SIR M VISVESVARAYA INSTITUTE OF TECHNOLOGY

(Affiliated to VTU, Recognized by AICTE and Accredited by NBA, NAAC

and an ISO 9001-2008 Certified Institution)
Bengaluru – 562157

DEPARTMENT OF COMPUTER SCIENCE AND ENGINEERING

21CS43-MICRO CONTROLLER AND EMBEDDED SYSTEMS

ASSIGNMENT-2
(Academic Year 2022-23)

CASE STUDY ON

ELECTRIC WHEELCHAIR

Name: DHANALAKSHMI R

USN: 1MV21CS030 Branch: CSE

Semester: 4th Section: A SECTION

Faculty in charge: REKHA B N

Submission date:
SL NO CONTENTS PAGE NO

1. INTRODUCTION/SIGNIFICANCE OF THE
DEVICE

2. FEATURES OF THE DEVICE

3 BLOCK DIAGRAM OF THE DEVICE

4. FLOW CHART INDICATING THE WORKING

OF DEVICE

5 SOFTWARE PROGRAM USED IN THE DEVICE

( C++ CODE OR ASSEMBLY CODE)

6 EXPLANATION OF THE LOGIC USED IN THE

WORKING OF THE DEVICE

7 ADVANTAGES OF THE DEVICE

8 LIMITATIONS OF THE DEVICE

9. APLLICATION OF THE DEVICE

10 REFERENCES
INTRODUCTION: ELECTRIC WHEELCHAIR

Electric wheelchairs are vital assistive devices designed to enhance the mobility
and independence of individuals with mobility impairments. These wheelchairs
are equipped with embedded systems that incorporate advanced electronics,
sensors, and control mechanisms to provide users with safe and efficient means
of transportation. In this case study , we will explore the fundamental aspects of
electric wheelchairs as embedded system devices.
SIGNIFICANCE OF ELECTRIC WHEELCHAIR:

The significance of electric wheelchairs as embedded system devices lies in

their ability to profoundly enhance the quality of life and independence of
individuals with mobility impairments. These technologically advanced
mobility aids offer a range of benefits, and their embedded systems play a
crucial role in realizing these advantages:

 Improved Mobility and Independence: Electric wheelchairs empower

individuals with mobility challenges to move freely and independently,
reducing reliance on caregivers or assistance.

 Customization and Adaptability: Embedded systems allow for tailored

configurations and control options to accommodate individual user needs,
including speed adjustments, joystick sensitivity, and alternative control
methods.

 Precise Control: Electric wheelchairs utilize embedded systems to

provide precise control over movement, enabling users to navigate tight
spaces, turn smoothly, and operate the chair with minimal effort.

 Obstacle Detection and Avoidance: Advanced sensors integrated into

electric wheelchairs detect obstacles in the environment, helping users
navigate safely and avoid collisions.

 Enhanced Safety: Embedded safety features such as anti-tip systems,

emergency stop functions, and speed limiters protect users from accidents
and provide peace of mind to both users and caregivers.
  Battery Management: Embedded systems efficiently manage the chair's
battery, optimizing its usage and providing users with information on
battery status and remaining range.

 Accessibility: Electric wheelchairs equipped with embedded systems

make it possible for users to access a wider range of environments,
including homes, workplaces, and public spaces.

 Reduced Physical Strain: Users with limited upper body strength or

endurance benefit from the embedded systems' assistance, reducing the
physical strain of manual wheelchair propulsion.

 Improved Quality of Life: Electric wheelchairs significantly enhance the

overall quality of life by enabling users to participate in social activities,
pursue education and employment opportunities, and engage in
recreational pursuits.

 Increased Social Inclusion: Electric wheelchairs facilitate social

interactions by granting users the ability to engage with peers, family, and
friends in various settings.

 Long-Term Cost Savings: Although electric wheelchairs may have a

higher initial cost, their long-term benefits can lead to cost savings by
reducing the need for ongoing caregiver assistance and medical care
related to manual wheelchair use.

 Technological Advancements: The ongoing development of embedded

systems and related technologies continues to improve the capabilities
and features of electric wheelchairs, making them more user-friendly and
adaptable.

FEATURES OF ELECTRIC WHEELCHAIR

Electric wheelchairs, as embedded system devices, are equipped with a wide
range of features that enhance mobility and usability for individuals with
mobility impairments. Here are some key features of electric wheelchairs:

 Motorized Propulsion: Electric wheelchairs are equipped with electric

motors that provide powered propulsion, allowing users to move forward,
backward, and turn with ease. This feature reduces the physical effort
required for mobility.

