. In this proposed study we will design the wheel chair that makes user more
comfortable in all aspects. Here we will use three modes of navigation namely joystick mode,
Motion control mode and speech control mode. Depending upon the selection of modes, the
command signal can be sent to the microcontroller and it send signal to the motor which
controls the movement of the wheel chair. The designed wheel chair could move about 1 hour
by using completely charged battery. The estimated time to complete this task would be the
end of June 2023(11 months) with the proposed budget of 138,456.00. Birr.

1. INTRODUCTION

1.1 Background

Navigation is significant for human beings to locomote themselves from one place to another.
But this function becomes challenging for the persons who are disable, or due to age factors
(old persons), visually impaired. The inability to move suffers not only the victims but also
the persons intended to provide them assistance. This came to limelight in various research
fields and focussed by many researches to help those physically challenged peoples by
medicines and autonomous devices by applying many technologies by interfacing many
control systems.

With the advent of technologies, the researches built the devices for portability of the people
concerned (who face difficulty in walking). The most commonly used assistive device is the
wheelchair to promote maneuverability and improve their quality of living ie..to study, work ,
and involve in public services, sports and recreation, societal activities thereby uplifting them
in the society .Appropriate wheelchair is the one that fulfils the individual requirements and
environmental conditions, provides postural support based on sound biomechanical principles
and proper fit; is safe and durable; is available and can be accessed, maintained and sustained

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in the country at the most economical and affordable price.  Thus enhances the physical
health and quality of life apart from the mobility services.

The statistical data shows that among 650 million people with disabilities (about 10% of
population) all over the world. Among them 10% of people require wheelchair ie. 65 million
people worldwide. Among, it has been estimated that from 261 participants across Addis
Ababa, Ethiopia was taken to estimate a wheelchair’s impact across numerous time,
economic and distance variables.[1]

In addition, it was estimated that in 2003, 20 million of those requiring a wheelchair for
mobility did not have one. There are indications that only a minority of those in need of
wheelchairs have access to them, and of these very few have access to an appropriate
wheelchair.

1.2 Review of Literature

The physically challenged and those persons with visual impairment often faces a lot of
challenges day to day life to move independently. This will greatly affect their personal,
cultural, moral development, social, intellectual and life expectancy.

To overcome this difficulty and to ensure safe mobility, autonomous wheelchairs are used.
The wheelchair is the instrument that helps the people with disability or inability (those
people who face difficulty in walking or met with an injury) to navigate themselves from one
place to another. Such wheelchairs can be either be (self)operated by the individual or
manually with the help of other persons who can move the wheelchair for locomotion [2].

The conventional methods, namely power wheelchairs are quite not convenient option for
the persons with poor coordination and severe weakness [3,4]. And hence a lot of smart
technologies have been implemented to develop a smart wheel chair to which computers,
sensors, and actuation systems are integrated to improve the design structure of the
wheelchair which makes its accessibility feasible for the users. [5,6].

This smart wheel chair includes mobile applications, gesture control interfaces, speech and
other processes. Some Rob Chair used for navigation by disabled people. This Rob Chair
uses communication system that includes voice HMI (Human Machine Interface), GUI
(Graphical User Interface). This type of chair works with behaviour-based architecture.[7]
and Obstacle avoidance algorithms to avoid obstacles.

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By adopting a behaviour-based approach wheelchairs can be built which can operate daily in
complex real-world environments with increased performance in efficiency, safety, and
flexibility, and greatly reduced computational requirements.[8]

A automated wheelchair has been developed, fabricated and improved along with
functionality of joystick which greatly helps for detecting the obstacle. This task has been
implemented with the help of Arduino Uno (Microcontroller unit) that synchronise the
system which drives the dc motors for controlling the directions and linear motion of the
wheelchair. [9]

