SMART ASSISTANT WHEELCHAIR

SYSTEM FOR DIASBLED: AN IOT BASED

USER FRIENDLY WHEELCHAIR
Submitted in partial fulfillment of the requirements for the award of
Bachelor of Engineering Degree in
Electronics and Communication Engineering

By
SHAKTHI K (38130206)
YUVASREE R (38130247)

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

ENGINEERING
SCHOOL OF ELECTRICAL AND ELECTRONICS
ENGINEERING

SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY
(DEEMED TO BE UNIVERSITY)
Accredited with Grade “A” by NAAC
JEPPIAAR NAGAR, RAJIV GANDHI SALAI, CHENNAI - 600 119

APRIL 2022
 DEPARTMENT OF ELECTRONICS AND COMMUNICATION
ENGINEERING

BONAFIDE CERTIFICATE

This is to certify that this Project Report is the bonafide work ofSHAKTHI K (Reg. No.

38130206) and YUVASREE R (Reg. No. 38130247) whocarried out the project entitled “SMART

ASSISTANT WHEELCHAIR SYSTEM FOR DISABLED:AN IOT BASED USER FRIENDLY

WHEELCHAIR" under our supervision from December 2021 to April 2022.

Internal Guide
(Dr.S.Barani)

Dr. T. RAVI, M.E., Ph.D.,

Head of the Department

Submitted for Viva voce Examination held on

Name:
Signature:

Internal Examiner External Examine

 DECLARATION

We SHAKTHI (38130206) and YUVASREE R (38130247) hereby declare

that the Project Report entitled “SMART ASSISTANT WHEELCHAIR SYSTEM FOR
DISABLED:AN IOT BASED USER FRIENDLY WHEELCHAIR” done by us under the
guidance of Dr.S.Barani at Sathyabama Institute of Science and Technology, Chennai-
600119 is submitted in partial fulfillment of the requirements for the award of Bachelor of
Engineering degree in Electronics and Communication Engineering.

1.

2.

DATE:

PLACE: SIGNATURE OF THE CANDIDATES

ii
 ACKNOWLEGEMENT

We are pleased to acknowledge our sincere thanks to Board of Management of

SATHYABAMA for their kind encouragement in doing this project and for completing
it successfully. We are grateful to them.

We convey our thanks to Dr. N. M. Nandhita, Dean, School of Electrical and

Electronics Engineering and Dr. T. RAVI, Head of the Department, Dept. of
Electrical and Electronics Engineering for providing us necessary support and
details at the right time during the progressive reviews.

We would also like to express our sincere and deep sense of gratitude to our
internal guide Dr.S.Barani for her valuable guidance and suggestions during the
progressive reviews for our project.

iii
 ABSTRACT

Many people are suffering from temporary or permanent disabilities due to illness or
accidents. For those people use of a wheelchair is very essential. Manual or electrical
wheelchair are satisfying most of the low and middle level disability person where they can
use the wheelchair independently. However, in severe cases, it is difficult or impossible to
use wheelchair independently. A smart wheelchair is a power wheelchair (PWC) that collects
information on driver behavior and interaction with their environment. This is done through
the use of sensors and/or cameras positioned to provide feedback on a driver’s ability to
control the device and navigate their environment safely. This project involved in designing
smart wheelchair to solve such problems. We have used Arduino UNO and sensors like
DHT11 sensor, Eye blink sensor, HC Bluetooth sensor, Ultrasonic sensor, MEMS sensor to
design smart wheelchair. It also provides an opportunity for visually or physically impaired
persons with obstacle detection system, which minimize the chance of collision which using
it. We tried to provide all the features required in a smart wheelchair at lowest price for the
people to afford it without any difficulty and to use utmost independent on others.

iv
 TABLE OF CONTENTS

CHAPTER TITLE PAGE NO

NO

ABSTRACT IV

LIST OF FIGURES VII

1 INTRODUCTION 1

1.1 TYPES OF WHEELCHAIR 2

1.1.1 POWER WHEELCHAIR 2
1.1.2 MANUAL WHEELCHAIR 2

1.2 PROPOSED SYSTEM 2

1.3 INTERNET OF THINGS 3
1.3.1 POTENTIAL BENEFITS OF IOT 3
1.3.2 NETWORK DEVICES AND IOT 3
1.4 NOVELTY OF PROJECT 4
1.5 OBJECTIVE 4
2 LITERATURE REVIEW 5
2.1 GENERAL 5
2.2 LITERATURE REVIEWED 5
2.3 INFERENCE FROM LITERATURE REVIEWED 11
3 HARDWARE AND SOFTWARE REQUIREMENT 12