 User-Friendly Control Interfaces: Electric wheelchairs incorporate

various control methods, including joystick controllers, touchpads, and
sip-and-puff systems, to cater to users with different abilities and
preferences.

 Customizable Speed and Sensitivity: Embedded systems in electric

wheelchairs allow users to customize the speed and sensitivity of
controls, ensuring a comfortable and safe driving experience.

 Precise Maneuverability: Users can navigate tight spaces and make

precise turns, thanks to the embedded systems that control motor speed
differentials for each wheel.

 Obstacle Detection and Avoidance: Advanced sensors, such as ultrasonic

or infrared sensors, detect obstacles in the wheelchair's path and
automatically adjust its trajectory or provide warnings to the user.

 Safety Features: Electric wheelchairs are equipped with safety features

like anti-tip mechanisms, automatic braking, and emergency stop buttons
to ensure user safety.
  Seat Adjustability: Electric wheelchairs often feature adjustable seats,
backrests, and footrests to provide comfort and accommodate various
body types.

 Battery Monitoring: Embedded systems monitor the wheelchair's battery

status, providing users with information about remaining charge and
range. Some models offer hot-swappable battery packs for extended use.

 Remote Control: Many electric wheelchairs come with remote controls

that allow caregivers or attendants to assist users in operating the
wheelchair when needed.

 Tilt and Recline: Some electric wheelchairs feature tilt and recline
functions, allowing users to adjust their seating position for comfort and
pressure relief.

 Seat Elevators: Advanced models include seat elevation features,

enabling users to raise or lower their seats for better access to objects or
for eye-level interactions.

 User Profiles: Embedded systems can store user profiles, enabling quick
and easy access to personalized settings and preferences.

 Bluetooth Connectivity: Some electric wheelchairs are equipped with

Bluetooth connectivity, enabling users to control the chair using
smartphones or tablets and access diagnostic data.

These features, made possible by advanced embedded systems and technology,

collectively improve the mobility, independence, and overall quality of life for
individuals who rely on electric wheelchairs. Manufacturers continue to
innovate in this field, incorporating new technologies and enhancing existing
features to provide even greater convenience and accessibility.
BLOCK DIAGRAM OF ELECTRIC WHEELCHAIR

+------------------+
| User Interface |
+------------------+
|
+----------v----------+
| Microcontroller |
| (Embedded System) |
+----------|----------+
|
+----------v----------+
| Motor Control |
+------------------+
|
+-----------------v------------------+
| Motors |
| (Drive and Steering Mechanisms) |
+-----------------|------------------+
|
+----------v----------+
| Power Supply |
+------------------+
FLOWCHART INDICATING THE WORKING OF THE
ELECTRIC WHEELCHAIR

Start
|
v
User Interface
|
v
User Controls Movement?
|
+--------- No -------------- Yes -----------+
| |
| |
| |
v v
Stop the Chair Microcontroller
| |
v |
End Interpret User Input
| |
| v
+---------- Yes |
| |
| |
v |
Microcontroller Motor Control
Interprets User Input |
| |
| v
| |
v |
Determine Direction & Motor Speed
Steering Control
| |
| |
v |
Drive Motors |
| |
v |
End End

Here's an explanation of each step in the flowchart:

1. Start: The flowchart begins at this point.

2. User Interface: This is where the user interacts with the electric wheelchair
through controls like a joystick or buttons.

3. User Controls Movement? : The system checks if the user is trying to control
the movement of the wheelchair. If not, the flowchart proceeds to "Stop the
Chair" and ends. If yes, it moves to the next step.

4. Microcontroller Interprets User Input: The microcontroller processes the

user's input from the interface to understand the user's intentions.

5. Determine Direction & Steering: The microcontroller determines the desired

direction and steering based on the user's input.

6. Drive Motors: The microcontroller sends commands to the motor control

subsystem to drive the motors at the appropriate speeds and in the correct
direction for the desired movement.

7. Motor Control: This subsystem manages the motor control, ensuring that the
motors respond correctly to the microcontroller's commands.