A fully automated wheelchair with head mat, foot mat, umbrella, humidity sensor, ultrasonic
sensor along with GPS tracking system is designed which helps for easy accessibility in the
society.[10]. As automatic wheel chairs are expensive, a battery powered, motor operated,
electronically hand controlled autonomous wheelchair has been developed that overcomes the
architectural barriers associated with automatic wheelchair [11]

1.3 STATEMENT OF PROBLEM

The potentially disabled people face a lot of problem for their independent mobility. The
mobility become vital for their physical, communicative, cognitive and social skill
development. In Ethiopia, for such people it’s not easy to buy high price electric wheel
chairs. The aim of this proposal is to develop an affordable autonomous wheel chair for
potentially challenged people in Ethiopia.

1.4 SIGNIFICANCE OF RESEARCH (JUSTIFICATION)

The study will help in designing and developing of Semi- Autonomous wheel chair which
makes the people more comfortable for their mobility. This proposed system is identified as
a powered wheel chair with various sensor and control system. It has joystick which makes
the mobility more feasible in all directions.

1.5 OBJECTIVE(S)

 1.5.1 General Objective

The main objective of the present study is to design, fabricate and analyse the cost effective
semi-autonomous wheelchair for potentially challenged persons with the aim of improving
their mobility.

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  1.5.2 Specific Objectives

i. To analyze the load capacity of the wheel chair by using Solid works.
ii. Depending upon the requirement various sensors will be chosen.
iii. Based on the load analysis and calculations the materials and components will be
selected.
iv. Fabrication of the mechanical structure based on the Solid works design.
v. Mounting the electrical components on the mechanical structure.
vi. After installation, based on the input parameter Arduino Algorithm will be developed.
vii. Final testing of Semi- Autonomous wheel chair in the field.

2.MATERIALS AND METHODS

2.1.1 Mathematical Design Calculation to calculate torque

Torque required for the motor

fR = Frictional Force
FMax = Maximum Force
N = Normal Contact Force
a = acceleration
u = coefficient of friction
m = Mass of the person
g = gravitational acceleration (9.8 m/s2)
External Weight = Weight of battery + weight of electronic box + weight of chair (including
chain & sprocket) + weight of motors
External Weight = 3+ 0.5 + 23.5+3
External Weight = 30 kg
For weight = 90 Kg
Total Weight = Weight of person + External weight
Total Weight = 90kg+ 30kg
Total Weight =120 kg
So, Weight exerted by motor 1 = 120/2
Weight exerted by motor 1 =60 kg
Now Maximum force exerted by the wheel chair will be calculated
FMax-fR = m x a (1)
Now, for the ideal condition normal wheel chair accelerates at 4.0 m/s2 and

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coefficient of friction (u) for rough surface is 0.3. By these values Maximum force is
calculated.
N= m x g (2)
fR = u. N (3)
fR = 0.3 x 60 x 9.8
FMax = fR + m x a (4)
FMax = 176.4 + (60 x 4)
FMax = 416.4 N (to change)
Wheel Diameter = 0.6m
Torque = FMax×Diameter/2 (5)
Torque = 416.4 x 0.3
Torque = 124.92 Nm.
Gear Ratio= Driven Sprocket teeth/drive sprocket teeth (6)
Gear Ratio= 44/9= 4.8
Torque of Motor= Torque of Rear wheel/Gear ratio (7)
Torque = 124.92 Nm. /4.8
New Torque =26.025 Nm

2.2.2 Motor Selection

The diameter of the wheel =0.6 m
The radius of the wheel = 0.6/2 =0.3m
Circumference of the wheel = 2 πr
=2π(0.3)
Revolution of the wheel =1.88 m
Maximum speed of the wheel chair 4Kph(from video reference)
4km/hr = 4*(1000/60)= 66.66 m/min

Distance reach per minute at top speed 66.66

Maximum wheel rpm¿ = =35.45 rpm
Distance covered by wheel for 1 rev 1.88

Number of teeth∈wheel sprocket 44

Sprocket ratio¿ = =4.88
Number of teeth∈motor sprocket 9

Motor rpm = 4.88 x 35.45 rpm

= 172.996 rpm

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2.2 COMPONENTS

2.2.1 Ultrasonic Sensor

The HC-SR04 ultrasonic sensor uses SONAR (Sound Navigation & Ranging) to determine
the distant object that ranges from 2 cm to 400 cm. The main advantage is that it provides
excellent non-contact range with high accuracy with stable readings. The complete setup has
ultrasonic transmitter and receiver module.