3.1 ARDUINO 12
3.2 ARDUINO UNO 14
3.2.1 POWER (USD/BARREL JACK) 14
3.2.2 PIN 15
3.2.2 GND PINS 15
3.2.4 5V AND 3.3V 15
3.2.5 ANALOG 16
3.2.6 DIGITAL 16
3.2.7 PWM 16
v
 3.2.8 AREF 16
3.2.9 RESET BUTTON 16
3.2.10 POWER LED INDICATOR 17
3.2.11 TX RX LED 17
3.2.12 MAIN IC 17
3.2.13 VOLTAGE REGULATOR 17
3.3 ATMEGA328 MICROCONTROLLER 18
3.4 MEMS SENSOR 18
3.4.1 MEMS SENSOR WORKING PPRINCIPLE 19
3.4.2 APPLICATION OF MEMS 20
3.5 ULTRASONIC SENSOR 20
3.5.1 WORKING PRINCIPLE 21
3.6 NODEMCU 22
3.7 EYEBLINK SENSOR 24
3.7.1 WORKING PRINCIPLE 24
3.8 LIQUID CRYSTAL DISPLAY 25
3.8.1 LCD SCREEN 26
3.9 DC MOTOR 26
3.10 HC BLUETOOTH MODULE 27
3.11 ARDUINO IDE 27
3.11.1 TOOLBAR BUTTON 28
3.11.2 MENU BAR 29
3.11.3 SKETCH 31
3.11.4 TOOLS 32
4 METHODLOGY 34

4.1 METHODLOGY FLOWCHART 34

4.2 BLOCK DAIGRAM 35
4.3 CONNECTIONS 36
4.4 OUTPUTS 37
4.5 OBSTACLE DETECTION 38
4.6 ALGORITHM 40

vi
5 CONCLUSION 41

5.1 GENERAL 41

5.2 FUTURE SCOPE 41

REFERENCES 43

vii
 LIST OF FIGURES

FIGURE NO TITLE PAGE

3.1 ARDUINO PIN DESCRIPTIONS 12
3.2 ARDUINO UNO BOARD 14
3.3 ARDUINO UNO PIN DESRIPTION 15
3.4 ATMEGA328 MICROCONTROLLER 18
3.5 MEMS SENSOR 19
3.6 ULTRASONIC SENSOR 20
3.7 NODEMCU DEVKIT BOARD 23
3.8 DISPLAY BUTTON IN DEVKIT BOARD 23
3.9 EYEBLINK SENSOR 24
3.10 COMPONENTS OF DHT11 SENSOR 25
3.11 LIQUID CRYSTAL DISPLAY 25
3.12 DC MOTOR 26
3.13 HC BLUETOOTH MODULE 27
3.14 ARDUINO IDE SOFTWARE 28
3.15 TOOL BAR BUTTON 28
3.16 WEBSITE OF ARDUINO 33
4.1 METHODOLOGY FLOWCHART 34
4.2 BLOCK DIAGRAM 35
4.3 COMPONENT CONNECTION 36
4.4 CONNECTION MODEL 37
4.5 OUTPUT FOR NEED WATER 37
4.6 OUTPUT FOR NEED RESTROOM 38
4.7 OUTPUT FOR NEED FOOD 38

viii
 LIST OF TABLES

TABLE NO TITLE PAGE

3.1 SPECIFICATION OF ARDUINO UNO 13
3.2 SPECIFICATION OF ULTRASONIC 21
SENSOR

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 ABBREVATIONS

PWC - Power Wheelchair

MEMS - Micro-electromechanical system
WHO - World Health Organization
IoT - Internet of Things
LCD - Liquid Crystal Display
OCR - Optical Character Recognition
RF - Radio Frequency
IC - Integrated Circuit
EOG - Electrooculography
BT - Business technology
HD - High Definition
GSM - Global System for Mobile Communications
IR - Infrared
DC - Direct Current
IDE - Integrated Development Environment
SRAM - Static Random Access Memory
EPROM - Erasable Programmable Read-Only Memory
USB - Universal Serial Bus
GND - Ground
PWM - Pulse-Width Modulation
TX - Transmitter
RX - Receiver
ALU - Arithmetic Logic UNIT
CISC - Complex Instruction Set Computer
RISC - Reduced Instruction Set Computer
VDC - Volts of Direct Current
SOC - System-On- A-Chip
LED - Light Emitting Diode
CPU - Control Processing Unit

x
 CHAPTER 1

INTRODUCTION

An idea to make the people life easier who are unable to walk alone due to
accident, paralysis or old age. Mostly they depend on others for their needs. The
one who use wheelchairs, have to depend on others for steering it, makes them to
feel it difficult as they have to rely on others. An electrical wheelchair will give an
independent feel for those who using the mechanical wheelchair. But, still most of
the people don’t use smart wheelchair thinking that it is costly.

Many devices in our homes and our life generally from begin called only by
their name to inserting the word ‘smart’ as smartphones, smart TV and of course
the traditional wheelchairs have taken a part of this word not only the name but
also the software and hardware used to get what it is called today, smart
wheelchair.

Smart wheelchair is the term commonly used to define a device that

integrates technology and services through networking to enhance power
efficiency and improve the quality of living. Smart wheelchair is known as a power
wheelchair that is integrated into multiple sensors, assistive technology and
computers that give the user with a disability such as impairment, handicaps and
permanent injury, the required mobility to move freely and safely. These types of
wheelchairs are gradually replacing the traditional wheelchair; however, their
expensive costs are preventing a large size of disabled people from having one.
According to world health organization (WHO) only 5 to 15% out of 70 million
disabled people have access to wheelchairs. Therefore, we need to offer a cost
effective smart that not only minimize the cost but also provides plenty of features
that use the latest components and technologies. For many people, this
appropriately designed wheelchair is the first step towards inclusion and
participation in the society.

