Materials Today: Proceedings 56 (2022) 533–541

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Materials Today: Proceedings

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IoT based automated Wheel Chair for Physically Challenged

Priyanka Mishra ⇑, Sanatan Shrivastava
Department of Computer Science and Engineering, Indian Institute of Information Technology Kota, Jaipur, India

a r t i c l e i n f o a b s t r a c t

Article history: The purpose of an automatic wheelchair (AWC) is to assist and support paraplegics. The proposed chair is
Available online 25 February 2022 particularly suited for people with a higher level of impairment, such as quadriplegics who are unable to
move any of their body parts except their head due to their advanced age or infirmity. We created a
Keywords: microcontroller-based wheelchair that moves with the patient’s head motion. Electronic and mechanical
Microcontroller components make up the system. An accelerometer monitors the patient’s head nodes in all four dimen-
Bluetooth sions for head motion recognition. The paper goes over the Bluetooth technology on the wheelchair, as
Motors
well as the accelerometer that powers the motors and controls the chair’s motions inside the house.
Accelerometer
IoT
Our wheelchair is designed with the patient’s health in mind as well as the device’s maneuverability.
Ultrasonic sensor. The pulse rate and blood oxygen levels are monitored by sensors using an Internet of Things approach.
The ultrasonic sensors aid with obstacle recognition, making it easier to move the chair in a certain direc-
tion. By observing the directions of head movement along the x and y axes, the implanted accelerometer
aids the chair in determining which movement the patient wishes to make. The signal is then sent to the
microcontroller. The wheelchair is controlled by a microprocessor-based on the direction of acceleration,
and it moves in LEFT, RIGHT, FORWARD, and BACKWARD with the help of viper motors.
Copyright Ó 2022 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the International Confer-
ence on Materials, Machines and Information Technology-2022.

1. Introduction With the help of medical devices or technology, a severely disabled

The ‘‘Automated Wheel Chair (AWC) for Physically Challenged”
project is sanctioned by the Department of Scientific and Industrial
Research (DSIR), Govt. of India. Fig. 1 depicts numerous images of a
developed chair taken from various angles. Patients with paraple-
gia and quadriplegia will benefit from the chair. Patients with para-
plegia lose mobility and sensation in both legs, as well as some
parts of the lower abdomen. Quadriplegia patients have problems
with all four limbs and are unable to move some portions of the
chest, abdomen, and back. Patients with quadriplegia have no
motor muscle movement and have reduced body motion for a vari-
ety of reasons, including stroke, arthritis, high blood pressure,
degenerative illnesses of the bones and joints, paralysis, congenital
deformities, and other passively induced discomforts.
Physically challenged people with a severe degree of handicap
are unable to conduct daily functions such as eating, bathing, mov-
ing from one location to another, and other critical activities [8].
Quadriplegia can also be caused by accidents or advancing age.
⇑ Corresponding author.
E-mail address: priyanka.cse@iiitkota.ac.in (P. Mishra).
person can move around to some extent. Wheelchairs are one of
the most accessible pieces of gear that can help quadriplegics
regain some control over their lives by assisting them in their daily
activities[1].
Automated wheelchairs let and assist a person in demonstrat-
ing his capacity to move both outside and inside the home. Sensors,
Bluetooth, communication devices, and signal processing units are
examples of microelectronic components that help to recognize
what a person wants. The device then syncs with the sufferer’s
head motion commands. However, the failure of such electrome-
chanical recognition modules can sometimes result in a patient’s
fall and damage. The majority of wheelchair operations are guided
by a GPS system that directs the chair from one point to another.
Wheelchairs are easier to manage and operate, thus they are
used more frequently, but they are difficult to use by quadriplegics
unless they are carefully built. When patients are unable to use the
interfaces that are supposed to be standard, additional methods are
used. This project is driven by many technologies from diverse sec-
tors, such as Bluetooth, sensors, and gyroscopes, according to var-
ious study endeavours. Sensors, microcontrollers, and motors are
the most common electromechanical devices utilized in such

https://doi.org/10.1016/j.matpr.2022.02.183
2214-7853/Copyright Ó 2022 Elsevier Ltd. All rights reserved.
Selection and peer-review under responsibility of the scientific committee of the International Conference on Materials, Machines and Information Technology-2022.
P. Mishra and S. Shrivastava Materials Today: Proceedings 56 (2022) 533–541

Fig. 1. Developed Automated Wheel Chair from different angles.