1. Voltage: DC 2.4V – 5V
2. Average Current Consumption: < 2mA
3. Output mode: level or UART
4. Detection distance: 2cm – 450cm
5. Sensing angle:15o
6. Working temperature: -20°C to +70°C
7. It features temperature compensation.
8. Provides two output modes level or UART.

Figure 1 Ultrasonic Sensor with its specification

2.2.2 LIDAR

It is an acronym of Light detection & Ranging. This method is used for determining the
variable distance of the object by targeting laser beam on the object or on its surface and
measuring the time for the reflected light to return to the surface. It covers the distance of 8m.

1.The range is up to 8 meters

2.Low power consumption
3.Wide range of temperature adaptation
and voltage input.
4.It has high accuracy and frequency.
5.Small size
6.Lightweight

Figure 2 LIDAR with its specifications

2.2.3 Sprocket & Chain

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The sprockets are the common way to transmit the power and change the output torque or
speed of the mechanical system. The size of the input and the output sprockets determine the
change in speed of the system.

The chain, namely the roller chain is used to connect two sprockets together and transfer
torque. It is made up of series of inner and outer links connected together to form a flexible
strand.

The sprocket and chain is very efficient way to transmit the torque over long distances.

1.Suitable Chain T8F

2.Teeth 44T
3.Holes 4
4.Inner diameter(mm) 54
5.Outer diameter(mm) 117
6.Bottom
102
Diameter(mm)
7.Pitch Dimeter(mm) 112
9.Thickness(mm) 4
Weight(g) 200
Figure 3 Sprocket with its specification

1.Model T8F
2.Pitches 120
3.Length(mm) 96
4.Roller Diameter(mm) 6.5
5.Pin Diameter(mm) 3.15
6.Roller width(mm) 4.7
Weight(g) 307

Figure 4 Chain with its specifications

2.2.4 Joystick
The joystick plays an important role to control the wheelchair for the potentially challenged
persons. The movement of the wheelchair can be manually controlled by the joystick. This
can be accomplished by implementing the command by using joystick and the respective
command is sent to the Arduino board where the controller will process the command. This

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command will be sent as the digital signals to the motor driving IC and the motor driving IC
will control the movement of the wheelchair.

1.Dual Axis Joystick Module

2.Dimensions:40x27x15(LxWx
H) mm
3.Weight:10gm(Without Hat)
4.2.54mm pin interface leads
5.Operating Voltage: 5V

Figure 5 Joystick with its specifications

2.2.5 Dc Motors

In the proposed wheelchair two DC motors are used to move the wheelchair in different
directions namely forward, reverse, left and right. Microcontroller is used to control these
motors. The respective driver circuit is used for driving the DC motors.

1.Model MY1020Z2
2.Rated Power(W) 250
3.Rated Voltage(V) 24
4.Rated
3300
Speed(RPM)
5.Unload
3850
Speed(RPM)
Less than equal to
6.Rated Current(A)
13.4
7.Unload Current Less than equal to
(A) 2.2A

Figure 6 DC Motor with its specifications

2.2.6 DC-DC Converter

The DC-DC converter is used here to convert the 24V Dc supply from the battery to 5V .
This can be used as the operating voltage by the components such as microcontroller, sensors,
Bluetooth module, etc.