1
1.1 TYPES OF WHEELCHAIRS

There are wide variety of types of wheel chair, differing by propulsion method,
mechanism of control and technology used. Some wheelchairs are designed for
general everyday use, others for single activities, or to address specific access
need. Those selecting wheel chairs in consultation with the user, need to
understand the physical needs of the intended user.

1.1.1 Power wheelchair

Presently in market smart wheelchairs are available but are not affordable by
common men. They are powered using high power battery and super torque motors
so proportionally the cost of the product also increases. The motion provided to the
chair is by the use of Joystick and Toggle switch and a person who is 90-95%
handicapped cannot drive the wheelchair. So, these types of peoples require an
attendee or a care taker with them.

1.1.2 Manual wheelchair

Manual or traditional wheelchair are the types of wheelchairs that are mostly
used by a layman. A middle-class person cannot afford power wheelchair is so they
use the traditional manual wheelchair. These chairs are to be manually powered and
this creates a big problem for the disabled to loco mote from one place to another
without an attendee. So, the necessity of superseding the power and traditional
wheelchair up rises for providing more maneuverable motion to the wheelchair by the
low-cost high functionality smart wheelchair up rises.

1.2 Proposed system

Basically, this system has consisted of two parts one for driving a wheelchair
and other components for knowing the needs of the disabled person and checking
their temperature frequently. The system has been controlled by HC Bluetooth module
for changing the direction of wheelchair. This module is used to control the driving
wheelchair in different directions by giving some keys like ‘Forward’, ‘Backward’ and
detecting the obstacles and changing the direction of wheelchair. MEMS sensor is

2
 used to know their needs and display their needs in IoT page using Nodemcu. And
eye blink sensor is used to turn on the fan and light.

1.3 INTERNET OF THINGS

The term Internet of Things (IoT) was coined by industry researchers but has
emerged into mainstream public view only more recently. IoT is a network physical
device, including things like smart phones, vehicles, home appliances, and more, that
connects to and exchange data with computers. Some claim the Internet of Things will
completely transform how computer networks are used for the next 10 or 100 years, while
others believe IoT is simply hype that won't much impact the daily lives of most people.

Internet of Things represents a general concept for the ability of network devices
to sense and collect data from the world around us, and then share that data across the
Internet where it can be processed and utilized for various interesting purposes.
Advances in technology are making possible a more widespread adoption of IoT, from
pill-shaped micro-cameras that can pinpoint thousands of images within the body, to
smart sensors that can assess crop conditions on a farm, to the smart home devices that
are becoming increasingly popular.

1.3.1 Potential benefits of IoT

• Location tracking for individual pieces of manufacturing inventory.

• Fuel savings from intelligent environmental modelling of gas-powered engines.
• New and improved safety controls for people working in hazardous environments.

1.3.2 Network Devices and the Internet of Things

All kinds of ordinary household gadgets can be modified to work in an IoT

system. Wi-Fi network adapters, motion sensors, cameras, microphones and other
instrumentation can be embedded in these devices to enable them for work in the
Internet of Things. Home automation systems already implement primitive versions of
this concept for things like smart light bulbs, plus other devices like wireless scales

3
and wireless blood pressure monitors that each represents early examples of IoT
gadgets. Wearable computing devices like smart watches and glasses are also
envisioned to be key components in future IoT systems. The same wireless
communication protocols like Wi-Fi and Bluetooth naturally extend to the Internet of
Things also.

1.4 NOVELTY OF PROJECT

The percentage of people with disabilities has increased now a days. Disability
may occur as a result of birth or due to some medical or accidental cause. The purpose
of making a smart wheelchair is using an ultrasonic sensor to help physically
handicapped people to move from one place to another without colliding with any
obstacles. This wheelchair will add comfort and make people lives easier.

1.5 OBJECTIVE
• To facilitate the movement of people who are disabled or handicapped
and elderly people who are not able to move alone.
• To reduce user effort in controlling the wheelchair and to ensure safety
during movement.
• To know the needs of disables and measure their body temperature and
display it in the IoT page and LCD display
• To turn on the fan and light just with their eye movement.
• To change the direction of the wheelchair using mobile application and
detect the obstacle.

4
 CHAPTER 2

LITERATURE REVIEW

2.1 GENERAL
The review of literature focuses on the past research studies that were conducted
to assess the need for the disable and for their mobility without help from others. Various
literatures related to smart wheelchair are being reviewed

2.2 LITERATURE REVIEW

Ranjith Kumar P, Sumathi K, Sri Prithvi V (2019) have developed Smart

Assistance Library System for the disabled: To help the disables at free flow of navigation
throughout the library and read the book by the OCR technology and also translates as
needed by the user and help the disables to read the books, newspaper themselves. The
proposed idea has a various features like voice recognition, automatic navigation through
the library, audio output of the book content using many sensors. Using camera, the
words in the book is captured and it is converted into audio form using sound sensor and
L293D motor is used for the movement of the wheelchair in the library.

Nasif & Khan (2017) have developed Wireless Head Gesture Controlled Wheel
Chair for disabled persons: To help the disable person to more around and to do their
habitat without any help of other. To design the wheelchair which easily controlled by the
head gesture command. The proposed device works based on head gesture recognition
technique using acceleration sensor. Acceleration sensor used for head gesture
recognition and RF (Radio Frequency) module used for smart wireless controlling. The
data is sent wirelessly to microcontroller-based motor circuit to control movement of
wheelchair in five different modes. Front, back, right, left and to stand.