designs. These are used to translate the actions of users into the
workings of mechanical components. Robotic wheelchairs are the
result of all of these technologies. Chair movements can also be
controlled by eye movements and touch sensors. Sensors in an
eye control wheelchair track the movements of the eyes.
2. Working model
Various IoT gadgets are included in the automated wheelchair.
Each device has a specific function and set of characteristics that
help the disabled person gain more independence. The circuit
and connection diagrams for the designed chair are presented in
Fig. 1a and Fig. 1b, respectively. An Arduino UNO, accelerometer,
motor, pulse rate sensor, ultrasonic sensor, Wi-Fi GPS tracker,
and Bluetooth modules are all included in the chair.
2.1. Bluetooth & GPS
The L293D motor driver and the Bluetooth module HC-05 are
utilized to control the motion remotely via an android app or a
dedicated controller. A Bluetooth-connected Android app can be
created to simply handle motions such as forwarding, reversing,
turning left and right. Apart from the Bluetooth module, the Wi-
Fi ESP8266 module can now be used to control the motion of the
L293d motor driver wirelessly.
The IP address of the wi-fi must be plugged in the ESP8266
module through the Arduino, and then the IP address must be pro-
grammed into any third-party app such as ESP8266 robot.apk to
directly control the driver using the android phone. Fig. 2 depicts
the Bluetooth (HC-05) connection with the Arduino UNO.

Fig. 1a. Connection Diagram of Automated Wheel Chair.

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P. Mishra and S. Shrivastava Materials Today: Proceedings 56 (2022) 533–541

Fig. 1b. Circuit Diagram of AWC.

Fig. 2. Bluetooth module HC-05.

2.1.1. Real-Time positioning of the patient
The following components are attached to the Arduino UNO
board for real-time wheelchair positioning. These include a GPS
tracker with SIM908, a rechargeable battery, an external GPRS-
GSM antenna, an external GPS antenna, an alkaline battery, an
adapter, and a 9 V battery holder. Fig. 3 depicts the GPS tracker’s
shield from the top.
The final assembly of the GPS with a wheelchair is shown in
Fig. 4. The location of the GPS antenna in a wheelchair is critical.
When installing an external GPS antenna, make sure the arrow
printed on the antenna is pointing upwards.
In addition, the ceramic side of the internal GPS antenna should
face upward. While calling our phone number, the GPS obtains lon-
535
gitude and latitude and sends an SMS containing the position. The
GPS data is also supplied to our computer’s PHP software through
the Internet.
2.2. Motor
The electric wheelchair has been intended to operate without
the use of external power, which can be provided by a wiper motor,
which is well-known and simple to maintain motivation. Our
wheelchair is a regular power wheelchair with a computer
attached, as well as an accelerometer that determines chair move-
ment based on the motions of the patient’s head. Such chairs are
smart wheelchairs because they are designed to provide navigation
P. Mishra and S. Shrivastava Materials Today: Proceedings 56 (2022) 533–541

Fig. 3. GPS Tracker Shield.

2.2.1. Wiper motor

Wiper motors use electricity to move their blades smoothly. As
shown in Fig. 5, the wiper motor rotates in a single direction,
resulting in a back-and-forth motion.
A wiper motor is made up of a lot of mechanical linkages. Each
connector is responsible for starting the movement. The gear head
motor, which has a high enough torque, is one of the wiper motor
types that we did not employ in our project. The wiper motor oper-
ates at 12 V DC, with a minimum current requirement of 1.6 amps
at 70 rpm and 1 amps at 41 rpm. If the motor’s voltage exceeds
12 V, it overheats and ceases operating.

Fig. 4. Assembly of GPS Module.

assistance to the disabled, allowing them to travel without collid-
ing, alerting them to obstacles, and providing high performance in
specific tasks. They also provide autonomous support in transport-
ing the user from one location to another without the need for
external assistance[3].
2.2.2. Measures before operating wiper motor in AWC
Wiper motors do not pollute the environment. They are secure,
dependable, and have a little footprint. (<30 kg). Above all, they are
low-cost and simple to maintain. The wiper motors mentioned
above are commonly seen in today’s autos, which are reduced in
size. The connection components for a wiper motor should be
put on it or delivered with it [15]. Before installing the wiper
arm, the wiper motor should be started and brought to the parking
position.
The power to the wiper motor should be switched off using the
wiper motor’s power switch when it is dismantled and installed. In
the wiper motor’s electric line, a protective fuse of an incorrect
value should be utilized. The wiper motor should be powered by
the voltage specified on the nameplate.
The wiper motor’s electrical connection should be made accord-
ing to the wiring schematic. The wiper motor should not be used
on the frosted glass until the ice has thawed. On the dry glass,
the wiper motor should not be used. The warranty will not cover
any failures that occur if the aforesaid conditions are not met.

