Innovative Product Development Report

on

Smart Wheelchair using Hand Gesture

SUBMITTED BY
Name SAP ID
Ayush Tolia 60002200108
Meera Dedhia 60002200100
Krish Bilakhiya 60002200194

Under the guidance of

Prof. Ranjushree Pal

Assistant Professor

DEPARTMENT OF
ELECTRONICS AND TELECOMMUNICATION ENGINEERING
Academic Year: 2022-2023

Shri Vile Parle Kelavani Mandal’s

Dwarkadas J. Sanghvi College of Engineering

Plot no. U-15, JVPD Scheme, Bhaktivedanta Swami Marg,
Vile Parle (W), Mumbai – 400 056

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 Department of Electronics and Telecommunication Engineering

This is to certify that

“Smart Wheelchair using Hand Gesture”

Submitted by:

Ayush Tolia: 60002200108

Meera Dedhia: 60002200100
Krish Bilakhiya: 60002200194

Students of Electronics and Telecommunication Engineering have successfully completed

their Innovative Product Development-IV required for the fulfillment of SEM VI during the first
half of the year 2023. The project report has been assessed and found to be satisfactory.

_______________ _______________
Internal Guide External Guide

__________________ _______________
Head of Department Principal

_______________ _______________
Internal Examiner External Examiner

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 Table of Contents
Page No.

CERTIFICATE…………………………………………………………………….

I) ABSTRACT………………………………………………………………. 4

II) INTRODUCTION……………………………………………………….... 5

III) LITERATURE REVIEW……………………………………………….… 6

IV) THEORY…………………………………………………………………..
i) Working Principle………………………………………….….. 7
ii) Block Diagram/ Circuit Diagram/Flow chart…………………. 8

V) RESULT…………………………………………………………………… 10

VI) FUTURE SCOPE………………………………………………………… 11

VII) BUDGET SHEET………………………………………………………… 12

VIII) REFERENCES……………………………………………………………. 13

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 I. Abstract
This study provides a framework for an affordable smart wheelchair that provides those with
impairments with a range of functions. The development of a smart electric wheelchair prototype
will allow the user to move around unrestrictedly without the aid of outside devices. Because of
recent developments in robotic artificial intelligence, a more sophisticated and intelligent
wheelchair can be made to transcend the limitations of the present conventional wheelchairs.

In order to operate the prototype smart wheelchair that was demonstrated in this work using
hardware implementation, an accelerometer installed on the hand glove detects the tilt angle of
the user's hand movements and sends a control signal to a receiver mounted on the wheelchair.
The movement will be interpreted as the user intended. The wheelchair control device is built
using an Arduino UNO and ATMEGA328 microprocessor. The wheelchair is made to boost
mobility safety and the dependability of carrying out many essential daily duties.

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 II. Introduction
A wheelchair is necessary for a disabled person who lacks hands and feet and needs it to do tasks
that call for movement. He has two options for doing this: physically pushing the wheelchair
with his hands or getting assistance. It is highly taxing to push a wheelchair when you are
disabled. We tried to get them a wheelchair that would lessen their difficulties.

The need for wheelchairs is constantly growing due to the growing population of elderly people
and people who are physically disabled. There are many people in the world who are disabled,
both physically and otherwise. The World Health Organization estimates that 75 million people,
or 1% of the global population, use wheelchairs as a result of different disabilities. The term
"mobility impairment" refers to a variety of different categories of disability. Disabilities may be
neuromuscular, which affects nerves and muscles, or orthopedic, which affects bones and
muscles. Amputation, paralysis, muscular dystrophy, and spinal cord injury are some of the
frequent disease forms. Some folks find it challenging to move from one location to another. In
order to assist these folks in traveling from one location to another, a wheelchair was created.

The wheelchair that was created required a carer or the person using it to manually maneuver it,
which was stressful for the individual. They become powerless and miserable due to their
dependence on others. Hence, electronic wheelchairs were created. George Westinghouse
published the first concept for an electronic wheelchair in 1914, making it the first electric-
powered wheelchair. This chair's commercial production commenced in 1956. Many researchers
have presented various systems or approaches to control electric wheelchairs since their
development.

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 III. Literature Review

 Diksha Goyal and Dr. S.P.S Saini :-

Presented the “Accelerometer based hand gesture controlled wheelchair “Which describes the
work in gesture reorganization use as application as a wheelchair. In this case was conducted is
gesture is recognized through 3 axes accelerometer sensor.