Umar & Anas (2015) have designed a low-cost DIY moving wheelchair 1284P
based retina movement for the persons disabled with quadriplegia: To design a real time
model of low-cost wheelchair based on guiding movements of retina for person with
quadriplegia. To benefit poor paralyzed people by providing low-cost model of wheel
chair. The model is realized through MATLAB in serial communication with the special

5
purpose microcontroller IC (AT mega 1284-IC). The movement is detected by camera
which in reality captured by a signal called EOG (Electro oculographic) signal.

P Shashikala (2020) have done a study on Human Machine Interface Wheel Chair
by Using Wi-fi Communication for Disabled Person: The framework includes a smaller
scale controls the servo engine for straight movements of the wheelchair. The opposite
finish of the framework has a miniaturized scale controller controls the servo engine for
direct movement of the wheelchair. Front-wheel drives are ideal for navigating snags.
This is regularly in light of the fact that the 14-inch drive wheels are the essentials wheels
to experience obstruction and they pull the rest of the wheelchair over them. The drive
wheels are pushing the front casters over snags is a back wheel drive framework. Since
pushing is hard for pulling, back wheel drives are not exactly as splendidly going over
snags as front wheel chair.

Hamataniaa, Nozaki, Murakami (2016) have designed steering control in multi-

degrees-of-freedom Two-Wheeled Wheel Chair on Slope Environment: The Two-
Wheeled wheelchair doesn’t have any caster and move and stabilize with only one
wheels. Its pitch angle of the body is measured by the gyro sensor, and the two in-wheel
motors are controlled to stabilize the body. With the caster-less Structure, the two-
wheeled wheel chair has high mobility and go over a step easily. However, caster-less
two-wheeled wheelchair system is unstable with pitch angle. Proposed System has two-
wheel motors and two steering motors at each wheel. Two wheels re actuated
independently by the 2WD2WS system. Encoders are attached to measure the rotation
angle of each motor. And gyro sensor is used to measure the wheel chair body’s pitch
angle. In this section kinematics of the two-wheeled wheel chair is explained. In
kinematics of the two-wheeled wheel chair does not move towards axis direction. Wheels
does not slip.

Monali, Nayan, Pawar, Shete, Shenede, Warkad (2021) have designed

Automation of E-Wheelchair for physically challenged people: Automation is the
technique of making an apparatus, a process, or a system operate automatically. With
respect to automation a smart idea is developed towards the handicapped people, and
physically challenged people. This paper proposed an idea and model to ease those

6
persons, who cannot perform hand movement in a way that can move a wheelchair.
Several studies have shown that both children and adult benefit substantially from access
to a means of independent mobility. This paper describes the design of a smart, motorized
voice-controlled wheelchair using embedded system. Proposed design supports voice
activation system for physically disabled persons incorporating manual operation. This
system consists of hand gesture-controlled wheelchair using image processing through
web camera which not only recognize hand gesture but also control the wheelchair
according to the hand movement. It includes HSV shading space method to discover
hand motion thought picture preparing. This paper utilized the raspberry pi board and
sensors to detect obstacles lying ahead in the way of the wheelchair that can hinder the
passage of the wheelchair. This designed wheelchair in prototype form is tested and get
accurate output and efficient framework for the users with low power consumption.

Lodhi, Vats, Varun (2016) have designed Smart Electronic Wheelchair Using
Arduino and Bluetooth Module: This paper describes the design of a smart, motorized,
voice-controlled wheelchair using embedded system. Proposed design supports voice
activation system for physically differently abled persons incorporating manual operation.
This paper represents the “Voice- controlled Wheel chair” for the physically differently
abled person where the voice command controls the movements of the wheelchair. The
voice command is given through a cellular device having Bluetooth and the command is
transferred and converted to string by the BT Voice Control for Arduino and is transferred
to the Bluetooth Module SR-04 connected to the Arduino board for the control of the
wheelchair. For example, when the user says ‘Go’ then chair will move in forward direction
and when he says ‘Back’ then the chair will move in backward direction and similarly ‘Left’,
‘Right’ for rotating it in left and right directions respectively and ‘Stop’ for making it stop.
This system was designed and developed to save cost, time and energy of the patient.
Ultrasonic sensor is also made a part of the design and it helps to detect obstacles lying
ahead in the way of the wheelchair that can hinder the passage of the wheelchair.

Jesse, Hung, Luan (2016) have studied the Development of a smart wheelchair
for people with disabilities: The intelligent power wheelchair is designed to assist people
with mobility, sensory, and cognitive impairment lead a higher quality, more independent

7
lifestyle. The chair includes a power wheelchair (PW), laptop computer, laptop mount,
multi modal input platform, and a custom plastic enclosure for the environmental sensor,
made with a 3D printer. We have developed the configuration of sensors to facilitate
scientific observation, while maintaining the flexibility to mount the system on almost any
power wheelchair and remain easily removed for maintenance or travel. The first scientific
observations have been used to compile ACCESS reports that quantify a location or
event’s level of accessibility. If barriers exist, we collect a 3D point cloud to be used as
evidence and to make recommendations on how to remedy the problem. The chair will
serve a wide variety of disability types by incorporating several input methods, voice,
touch, proximity, switch, and head tracking camera. The HD camera and 3d scanner have
been mounted in such a way as to provide reliable data with the precision necessary to
detect obstacles, navigational assistance. We evaluate the human factors in the current
prototype to ensure that the technology will be accepted by those it is designed to serve,
and propose a wheelchair skills test for future trial participates.