2.2.3. Connecting IC L239D to Arduino UNO and battery

The L239D motor driver IC allows the DC motor to move in any
direction. This 16-pin IC allows you to operate a pair of DC motors
in either a left or right direction instantly. This IC can easily control
Fig. 5. Wiper Motor. both DC motor 1 and motor 2 as illustrated in Fig. 6.
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P. Mishra and S. Shrivastava Materials Today: Proceedings 56 (2022) 533–541

Fig. 6. Schematic Diagram of LC293D.

Because drivers aren’t just for motors, they can be used for any LOGIC 1 inputs to input pins. Fig. 8 shows the L239D and Arduino
electronic component that uses more than 50–100 mA. Because Uno wiring diagram.
motors draw a lot higher current than drivers, connecting them
directly will result in motors not moving. 2.2.5. IC L293D working in AWC
As a result of the strong currents, the microcontroller is For motor driving, pins 1 and 9 must be high. The input pins
destroyed. Fig. 7 shows the pin diagram for IC L293D. attached to 2 and 7 are used to move the left motor. When the
input pins (2, 7) are fed with Logic 1 and Logic 0 and logic 0 and
logic 1 accordingly, the left motor connected through the left side
2.2.4. Connecting IC L239D motor driver to Arduino UNO output pins (pin 3,6) rotates clockwise and anticlockwise. Pins 10
There are four input pins on the L239D. As illustrated in Fig. 8, and 15 are also input pins for the right motor. When the input pins
pins 2,7 and 15,10 are present on the left and right, respectively. (10, 15) are set to Logic 1 and Logic 0 and Logic 0 and Logic 1
The left input pins aid in the spinning of the motor connected respectively, the right motor connected to output pins 11 and 14
across the left side. The right input pins aid in the rotation of the rotates clockwise and anticlockwise.
right-hand motor. Both motors rotate in response to LOGIC 0 or

Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction

Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-
Impedance state]

Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]

3. Accelerometer

An accelerometer is a type of electronic sensor that monitors

the acceleration forces acting on a target.
This device aids in the detection of a wheelchair’s position in
space and the continuous monitoring of its movement. Microma-
chined accelerometers are a type of accelerometer seen in portable
electronic devices/gadgets as well as video game controllers.
Accelerometers generate an analog voltage as the output, which
can be used to determine how quickly the chair’s speed changes.
Finally, the output is used as input data to regulate the system
[5].

3.1. Head motion recognition with accelerometer

A microelectromechanical sensor is an accelerometer. Because

it assists in detecting head movements and converting them into
Fig. 7. IC L293D IC. computer-interpreted signals, accelerometer data is calibrated
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P. Mishra and S. Shrivastava
Fig. 8. IC L293D Circuit with Arduino and Motors.
and filtered. The microcontroller receives these signals. With the
help of DC motors, the microcontroller regulates the movement
of the wheelchair in the LEFT, RIGHT, FRONT, and BACK directions
based on the direction of acceleration. In movement-induced accel-
eration data, accelerometers can quantify the magnitude and direc-
tion of gravity.
The accelerometer module includes a system that detects tilt in
the automatic head, as well as a movement-controlled wheelchair
that moves in the direction specified by the user, such as forward,
backward, left, and right.
If the user does not tilt his or her head, the chair remains excel-
lent. The wheelchair motion is assisted by a microcontroller based
on head movement. This allows the wheelchair to communicate
with Bluetooth and sensors that are connected to DC motors[11].
Because of its ease of programming, low cost, and data wiping
capability, the initial project can be constructed with a PIC
microcontroller.
The Microcontroller can be programmed using the C program-
ming language or Arduino commands. The disabled will benefit
greatly from these head motion supportive chairs. The accelerom-
eter is a MEMS-based technology that uses vibrations to quantify
forces in both the tri-directional and bi-directional directions.
Fig. 9. ADXL 335 Accelerometer.
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Materials Today: Proceedings 56 (2022) 533–541
These forces cause certain piezoelectric crystals to vibrate, gen-
erating voltage. One of the good accelerometers to use is ADXL 335
due to its low cost, and ease of usage. ADXL 335 is a three-axis
accelerometer shown in Fig. 9.
3.2. Working process
The accelerometer module delivers either hand gesture or head
movement data to the transmitter controller as analog inputs. Dig-
ital data is used to translate and process analog inputs. The data is
then wirelessly sent to a different module[6]. The data is then
delivered to the wheel control system (main). Main control
receives data, processes it using the microcontroller at the receiver
end, and then transmits logic to the L293D motor driver[12], allow-
ing direction and motion to be controlled at the receiver end.
The MEMS transmitter attached to the hand was tilted to test
our wheelchair. The wheelchair’s movement is controlled by the
receiver module in four directions: forward, backward, left direc-
tion, and right direction. If there is an obstruction in the wheel
route, the wheelchair will automatically stop [13].
P. Mishra and S. Shrivastava Materials Today: Proceedings 56 (2022) 533–541

3.2.1. Benefits of the ADXL 335

Smart wheelchairs are ideal testbeds for sensor research, partic-
ularly in the field of machine vision. Human-robot interaction,
adaptive or shared control, and novel input techniques like voice
control, EOG, and eye-tracking can all be studied with such wheel-
chairs. These chairs will also continue to be used as testbeds for
robotic control architectures[8].