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 1.Model Specification: DSN6000AUD Automatic Buck
module
2. Module Properties: Non- isolated boost (BOOST)
3. Rectification: Non- Synchronous Rectification
4. Input Range: 3.8V – 32V
5. Output Range: 1.25V – 35V
6. Input Current: 3A (max) , no-load 18mA (5V input ,
7. V output , no-load is less than 18mA. Higher the
voltage, the greater the load current.)
8. Output current: Maximum output current 4A
9. Conversion efficiency: <94% ( the greater the
pressure , the lower the efficiency )
10. Switching frequency: 400KHz
11. Output Ripple: 50mV ( the higher the voltage, the
greater the current, the greater the ripple )
12. Load Regulation: ± 0.5%
13. Voltage Regulation: ± 0.5%
Figure 7 DC- DC Converter with its specifications

2.2.7 Arduino Mega 2560

The Arduino Mega2560 microcontroller is used for controlling the functions of the
wheelchair. The programming algorithm is built in the microcontroller accordingly it controls
the different parameters. According to the input signal given to the microcontroller the output
signal is generated that controls the wheel chair.

1. Programmer: CH340
2. Operating Voltage 5V
3. Input Voltage (recommended) 7-12V
4. Input Voltage (limits) 6-20V
5. Digital I/O Pins 54 (of which 15 provide
PWM output)
6. Analog Input Pins 16
7. DC Current per I/O Pin 40 mA
8. DC Current for 3.3V Pin 50 mA
9. Flash Memory 256 KB of which 8 KB
used by bootloader
10. SRAM 8 KB
11. EEPROM 4 KB

Figure 8 Arduino Mega with its specifications

2.2.8 Driver Circuit Module

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The driver circuit is used for controlling the motor in both directions. According to the logic
0 & 1 signal from the microcontroller the driver circuit controls the motor direction.

1.Driver Model SmartElex 15D

2.Operating Voltage (VDC) 6.8 ~ 30
3.Peak Current (A) 30
4.Continuous Current (A) 15
5.No. of Channels 2
6.Over-Current Protection (A) Yes
7.Thermal Protection Yes
8.LED Indicator Yes
9.Cooling Fan No

Figure 9 Driver Circuit Module with its specifications

2.2.9 Bluetooth Module

The Bluetooth module is connected to the mobile for the purpose of controlling the
wheelchair through voice signal.
1. Operating Voltage: 4V to 6V (Typically +5V)

2. Operating Current: 30mA

3. Range: <100m
4. Works with Serial communication (USART)
and TTL compatible
5. Follows IEEE 802.15.1 standardized protocol
6. Uses Frequency-Hopping Spread spectrum
(FHSS)
7. Can operate in Master, Slave or Master/Slave
mode
8. Can be easily interfaced with Laptop or Mobile
phones with Bluetooth
9. Supported baud rate:
9600,19200,38400,57600,115200,230400,460800
.
Figure 10 Bluetooth Module with its specifications

2.2.10 GRS Sensor Module

This sensor module helps to detect the sensitivity of the human skin and measures the
electrical conductance of the skin. The GRS sensor consists of electrodes which is attached to
the face of the person. Depending upon the facial expression, the movement of the wheel
chair can be accomplished. This will help for the person who are physically challenged.

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 1.Interface: Analog
2.Operating power: 3.3V/5V
3.Sensor: finger straps for electrodes
4.Dimension: 20 x 20 mm
Various main board support: Arduino/
Seeeduino/
5.Raspberry Pi/Beagle Bone/Linklt ONE

Figure 11 GRS Sensor Module with its specifications

2.2.11 MPU 6050 IMU Sensor

It is used to measure acceleration and orientation about the three axis.