8. End: The flowchart ends here, and the electric wheelchair continues to
operate according to the user's input until the user decides to stop or change
direction.
SOFTWARE PROGRAM USED IN THE ELECTRIC
WHEELCHAIR
(C++ CODE)

#include <iostream>
#include <cstdlib>
#include <unistd.h> // For sleep function
using namespace std;
// Define constants for motor control
const int LEFT_MOTOR_PIN = 1;
const int RIGHT_MOTOR_PIN = 2;
// Functions for controlling motors
void moveForward(int speed) {
// Code to move the wheelchair forward at the given speed
cout << "Moving forward at speed " << speed << endl;
}
void moveBackward(int speed) {
// Code to move the wheelchair backward at the given speed
cout << "Moving backward at speed " << speed << endl;
}
void turnLeft(int speed) {
// Code to turn the wheelchair left at the given speed
cout << "Turning left at speed " << speed << endl;
}
void turnRight(int speed) {
// Code to turn the wheelchair right at the given speed
cout << "Turning right at speed " << speed << endl;
}
void stop() {
// Code to stop the wheelchair
cout << "Stopping" << endl;
}
int main() {
// Main program loop
while (true) {
char command;
int speed;
// Prompt the user for input
cout << "Enter command (F/B/L/R/S): ";
cin >> command;
switch (command) {
case 'F':
cout << "Enter speed (0-100): ";
cin >> speed;
moveForward(speed);
break;
case 'B':
cout << "Enter speed (0-100): ";
cin >> speed;
moveBackward(speed);
break;
case 'L':
cout << "Enter speed (0-100): ";
cin >> speed;
turnLeft(speed);
 break;
case 'R':
cout << "Enter speed (0-100): ";
cin >> speed;
turnRight(speed);
break;
case 'S':
stop();
break;
default:
cout << "Invalid command. Please try again." << endl;
}
// Sleep for a short time to simulate real-time operation
usleep(500000); // Sleep for 500 milliseconds
}
return 0;
}
EXPLAINANTION OF THE LOGIC USED IN ELECTRIC
WHEELCHAIR

The working of an electric wheelchair as an embedded system device relies on a

combination of sensors, microcontrollers, and motor control to provide mobility
and safety to users. Here's an explanation of the key logic and components
involved in its operation:

 User Interface and Input Handling: The electric wheelchair begins its
operation with user input from a control interface, which could include a
joystick, buttons, touchpad, or other input devices. The logic for handling
user input typically involves reading the user's commands and translating
them into specific actions, such as moving forward, backward, turning
left, turning right, or stopping.

 Microcontroller: The microcontroller is the central processing unit of the

embedded system within the wheelchair. It plays a crucial role in
processing user input, managing safety features, and coordinating the
various subsystems.

 Safety Logic: Ensuring user safety is a top priority. Embedded systems

in electric wheelchairs often include safety logic to prevent accidents.
This can involve features like obstacle detection using sensors (such as
ultrasonic or infrared sensors) to detect objects in the wheelchair's path.
The logic may also include emergency stop functionality, ensuring the
wheelchair stops immediately if a dangerous situation is detected.

 Motor Control Logic: The motor control subsystem is responsible for

translating the commands from the microcontroller into physical
movement. It controls the electric motors that drive the wheelchair's
wheels. The logic here involves determining the motor speeds and
direction based on the user's input and any additional factors like terrain
and incline.
 Feedback Control: Many electric wheelchairs incorporate feedback
control loops to maintain stability and accuracy. Encoders or sensors on
the motors provide real-time feedback on wheel position and speed. The
embedded system uses this feedback to make continuous adjustments,
ensuring that the wheelchair follows the desired path and maintains a
stable trajectory.

 Battery Management: To ensure that the wheelchair doesn't run out of

power unexpectedly, there is logic for monitoring the battery's state of
charge. The system may also provide information to the user about the
battery status.

 Communication and Connectivity: Some modern electric wheelchairs

feature connectivity options, allowing users to control them via
smartphones or other devices. This requires additional logic for
communication between the embedded system and external devices.

 Error Handling and Diagnostics: Robust embedded systems include

error-handling and diagnostic features. These features help identify and
respond to faults, such as motor malfunctions or sensor failures. The
system may provide error codes or other notifications to alert users or
technicians to issues.

 User Profiles and Customization: Many electric wheelchairs allow users

to store and recall user profiles, including settings for speed, sensitivity,
and control preferences. The logic handles the storage and retrieval of
these profiles.