4. Obstacle detection module

A sensor makes it simple to turn any mechanical or physical

parameter into a signal, which is why they use of sensors is growing
at an unprecedented rate in the business. The sensors can quickly
convert numerous physical factors such as temperature, heat,
Fig. 10. Distance Measurement in Ultrasonic Sensor.
humidity, pressure, and so on into electrically quantifiable signals.
Sensors are widely employed in the IoT and robotics industries
because of these capabilities, and we may use them to automate waves (v) in the medium by the moving item. The ultrasonic sensor
processes based on changing conditions. The sensors are aware can distinguish between centimetres and inches when measuring
of their surroundings and can be programmed to provide the distances. These sensors have a measurement range of 0 to 2.5 m
desired result[34]. Infrared, ultrasonic, microwave/radar and infra- and a 3 cm precision. The key concept is to use this characteristic
sonic technology are used in many sensors and detectors[8]. of the ultrasonic sensor to detect impediments. Several sensors
Ultrasonic sensors are used in industrial applications because of seem to be an excellent choice for the job for a variety of reasons,
their high dependability and compatibility. Because their measur- including the fact that they are simple to use and are designed to
ing approach works successfully under practically all settings and measure non-contact distances between 2 cm and 400 cm.
that too quiet flexibly, ultrasonic sensors can be utilized to handle
even the most complex tasks involving object detection or level
4.2. Qualified sensors for AWC
measurement with millimetre precision. Sensors can be used in a
variety of ways, including infrared and ultrasonic applications.
The following sensors are ranked by their efficiency and accu-
We examine the use of sensors in an electric standard wheelchair
racy in automated wheelchairs. HC-SR04 Ultrasonic Sensor,
in this study, as well as how we might exploit the usage of sensors
HRUSB-MaxSonar-EZ2 MB1423, and PING Ultrasonic Distance Sen-
in an automated wheelchair[10].
sor are the three options.

4.1. Right sensor for AWC?

4.2.1. HC-SR04 ultrasonic sensor
VCC – 5 V, input power; TRIG – Trigger Input; ECHO – Echo Out-
To use the appropriate sensor in the wheelchair, we must first
put; GND – Ground
select the appropriate sensor from among the available options.
The sensor is made up of a HIGH signal with a duration of at
When it comes to selecting a sensor for an autonomous wheel-
least 10 s that is sent to the TRIG input. This allows the module
chair, there are essentially four factors to consider. The ultrasonic
to constantly broadcast eight 40KHz ultrasonic bursts. If there is
sensor can be adjusted to suit various scenarios and applications.
an obstruction in front of the module, the ultrasonic waves will
The device is incredibly durable, allowing it to withstand even
be reflected in the sensor. If the signal is received, the module’s
the harshest temperatures and rigorous treatment. Vibration
ECHO output will be HIGH for the time it takes to send and receive
cleans the sensor surface, which makes it dirt-resistant. Ultrasonic
ultrasonic signals. The pulse width varies from 150 microseconds
sensors have been used in businesses for a long time and have pro-
to 25 microseconds depending on the distance between the sensor
ven to be effective [8].
and the obstacle, and it is roughly 38 microseconds if there is no
obstacle in front of the sensor.
4.1.1. Ultrasonic sensor
The ultrasonic sensor’s basic characteristic is that it transmits 4.2.2. HRUSB-MaxSonar-EZ2 MB1423
sound waves and receives sound reflected from an object, as shown The HRUSB-MaxSonar-EZ2 MB1423 is a low-cost range-finding
in Fig. 10. When ultrasonic waves strike an object, the energy is solution for devices and applications that require precise range-
scattered and reflected over a wide solid angle that can be up to finding, space-saving, and low-cost. As illustrated in Fig. 11, such
180 degrees. As a result, some of the incoming energy has been a sensor can detect things from 1-mm to 5-meters, with a sensitiv-
reflected in the form of echoes and other distortions by the
transducer.
The sound waves return fast if the object is close to the sensor;
but, if the object is far away from the sensor, the sound waves take
longer to return [8]. When objects are too far away from the sensor,
however, the signal takes much longer to return (or is very weak
when it does) and is so late that the receiver is unable to detect it
[11].
The sensor determines the distance of an item by measuring the
time it takes for sound to return from the object in front of it [9].

distanceðLÞ ¼ timetakenxspeedofsound=2
The distance to the object (L) can then be estimated using
equipment based on the Doppler shift and the speed of ultrasonic Fig. 11. HRUSB-MaxSonar-EZ2 MB1423.