 Feng-shengChen, Chin-Ming Fu, and Chung–LinHuang :-

Presented the “Hand Gesture Recoganization using a real time tracking method and Hidden
Markov Models” which describes the introduction on hand gesture reorganization system to
recognize the continuous gesture before stationary background.

 SmithaPaulose, M.P.Fathima, Anooda GeethuMohan, M.S.Sajana, K.A.Anupama :-

Author presented by “Automatic Wheelchair Using Gesture Reorganization Along with Room
Automation “using MEMS Accelerometer sensor This system approaches to real time detection,
Tracking and reorganizational direction of hands which is used for interaction between human
robot and intelligent wheel chair.

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 IV. Theory
i) Working Principle:

The sensor in this hand gesture-controlled wheelchair is an ADXL335 accelerometer. When

moved in the X, Y, and Z axes, it will, correspondingly, output an analog signal. Using an
LM324 operational amplifier, the analog and digital signals are contrasted. Using a 434 GHz
radio frequency transmitter, the signal is wirelessly sent. The data is first encoded with an
encoder IC HT12E to shield it from interference from other devices. After then, the signal is
wirelessly delivered. Now, the signal is picked up by the receiver, decoded by the decoder, and
the data from the receiver is fed into the microcontroller as input. The microcontroller compares
the data that is already preloaded in the controller when it receives the input or signal. A signal is
then supplied to the L293D IC, which then transmits the signal to relays, causing the wheelchair
to move, if the input data matches the preinstalled data. Because it captures even the smallest
changes, the ADXL335 accelerometer was selected as the sensing device. The accelerometer
must first be adjusted to the project's requirements for us to properly regulate the wheels' motion.
To accomplish this, we use variable resistors, and we look at the output for different voltage
levels that we altered by adjusting the variable resistance. To appropriately compare the two
inputs and present the result, we need comparators. We must adjust the tilting angle in line with
the hand motion. After taking various values we set the reference values of the comparator as:

Table 1 — Reference value of comparator circuit connected to the accelerometer

Direction Reference Voltage
Forward 1.15 V
Backward 1.92 V
Left 1.85 V
Right 1.76 V

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 Figure 1: small model of Smart Wheelchair

ii) Flow Chart:

In Hand Gesture grounded Smart Wheelchair the microcontroller known as Arduino UNO is
used to perform tasks and interface with other components. Flux detectors detect hand gestures,
MEMS detectors are used to translate digital signals into mechanical actions, motor ICs control
the motors, and GSM modules communicate with the appropriate parties. As a result, our design
is more affordable than joystick- or voice-controlled wheelchairs.

Figure 2: Flowchart of Arduino UNO connections

a. Arduino Nano: The ATmega328P-based Arduino Nano is a compact, comprehensive, and

breadboard-friendly board. For interacting with a computer, another Arduino, or other
microcontrollers, the Arduino Nano includes a number of installations. The Arduino
Nano may be reset using software running on a linked computer because to the way it is
built.
b. NRF24L01 It is a wireless transceiver RF module, where each module can shoot and
admit data. When operated efficiently, this module can cover 100 measures (200 bases),
making it suitable for wireless remote control systems. The NRF24L01 module is
powered by 3.3 Volts so that it can be fluently used in both 3.2 Volts and 5 Volts
systems. NRF24L01 is a radio transceiver module (SPI protocol) used to shoot and admit
data at ISM operating frequency from2.4 to2.5 GHz.

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 c. L2938N Motor: It is a simple circuit used for controlling a DC motor. A regulator like
Arduino provides the low voltage input to a motor driver module. The direction of DC
motors attached to the driver is managed by this input sense. So, by providing the motor
driver module with appropriate logic, you may regulate how DC motors move.
d. MPU6050 Gyro Accelerometer: A three-axis accelerometer and a three-axis gyroscope
make up this Micro Electro-Mechanical System (MEMS). We can measure hurry,
exposure, acceleration, relegation, and other stir-like characteristics with its assistance.
Because of this, it simultaneously captures a three-dimensional stir.