Apsana, Renjitha (2016) have studied Voice controlled wheelchair using Arduino:
The needs of many individuals with disabilities can be satisfied with traditional, manual or
powered wheelchair. A segment of the disabled community finds it difficult or impossible
to use wheelchairs. There is extensive research on computer-controlled chairs where
sensors and intelligent control algorithms have been used to minimize the level of human
intervention. This paper describes design of a smart, motorized, voice-controlled
wheelchair for physically disabled people by using embedded system. Proposed design
supports voice activation system for physically disabled persons incorporating manual
operation. Arduino microcontroller and speaker dependent voice recognition processor
have been used to support the navigation of the wheelchair. The wheelchair does not
respond to a false speed command. Depending on the direction selected on the joystick,
microcontroller controls the wheelchair directions. This can be controlled through the
voice command also. By using ultrasonic sensors, we can avoid obstacles.

Shiva Prasad, Prince Kumar (2017) have designed Smart Wheel Chair: Smart
Wheel chair is mechanically controlled devices designed to have self-mobility with help
of the user command. This reduces the user’s human effort and force to drive the wheels

8
for wheelchair. The wheelchair is also provided with obstacle detection system which
reduces the chance of collision while on the journey. Smart wheelchair has gained a lot
of interests in the recent times. These devices are useful especially in transportation from
one place to another. The machines can also be used in old age homes where the old
age persons have difficulty in their movements. Different types of smart wheelchair have
been developed in the past but the new generations of wheelchair are being developed
and used which features the use of artificial intelligence and hence leaves a little to tinker
about to the user who uses the wheel chair. The project also aims to build a similar
wheelchair which would have a sort of intelligence and hence helps the user on his/her
movement.

Mohanraj, Siddharth (2017) have designed a framework for tracking system

aiding disabilities: The limitation of the physically disabled affect the living quality of the
person to a great extent. The impairments are of different types which are visual, auditory,
mobility and cognitive. According to the causes of impairments they are classified as
prenatal, postnatal and perinatal disabilities. The proposed system is fully autonomous
for outdoor for indoor navigation and semi-autonomous for outdoor navigation. The
framework has activation and localization modules. The activation module uses voice
recognition or remote control to summon the chair. The method is chosen based upon
the people’s disability. The localization module has varied sub modules: Obstacle
detection and obstacle avoidance. The localization is done using 3D modelling technique
or emulation of the movement of normal people. The framework incorporates a memory
unit in ATS which reduces the computational time and the response time has a marginal
change than other tracking assistive system. The obstacle detection occurs with the depth
image sensor which records the depth of the environment using the infrared projection.
The obstacles are avoided using the motors in wheels of EPW to turn the wheelchair for
a required angle and the wheelchair proceeds in free space. The records of DIS and
detected obstacle’s dimensions are loaded into cloud or local database.

Jainam, Sheryas (2020) have studied IoT Based Smart Wheelchair System: With
maturity, weak bones and weakness these issues may lead to extend risk of falling. For
this purpose, we’ve projected associate degree IoT based mostly good chair which can

9
work as Fall Detection System. This technique uses sensors like Wi-Fi module and a
microcontroller that sends the overall info concerning fall. The microcontroller receives all
the knowledge from the sensors and constantly transmits and monitors the acceleration
and additionally the orientation of the person. Any quick movement or modification among
the system which can result from a fall is taken into consideration as a ‘fall’ and can be
reportable. A significant concern would be that not all quick movement might find you
form a fall and can be thought as a matter of concern. To avoid this warning, we’ve
provided to snooze the system, this button is pressed before a particular time of 15-30
seconds to stop the system from deed the alert, therefore avoiding any confusion and
panic. Inaudible sensors area unit won’t to discover obstacles.

Paul Mathews, Aparna Unnikrishnan (2018) have designed intelligent side’s

electronics wheelchair using Arduino and GSM module: The project presents a
multifunctional smart wheelchair for movement of disabled people along with patient
monitoring using Arduino. The wheel chair can move in left, right, forward directions. The
movement is controlled by accelerometer and eye movement (IR module). Here the data
sensed by IR or accelerometer is given to microcontroller. Microcontroller controls the
movement of wheelchair by controlling the DC motors interfaced with motor driver. Patient
monitoring is achieved temperature sensor and pulse sensor and data is given to
microcontroller. Whenever the parameters rise above the threshold values an alert
message is sent to doctor’s phone using GSM module along with this, obstacle detection
is also implemented using ultrasonic sensor.