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P. Mishra and S. Shrivastava
Fig. 12. PING Sensor. The 3 pins include: GND - Ground (Vss); 5 V  5 VDC (Vdd); SIG - Signal (I/O pin).
ity range of 30-cm to 5-meters, with large items closer than 30-cm
commonly recorded as 30-cm.
For the sensor interface, the sensor uses a USB Micro-B connec-
tor. The range data is transmitted to the user’s operating system
(OS) continually and can be viewed at any moment. To set up
the HRUSB-MaxSonar-EZ on a Windows computer, you’ll need to
download and unzip a basic terminal program from www.maxbo-
tix.com/terminal.htm. Windows will automatically install and set
up the device drivers when the HRUSB-MaxSonar-EZ ultrasonic
rangefinder is connected to a computer running Windows XP or
newer. Set the configuration to the values provided for users
who use a different terminal program.
4.2.3. PING ultrasonic distance sensor
From around 2 cm (0.8 in.) to 3 m, the parallax PINGultrasonic
distance sensor gives exact and non-contact distance measure-
ments (3.3 yards). A sensor like this is simple to attach to micro-
controllers because it only requires one I/O (Input/Output) pin, as
seen in Fig. 12.
The PING sensor detects objects by sending out a short ultra-
sonic burst and then ‘‘listening” for the echo. The sensor emits a
short 40 kHz (ultrasonic) burst under the control of a host micro-
controller (trigger pulse). A burst like this goes through the air, col-
lides with an item, and bounces back to the sensor. When the echo
is detected, the PING sensor sends an output pulse to the host, and
the width of this pulse corresponds to the distance to the target[7].
4.3. Distance measurement and obstacle detection
Keep a flat object in front of the sensor and measure the dis-
tance when the code is executed to test the sensors. When an
impediment is detected, the amount of braking force that must
be delivered is determined by the distance. The following scenarios
must be considered.
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Materials Today: Proceedings 56 (2022) 533–541
4.3.1. Case 1: The obstacle is stationary on the path
In this situation, the host vehicle senses the obstacle and calcu-
lates the obstacle’s distance from the host vehicle. The pace is then
automatically reduced. The brake mechanism is activated and the
horn is pressed if the distance exceeds the critical distance (not a
safe driving distance). If the obstruction is a living thing, it may fol-
low the horn out of the way. However, if the obstacle is not mov-
ing, the speed is reduced until the host comes to a complete halt in
front of the obstruction at a predetermined pre-set value.
4.3.2. Case 2: The obstacle is travelling towards the user
The brakes will be applied more forcefully in this instance.
When the impediment moves out of the way of the host, the sensor
detects it and sends a signal to the microcontroller, which then
immediately restarts the chair. Depending on whether or not there
are any more obstructions in the chair’s route, the DC motor’s
speed will return to its initial setting [2].
5. Pulse rate detection
The wheelchair is equipped with sensors that, through an app,
monitor the user’s basic health concerns. So, the first step is to
attach a heart rate sensor to the wheelchair so that it continuously
monitors the patient’s pulse, and then connect it to the Arduino via
the Wi-Fi EP8266 module so that whenever the heart rate falls
below 60 or rises above 120, the app alerts the user via led blinkers
on the wheelchair [2].
6. Conclusion
The sanctioned project’s implemented chair consists mostly of
four sub-blocks. The Control Unit incorporates an Arduino Uno
and its software platform, which is utilized to make all of the deci-
sions related to the patient’s head movement, chair movement
through Wi-Fi and Bluetooth, motor driver IC and battery installa-
tion, and obstacle and pulse rate detection. The automated chair is
P. Mishra and S. Shrivastava
controlled by an Arduino board and is proven to be user-friendly
and simple to operate. Any form of impairment found simple
thanks to IoT-based technology. The motors were effectively regu-
lated, and the wheelchair functioned as expected. When used in a
real-world setting, the chair performs admirably.
Declaration of Competing Interest
The authors declare that they have no known competing finan-
cial interests or personal relationships that could have appeared
to influence the work reported in this paper.
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