Figure 3: Flowchart of LM324 Comparator connections

This hand gesture controlled wheelchair uses an MPU6050 accelerometer as a detector that will
produce analogue signals when moved independently in the X, Y, and Z axes. An nRF24 is used
as a comparator to transform an analogue signal into a digital signal, or we may refer to it as a
wireless transceiver module because it can send and receive data wirelessly.

After that, the signal is transferred wirelessly. Now the receiver receives the signal and also it is
reused through the decoder so as to crack the signal further the data entered through the receiver
is transferred to the microcontroller as input. On entering the input signal L298N binary H-
Ground motor motorist starts and also the wheelchair starts moving. We also used Arduino Nano
to upload the law so nRF24 can read the instruction and transmit the signal to the receiver & at
the receiver point there's also Arduino Nano which compares the data which are coming from the
transmitter and the wheelchair move according to it. There is one further module in this
wheelchair which is an ultrasonic detector that will help to avoid obstacles by indicating. So, the
wheelchair can stop and for that ultrasonic detector measures distance by using ultrasonic swells.
The detector head emits an ultrasonic surge and receives the surge reflected from the target so
the wheelchair automatically stops.

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 V. Result
Smart Wheelchair that's operated by hand gestures the microcontroller known as Arduino UNO
is used to perform tasks and affiliate with other bias. Flux detectors are used to descry hand
gestures, MEMS detectors are employed to restate digital signals into mechanical conduct, motor
ICs are used to drive the motors, and a GSM module is used to warn the applicable parties.
Because of this, our result is more affordable than joystick- or voice-controlled wheelchairs.
The Arduino Nano is a small, complete, and breadboard-friendly board built on the
ATmega328P. The Arduino Nano may be programmed using the Arduino Software integrated
development environment (IDE), which is available both online and offline and is utilized by all
Arduino boards. The Arduino Nano has 30 tiny I/O heads that are arranged in a DIP-30-like
configuration. The Arduino Nano may be reset using software running on a linked computer
because of the way it's erected. The wheelchair works according to the instruction given by the
stoner through hand gestures. According to the stoner’s gesture, both motors work as shown in
Table 2. The Wheelchair will go in the direction in which our hand gesture shows.

Table 2 — Working of the motors in the wheelchair

Direction of hand gesture Movement of the left motor Movement of the right motor

Forward Forward Forward

Backward Backward Backward

Right Forward Stop

Left Stop Forward

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 VI. Future Scope
In order for smart wheelchairs to be a commercial success and be widely utilised, there are a
number of difficulties that manufacturers and academics must overcome in future work. Cost
versus accuracy is a typical major problem. Affordable and sophisticated sensors can aid in
resolving this issue. There are yet no smart wheelchairs that can be utilised universally for all
types of disabilities. Additionally, intelligent wheelchairs ought to be able to keep an eye on the
patient's condition and respond appropriately. Moreover, research should be done on intelligent
wheelchairs for mentally challenged people to utilise independently. Future applications for
smart wheelchairs are vast, and sensor and robotics technology advancements will also boost
their economic viability.

 Automated wheel chair can be operated by a wireless remote which can reduce the wiring
arrangement.
 Instead of using acceleration motion we can use the eye retina using an optical sensor to
move wheelchair accordingly.
 We can use voice command ICs to interface our voice signal with the microcontroller.
 This system can be extended by including GSM which sends an SMS during an
emergency.
 Research is going on the development of handicapped wheelchair using the nervous
system of humans.

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 VII. Budget Sheet

Sr No. Components Price

1 Arduino NANO 670
2 ADXL 335 Accelerometer 350
3 NRF Module 191
4 L293D Motor Driver IC 45
5 Battery 100
6 LM324N 70
7 Miscellaneous 300
Total 1726

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 VIII. References

 (PDF) Hand Gesture Controlled Wheelchair (researchgate.net)

 A9399109119.pdf (ijeat.org)
 HAND GESTURE CONTROLLED WHEEL CHAIR (slideshare.net)
 Gesture Controlled Wheelchair - Arduino Project Hub
 Rafiqul Zaman Khan and Noor Adnan Ibrahim “Hand Gesture Recognisation: A
Literature Review “International Journal of Artificial Intelligence Application (IJAIA),
Vol.3, No.4, July 2012.
 DikshaGoyalandDr.S.P.Saini”Accelerometer based Hand Gesture Controlled
Wheelchair” International Journal on Engineering Technologies 4(2):15-20(2013).

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