Richard, Charan, Nadeem (2021) have studied Smart Navigation of wheelchair

using human machine interface: This manuscript deals with smart navigation of
wheelchair using human machine interface. Physically challenged people are those who
suffer from different physical disabilities. In day-to-day life, physically challenged people
are facing many problems and one of them being to move around without external
support, being independent and the freedom to move around independently is an integral
part of one’s life. This project is carefully designed by keeping in mind the problem’s faced
by physically challenged people. To implement the manuscript, Arduino UNO is used to
control the motor coupled to the wheel of the wheelchair which is controlled by voice

10
command from the android mobile phone through a Bluetooth module. Apart from moving
the motor using voice command, the prototype also has an ultrasonic sensor which
senses the obstacle on the way and controls the direction of the wheels accordingly. Apart
from physically challenged people, aged people will also get benefited with this prototype.

Anil Kumar, Komal, Pooja (2020) have studied an ameliorated methodology of

smart assistant to physically challenged person using IoT: Smart devices not only aid to
people life but also are becoming a crucial part of physically challenged and aged people.
Death ratio of handicap people raises rapidly the need for safe and independent mobility
for the elderly and physical challenged people is of prime concern. The key issue of
handicap people is, they cannot have instance help when they are in any trouble. In
market there are many types of wheelchairs available but, they are only useful for move
or travel one place to another. In our project we provide the primary need to the handicap
people. Using the accelerometer sensor, we detect the fall of person. We also provide the
help button to the wheelchair which is helpful to get instant help to the user or buzzer is
provided to notify nearest people. Android application is use for the all types of notification.
Using the GPS, the live location of wheelchair is track. The location is display on android
application. The main purpose of system to get instant help to the handicap people and
reduces the death ratio of this people.

2.3 INFERENCE FROM LITERATURE REVIEW

• There is extensive research on computer-controlled chairs where sensors and

intelligent control algorithms have been used to minimize the level of human
intervention.

• The key feature of system is to get instant help to the disable person.

• The devices serve as a boon for those who have lost their mobility.
• Several studies have shown that both children and adult benefit substantially
from access to a means of independent mobility.
• The new generations of wheelchair are being developed and used which features
the use of artificial intelligence

11
 CHAPTER 3

HARDWARE AND SOFTWARE REQUIREMENT

3.1 ARDUINO
Arduino is an open-source electronics platform based on easy-to-use hardware
and software. Arduino boards are able to read inputs - light on a sensor, a finger on a
button, or a Twitter message - and turn it into an output - activating a motor, turning on
an LED, publishing something online. You can tell your board what to do by sending a set
of instructions to the microcontroller on the board. To do so you use the Arduino
programming language (based on Wiring), and the Arduino Software (IDE), based on
Processing.

Arduino was born at the Ivrea Interaction Design Institute as an easy tool for fast
prototyping, aimed at students without a background in electronics and programming. As
soon as it reached a wider community, the Arduino board started changing to adapt to
new needs and challenges, differentiating its offer from simple 8-bit boards to products
for IoT applications, wearable, 3D printing, and embedded environments. All Arduino
boards are completely open-source, empowering users to build them independently and
eventually adapt them to their particular needs. The software, too, is open-source, and it
is growing through the contributions of users worldwide.

FIG 3.1 ARDUINO PIN DESCRIPTIONS

12
The above Fig 3.1 shows the Arduino pin descriptions. The below table 3.1 shows
the specifications of Arduino UNO
TABLE 3.1 SPECIFICATIONS OF ARDUINO UNO

PINS IN ARDUINO UNO DESCRPTIONS

Microcontroller ATmega328P – 8-bit AVR family

microcontroller

Operating Voltage 5V

Recommended Input Voltage 7-12V

Input Voltage Limits 6-20V

Analog Input Pins 6 (A0 – A5)

Digital I/O Pins 14 (Out of which 6 provide PWM

output)

DC Current on I/O Pins 40 mA

DC Current on 3.3V Pin 50 mA

Flash Memory 32 KB (0.5 KB is used for Bootloader)

SRAM 2 KB

EEPROM 1 KB

Frequency (Clock Speed) 16 MHZ

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 3.2 ARDUINO UNO

Arduino is an open-source platform used for building electronics projects. Arduino

consists of both a physical programmable circuit board (often referred to as
a microcontroller) and a piece of software, or IDE (Integrated Development Environment)
that runs on your computer, used to write and upload computer code to the physical
board. The Arduino platform has become quite popular with people just starting out with
electronics, and for good reason.

Unlike most previous programmable circuit boards, the Arduino does not need a
separate piece of hardware (called a programmer) in order to load new code onto the
board – you can simply use a USB cable. Additionally, the Arduino IDE uses a simplified
version of C++, making it easier to learn to program. Finally, Arduino provides a standard
form factor that breaks out the functions of the micro-controller into a more accessible
Package. The below Fig 3.2 shows the Arduino Uno Board. The Uno is one of the more
popular boards in the Arduino family and a great choice for beginners.

FIG 3.2 ARDUINO UNO BOARD

3.2.1 Power (USB / Barrel Jack)

Every Arduino board needs a way to be connected to a power source. The Arduino
UNO can be powered from a USB cable coming from your computer or a wall power
supply (like this) that is terminated in a barrel jack. In the picture above the USB
connection is labelled as 1 in fig 3.3 and the barrel jack is labelled

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 FIG 3.3 ARDUINO UNO PIN DESCRIPTION

The USB connection is also how you will load code onto your Arduino board. More
on how to program with Arduino can be found in our Installing and Programming
Arduino tutorial. Do not use a power supply greater than 20 Volts as you will overpower
(and thereby destroy) the Arduino. The recommended voltage for most Arduino models
is between 6 and 12 Volts.