1. Model :GY-521
Figure 12MPU-6050
2.Chip: MPU 6050 IMU Sensor with its
3.Pin spacingspecifications
: about 2.54 mm
4. Supply voltage : 3V-5V
2.2.12 Battery
5.Gyroscope range : 250 500 1000 2000
The rechargeable lead acid battery is used as the
power source. Here we are using 4 lead acid batteries
of 12V & 12 Ah ratings. The wiring of two 12 –volt
batteries with an 12Ah capacities in series will output
24 volts with a 12Ah capacity. Wiring the same batteries in parallel will output 12 volts with
24Ah capacity.

1.Battery: AMAID
2.Model: 12V 12AH AMID@C27
3.Product Dimensions 15.24 x10.16x10.16 cm
4.Batteries :112 V batteries required
5. Item Model No: 12V
6.Voltage : 12Volts
7.Battery Cell Composition: Lead Acid
8.Battery weight : 500 grams

Figure 13 Battery with its specifications

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2.2.13 Wheelchair

On the wheelchair all the components are mounted and it is the system used for navigating
the physically challenged persons.

Figure 14 Wheelchair

2.3 BLOCK DIAGRAM

The block diagram for the proposed wheel chair has been shown in the figure. The wheel
chair has the following major components such as Arduino Mega2560 microcontroller,
LiDAR (Light detection & Ranging), Ultrasonic sensor, Bluetooth module, Joystick, Motor
driver circuit module, Power supply (Battery), DC-DC converter, DC motor.

The 24V battery is connected to motor driver circuit and DC-DC converter. The motor driver
circuit receives 24V DC supply by which it controls two DC motors. The DC-DC converter
converts 24V DC to 5V and the operating voltage of 5V is supplied to the required
components.

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 Figure 15 Block diagram

2.4 WORKING

In the proposed wheelchair there are 3 operating modes namely

1. Joystick Mode: In the joystick mode, it depends upon the movement of the joystick by the
user. The commands will be sent to the Arduino and according to this it sends the signal to
the motor and hence the wheel chair will be moved.

2. Motion Control Mode: In the motion control mode, depending on the various motions by
the user the respective commands will be sent to the microcontroller which controls the motor
and movement of the wheel chair can be accomplished

3. Speech Control mode: In the speech control mode, by the voice instructions of the user,
the signal is recognised and movement is established.
2.5 FLOWCHART

Figure 16 Flowchart

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3.BUDGET BREAKDOWN

3.1 Components (Consumable materials)

SN Items Amount required Unit cost Subtotal cost
(pieces / number / (Birr/unit) (Birr)
packs)
1 Materials to fabricate additional 1 3500 3500
structure on wheel chair
2 DC motor 2 7000 14000
3 Chain and sprocket 1 1200 1200
4 DC motor Driver Duel channer 1 2500 2500
5 Arduino Mega 2560 1 3000 3000
6 LIDAR 2 2700 5400
7 Ultrasonic Distance Sensor - HC- 2 700 1400
SR04
8 Lead Acid Battery 12v 12Ah 4 2000 8000
9 Medical Manual Wheel Chair 1 12000 12000

10 HC-05 Bluetooth Module 1 500 500

11 GSR sensor 1 2500 2500

12 DC- DC convertor 1 500 500
13 Joystick 1 400 400
14 MPU 6050 IMU sensor 1 500 500
TOTAL 55,400.00

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 3.2 Per-diem Expense (Researchers and Assistant)
No Description No. of No. of Purpose Per Total cost
person days diem/ (Birr)
day
1 Researchers 4 30 Per dim for researchers 339 40,680.00
for material enquiry and
procuring

Subtotal 40,680.00

3.3 Transport or fuel cost

No. of No. of Total price
N Unit
Description trip researche in Birr
o price
r

Transportation of materials from Addis

1 8 3 724 17,376.00
Ababa to HU

Subtotal 17,376.00

3.4 Fabrication Cost

S.No Items Amount required (pieces / Unit cost Sub total
number / packs / litter) (Birr/unit) cost (Birr)