 Continuous Operation: The embedded system operates continuously,

monitoring user input, adjusting motor control, and responding to
changing conditions. It must perform these tasks in real-time to ensure a
smooth and safe user experience.
ADVANTAGES OF ELECTRIC WHEELCHAIR AS
EMBEDDED SYSTEM DEVICE

Electric wheelchairs, when designed as embedded system devices, offer several

advantages for individuals with mobility impairments. Here are some of the key
advantages of electric wheelchairs:

1. Enhanced Mobility and Independence: Electric wheelchairs provide

individuals with mobility impairments greater independence and the ability to
move around without relying on assistance from others. Embedded systems
ensure precise control and responsiveness, allowing users to navigate various
environments more easily.

2. Customization: Embedded systems in electric wheelchairs often allow for

customization of control parameters, such as speed, sensitivity, and joystick
configurations. This ensures a personalized and comfortable user experience.

3. Safety Features: Electric wheelchairs can incorporate a range of safety

features, such as obstacle detection, anti-tip mechanisms, and emergency stop
functions. These safety measures are essential for preventing accidents and
ensuring user well-being.

4. Ease of Use: Embedded systems simplify the operation of electric

wheelchairs. Users can control their chairs with simple interfaces like joysticks
or buttons, making them accessible to a wide range of individuals, including
those with limited dexterity.

5. Smooth and Precise Movement: Embedded systems provide precise control

over the wheelchair's motors, resulting in smooth and accurate movements. This
precision is especially important when navigating tight spaces or crowded areas.
6. Improved Battery Management: Embedded systems often include battery
management features that monitor the battery's state of charge, estimate
remaining travel distance, and provide warnings when it's time to recharge. This
prevents users from getting stranded due to a depleted battery.

7. User Profiles: Many electric wheelchairs with embedded systems allow users
to save and recall custom user profiles. This is particularly helpful when
multiple users share the same wheelchair, as it enables quick adjustments to suit
individual preferences.

8. Reduced Physical Strain: Electric wheelchairs reduce the physical strain on

users compared to manually operated wheelchairs. This is especially beneficial
for individuals with limited upper body strength or endurance.

9. Smart Connectivity: Some modern electric wheelchairs offer connectivity

options, allowing users to control their chairs through smartphones or tablets.
This can enhance convenience and accessibility.

10. Maintenance and Diagnostics: Embedded systems can provide diagnostic

information to technicians, making it easier to identify and address issues with
the wheelchair. This can reduce downtime and improve the overall reliability of
the device.

11. Improved Quality of Life: Electric wheelchairs, with the assistance of

embedded systems, significantly improve the quality of life for individuals with
mobility impairments. They enable users to participate in various activities,
maintain social connections, and access essential services more easily.

12. Environmental Benefits: Electric wheelchairs are often more

environmentally friendly than gas-powered mobility devices. They produce no
emissions, are quieter, and are more energy-efficient, contributing to a cleaner
and quieter environment.
LIMITATIONS OF ELECTRIC WHEELCHAIR

While electric wheelchairs as embedded system devices offer many advantages,

they also have limitations and challenges that should be considered. Here are
some of the limitations of electric wheelchairs:

1. Cost: Electric wheelchairs can be expensive, especially those with advanced

embedded systems and features. The cost can be a barrier for individuals who
do not have access to adequate funding or insurance coverage.

2. Maintenance: Electric wheelchairs require regular maintenance to ensure

they function correctly. Embedded systems, motors, and other components can
wear out or malfunction over time, leading to repair costs and downtime for
users.

3. Complexity: The embedded systems in electric wheelchairs can be complex,

making them challenging for some users to understand and operate, particularly
those with cognitive impairments.

4. Battery Life: Electric wheelchairs rely on batteries, and their operational

range is limited by battery capacity. Users need to monitor and manage battery
life to avoid unexpected shutdowns.

5. Terrain Limitations: Electric wheelchairs may struggle on uneven or

challenging terrain, such as steep inclines, loose gravel, or snow. They are often
best suited for flat and smooth surfaces.

6. Weight and Size: Electric wheelchairs can be heavy and bulky, which can
make transportation and storage challenging, especially for users who require a
compact and lightweight solution.
7. Dependency on Electronics: The reliance on embedded electronics means
that a technical failure or software glitch can lead to a loss of mobility,
potentially leaving users stranded.

8. Accessibility Issues: Not all environments and buildings are wheelchair-

accessible, which can limit users' ability to move freely. Stairs, curbs, and
narrow doorways can pose significant challenges.

9. Limited Speed: Electric wheelchairs are typically slower than manual

wheelchairs, which can be a limitation in situations where speed is essential,
such as crossing busy streets.

10. Training Requirements: Users may need training to operate electric

wheelchairs safely and effectively. Learning to navigate obstacles and use the
controls properly can take time and effort.