3.2.2 Pins

The pins on your Arduino are the places where you connect wires to construct a
circuit probably in conjunction with a breadboard and some wire. They usually have black
plastic ‘headers’ that allow you to just plug a wire right into the board. The Arduino has
several different kinds of pins, each of which is labelled as 2 in fig 3.3 on the board and
used for different functions.

3.2.3 GND Pins

Short for ‘Ground’. There are several GND pins on the Arduino, any of which can
be used to ground your circuit which is marked as 3 in the fig 3.3

3.2.4 5V & 3.3V

The 5V pin supplies 5 volts of power, and the 3.3V pin supplies 3.3 volts of power.
Most of the simple components used with the Arduino run happily off of 5 or 3.3 volts which
is marked as 4 and 5 in fig 3.3

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3.2.5. Analog

The area of pins under the ‘Analog In’ label (A0 through A5 on the UNO) are Analog
In pins. These pins can read the signal from an analog sensor (like a temperature sensor)
and convert it into a digital value which is marked as 6 in fig 3.3

3.2.6 Digital

Across from the analog pins are the digital pins (0 through 13 on the UNO). These
pins can be used for both digital input (like telling if a button is pushed) and digital output
(like powering an LED) which is marked as 7 in fig 3.3

3.2.7 PWM

The tilde (~) next to some of the digital pins (3, 5, 6, 9, 10, and 11 on the UNO).
These pins act as normal digital pins, but can also be used for something called Pulse-
Width Modulation (PWM). We have a tutorial on PWM, but for now, think of these pins as
being able to simulate analog output (like fading an LED in and out) which is marked a 8
in fig 3.3

3.2.8 AREF

Stands for Analog Reference. Most of the time you can leave this pin alone. It is
sometimes used to set an external reference voltage (between 0 and 5 Volts) as the upper
limit for the analog input pins which ia marked as 9 in fig 3.3

3.2.9 Reset Button

Just like the original Nintendo, the Arduino has a reset button. Pushing it will
temporarily connect the reset pin to ground and restart any code that is loaded on the
Arduino. This can be very useful if your code doesn’t repeat, but you want to test it multiple
times. Unlike the original Nintendo however, blowing on the Arduino doesn’t usually fix
any problems which is marked as 10 in fig 3.3

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 3.2.10 Power LED Indicator

Just beneath and to the right of the word “UNO” on your circuit board, there’s a tiny
LED next to the word ‘ON’. Which is marked as 11 in fig 3.3 This LED should light up
whenever you plug your Arduino into a power source. If this light doesn’t turn on, there’s a
good chance something is wrong. Time to re-check your circuit!

3.2.11 TX RX LEDs

TX is short for transmit RX is short for receive. These markings appear quite a bit
in electronics to indicate the pins responsible for serial communication. There are two
places on the Arduino UNO where TX and RX appear once by digital pins 0 and 1, and a
second time next to the TX and RX indicator LEDs which is marked as 12 in fig 3.3 These
LEDs will give us some nice visual indications whenever our Arduino is receiving or
transmitting data (like when we’re loading a new program onto the board).

3.2.12 Main IC

The black thing with all the metal legs is an IC, or Integrated Circuit which is
marked as 13 in fig 3.3. Think of it as the brains of our Arduino. The main IC on the Arduino
is slightly different from board type to board type, but is usually from the AT mega line of
ICs from the ATMEL company. This can be important, as you may need to know the IC
type (along with your board type) before loading up a new program from the Arduino
software. This information can usually be found in writing on the top side of the IC. If you
want to know more about the difference between various IC’s, reading the datasheets is
often a good idea.

3.2.13 Voltage Regulator

The voltage regulator which is marked as 14 in fig 3.3 is not actually something
you can (or should) interact with on the Arduino. But it is potentially useful to know that it
is there and what it’s for. The voltage regulator does exactly what it says – it controls the
amount of voltage that is let into the Arduino board. Think of it as a kind of gatekeeper; it

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will turn away an extra voltage that might harm the circuit of course, it has its limits, so
don’t hook up your Arduino to anything greater than 20 volts

3.3 ATMEGA328 MICROCONTROLLER

The Atmel AVR core combines a rich instruction set with 32 general purpose
working registers. All the 32 registers are directly connected to the Arithmetic Logic Unit
(ALU), allowing two independent registers to be accessed in a single instruction executed
in one clock cycle. The resulting architecture is more code efficient while achieving
throughputs up to ten times faster than conventional CISC microcontrollers. The Boot
program can use any interface to download the application program in the Application
Flash memory. Software in the Boot Flash section will continue to run while the
Application Flash section is updated, providing true Read-While-Write operation. By
combining an 8-bit RISC CPU with In-System Self-Programmable Flash on a monolithic
chip, the Atmel ATmega328/P is a powerful microcontroller that provides a highly flexible
and cost-effective solution to many embedded control applications. The below fig 3.4
ATMEGA 328 Microcontroller.