1 Workshop expenditure for As required 20,000.00

mechanical structure
fabrication

Total 20,000.00

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No. Items Total cost Remark
(Birr)
1 Components (Consumable materials) 55,400.00
2 Per-diem Expense (Researchers and 40,680.00
Assistant)
3 Transport or fuel cost 17,376.00
4 Laboratory Costs 20,000.00
Grand Total 133,456.00

3.5 Summary of budget breakdown

TIME FRAME
Table 4.1 Time schedule of the research work (period: From November 2022 to March
2022)
No Activities (Major tasks) Time- schedule
1  Depends up on cost effectiveness the required materials are
purchased from the different sellers November 2022
 Transportation of purchased materials from seller’s place to
Hawassa University
2  Identifying the performance of individual components and December 2022 to
assembling all components and testing the wheelchair January 2023
3  Research writing
 Compile all data and writing the 1st draft of the research February 2023
 Writing the final draft of the research
4  Submitting the research
 Preparing power point
 Presenting research for defense March 2023
 Submitting final research for research D/D, Hawassa
University

5. EXPECTED OUTPUT

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The cost effective and well efficient wheel chair could be developed for potentially
challenged person who struggle a lot in the environment for their mobility. The proposed
Wheel chair can be used for moving from place to place for approximately 1 hour
continuously using full charged battery. This will greatly help those physically challenged
people to move freely without others help. Hence the developed wheelchair will ensure the
safety and secure mobility.

6.REFERENCES

1. https://www.clasphub.org/wp-content/uploads/2018/07/ResourceArticle_The-Economic-
Impact-of-Wheelchairs-for-the-Disabled-in-Ethiopia..pdf

2.Development of an Autonomous Wheelchair: A Progress Report S. Karim1, B. D. Que1, J.

E. Que1, L. P. Reyes1, A.A. Bandala2, R. R. P. Vicerra2, E. P. Dadios2, L. A. Gan Lim1,2,*

3. Smart Wheelchairs: Using Robotics to Bridge the Gap between Prototypes and Cost-
effective Set-ups Matthew Aquilina a , Marvin K. Bugeja b and Simon G. Fabri c

4. Richard Simpson, PhD, ATP; Edmund LoPresti, PhD; Steve Hayashi, PhD; Illah
Nourbakhsh, PhD; David Miller, PhD” The Smart Wheelchair Component System”, Journal
of Rehabilitation Research & Development, Vol 41, No 3B, pp (429–442)

5. Sarmad Hameed*, Muhammad Hamza Shoukat, Abdur Rafay Khan and Khwaja Mobeen
Haroo,” Smart wheel chair”, Ann Robot Automation 5(1): 011-018. DOI: 10.17352

6. Jesse Leaman, and Hung M. La, “A Comprehensive Review of Smart Wheelchairs: Past,
Present and Future “ IEEE Access.pp(1-12).2017.

7. G. Pires, N. Honório, C. Lopes, U. Nunes, A. T Almeida,” Autonomous Wheelchair for

Disabled People”, Proc. IEEE Int. Symposium on Industrial Electronics (ISIE97), pp( 797-
801)

8. Developing Intelligent Wheelchairs for the Handicapped Takashi Gomi and Ann Griffith

9.Development of an Autonomous Wheelchair for the Disabled and Performance Analysis

Using ANFIS Model Modestus Okwu1,3, Lagouge Tartibu1 , Michael Ayomoh2 , Daniel
Ighalo2,3

10. Deepak Kumara , Reetu Malhotrab *, S. R. Sharmac,” Design and Construction of a

Smart Wheelchair”, Procedia Computer Science,pp(302–307), 2020.

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11. J S Kalra, Rajesh Pant, Pankaj Negi, Vijay Kumar” Designing of Autonomous
Wheelchair for Movement in Standing Position”, International Journal of Recent Technology
and Engineering (IJRTE), Vol 8 Issue-2S12, ISSN: 2277-3878, Sep 2019.

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