11. Risk of Accidents: Electric wheelchairs, like any motorized vehicle, can be
involved in accidents if not operated carefully. Users must be cautious,
especially when moving in crowded or busy areas.

12. Weight Capacity: Electric wheelchairs have weight limits, and exceeding
these limits can affect the device's performance and safety.

It's essential to recognize these limitations while considering the benefits of

electric wheelchairs. Users, caregivers, and healthcare professionals should
carefully evaluate the specific needs and circumstances of individuals to
determine if an electric wheelchair is the most suitable mobility solution.
Additionally, ongoing advancements in technology and design aim to address
some of these limitations and improve the overall usability and accessibility of
electric wheelchairs.
APPLICATIONS OF ELECTRIC WHEELCHAIR

Electric wheelchairs, equipped with embedded systems, find numerous

applications across various sectors to enhance mobility, accessibility, and
quality of life for individuals with mobility impairments. Here are some
common applications:

1. Personal Mobility: The primary application of electric wheelchairs is to

provide individuals with mobility impairments greater independence and
mobility within their homes and communities. These wheelchairs are designed
for daily use and are customized to meet the specific needs of users.

2. Rehabilitation: Electric wheelchairs are used in rehabilitation centers and

hospitals to assist patients recovering from injuries or surgeries. They aid in the
mobility and recovery process, helping patients regain strength and
independence.

3. Assisted Living Facilities: Assisted living facilities for seniors and

individuals with disabilities often provide electric wheelchairs to residents to
support their mobility needs. Embedded systems in these chairs improve
residents' quality of life.

4. Education: Electric wheelchairs are used in educational institutions to

ensure students with mobility impairments have access to classrooms, libraries,
and other facilities. This enables these students to participate fully in their
education.

5. Workplace Accessibility: Electric wheelchairs enhance workplace

accessibility for employees with mobility impairments. They can help
individuals move around the office, access workstations, and engage in work-
related activities.

6. Outdoor Activities: Some electric wheelchairs are designed for outdoor use
and have all-terrain capabilities. They allow users to enjoy outdoor activities
such as hiking, camping, and off-road adventures.
7. Travel and Transportation: Electric wheelchairs are used in airports, train
stations, and other transportation hubs to help passengers with mobility
impairments move through terminals and access various modes of
transportation.

8. Sports and Recreation: Adapted electric wheelchairs are used in sports and
recreational activities such as wheelchair basketball, rugby, and tennis. These
chairs are designed for increased maneuverability and durability.

9. Industrial and Warehousing: Electric wheelchairs are employed in

industrial settings, warehouses, and factories to facilitate the movement of
workers with mobility impairments. They can also be used for material handling
tasks.

10. Agriculture: In agriculture, electric wheelchairs can be adapted for use by

farmers with mobility impairments, enabling them to operate tractors, plows,
and other machinery.

11. Emergency Response: Electric wheelchairs with enhanced mobility

features are used by emergency responders to assist individuals with mobility
impairments during natural disasters or emergencies.

12. Research and Development: Electric wheelchairs are used in research and
development laboratories to study mobility solutions for individuals with
disabilities and to test new technologies and innovations.

13. Tourism and Hospitality: In the tourism and hospitality industry, electric
wheelchairs are provided to guests with mobility impairments to enhance their
experiences in hotels, resorts, and tourist attractions.

14. Government and Public Facilities: Electric wheelchairs are often

available at government buildings, public parks, and recreational facilities to
ensure accessibility for all citizens.
15. Home Healthcare: Electric wheelchairs can be used in home healthcare
settings to provide mobility support to patients with mobility limitations.
Caregivers and healthcare professionals use them to assist with patient care.

16. Veterinary Care: Some veterinary clinics and hospitals use adapted electric
wheelchairs to provide mobility assistance to animals with disabilities.

These applications highlight the versatility of electric wheelchairs as embedded

system devices, addressing a wide range of mobility needs in diverse settings.
Advances in technology continue to expand the capabilities and accessibility of
electric wheelchairs, making them invaluable tools for improving the lives of
individuals with mobility challenges.
REFERENCES

 https://www.researchgate.net/publication/
355137353_Embedded_System_Based_Smart_Wheelchair_For_Physically_Challeng
ed_People

 https://www.e3sconferences.org/articles/e3sconf/abs/2021/85/
e3sconf_icmed2021_01122/e3sconf_icmed2021_01122.html