FIG 3.4 ATMEGA328 MICROCONTROLLER

3.4 MEMS SENSOR

The term MEMS stands for micro-electro-mechanical systems. These are a set of
devices, and the characterization of these devices can be done by their tiny size & the
designing mode. The designing of these sensors can be done with the 1- 100-
micrometer components. These devices can differ from small structures to very difficult

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electromechanical systems with numerous moving elements beneath the control of
incorporated micro-electronics. Usually, these sensors include mechanical micro
actuators, micro-structures, micro-electronics, and micro-sensors in one package. This
article discusses
MEMS are low-cost, and high accuracy inertial sensors and these are used to
serve an extensive range of industrial applications. This sensor uses a chip-based
technology namely micro-electro-mechanical-system. These sensors are used to detect
as well as measure the external stimulus like pressure, after that it responds to the
pressure which is measured pressure with the help of some mechanical actions. The best
examples of this mainly include revolving of a motor for compensating the pressure
change. The MEMS IC fabrication can be done with silicon, whereby slight material layers
are placed otherwise fixed onto a Si substrate. After that selectively fixed away to leave
microscopic 3D structures like diaphragms, beams, levers, springs, and gears.

FIG 3.5 MEMS SENSOR

The MEMS fabrication needs many techniques which are used to construct other
semiconductor circuits like oxidation process, diffusion process, ion implantation process,
low-pressure chemical vapor deposition process, sputtering, etc. Additionally, these
sensors use a particular process like micromachining.

3.4.1 MEMS Sensor Working Principle

Whenever the tilt is applied to the MEMS sensor, then a balanced mass makes a
difference within the electric potential. This can be measured like a change within
capacitance. Then that signal can be changed to create a stable output signal in digital,
4-20mA or VDC. These sensors are fine solutions to some applications which do not
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demand the maximum accuracy like industrial automation, position control, roll, and pitch
measurement, and platform levelling.

3.4.2 Applications of MEMS

MEMS sensors are used in different domains which include automotive,

consumer, industrial, military, biotechnology, space exploration, and commercial
purposes which include inkjet printers, accelerometers within modern cars, consumer
electronics, in personal computers, etc.
The best examples of MEMS devices mainly include adaptive optics, optical cross-
connects, airbag accelerometers, mirror arrays for TVs & displays, steerable micro
mirrors, RF MEMS devices, not reusable medical devices, etc.

3.5 Ultrasonic Sensor

Arduino project bat-powers with a HC-SR04 Ultrasonic Distance Sensor that can
report the range of objects up to 13 feet away. Which is really good information to have if
you’re trying to avoid your robot driving into a wall! They are low power (suitable for battery
powered devices), inexpensive, easy to interface with and are insanely popular among
hobbyists. And as a bonus it even looks cool, like a pair of Wall-E Robot eyes for your
latest robotic invention. The below fig 3.6 shows the ultrasonic sensor

FIG 3.6 ULTRASONIC SENSOR

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 At its core, the HC-SR04 Ultrasonic distance sensor consists of two ultrasonic
transducers. The one acts as a transmitter which converts electrical signal into 40 KHz
ultrasonic sound pulses. The receiver listens for the transmitted pulses. If it receives them,
it produces an output pulse whose width can be used to determine the distance the pulse
travelled. Since it operates on 5 volts, it can be hooked directly to an Arduino or any other
5V logic microcontrollers. The table 3.2 below describes the specification of ultrasonic
sensor.

TABLE 3.2 SPECIFICATIONS OF ULTRASONIC SENSOR

Operating Voltage DC 5V

Operating Current 15mA

Operating Frequency 40KHz

Max Range 4m

Min Range 2cm

Ranging Accuracy 3mm

Measuring Angle 15 degree

Trigger Input Signal 10µS TTL pulse

Dimension 45 x 20 x 15mm

3.5.1 Working Principle of Ultrasonic Sensor

When a pulse of at least 10 µS (10 microseconds) in duration is applied to the

Trigger pin. In response to that the sensor transmits a sonic burst of eight pulses at 40

21
KHz. This 8-pulse pattern makes the “ultrasonic signature” from the device unique,
allowing the receiver to differentiate the transmitted pattern from the ambient ultrasonic
noise. The eight ultrasonic pulses travel through the air away from the transmitter.
Meanwhile the Echo pin goes HIGH to start forming the beginning of the echo-back signal.

If those pulses are not reflected back then the Echo signal will timeout after 38 mS
(38 milliseconds) and return low. Thus a 38 mS pulse indicates no obstruction within the
range of the sensor. If those pulses are reflected back the Echo pin goes low as soon as
the signal is received. This produces a pulse whose width varies between 150 µS to 25
mS, depending upon the time it took for the signal to be received. The width of the
received pulse is then used to calculate the distance to the reflected object. This can be
worked out using simple distance-speed-time equation,

3.6 NODEMCU

When prototyping new IoT equipment, development boards such as Arduino and
Raspberry Pi are popular options. These development boards are fundamentally mini-
computers that a normal PC or Mac can connect to and program. The design boards can
then connect and regulate sensors in the field after it has been programmed. The design
boards need a way to connect to the internet because the "I" in IoT stands for internet. In
the field, using wireless networks is the best way to connect to the Internet. However,
wireless networks are not supported by Arduino and Raspberry Pi. In order to access the
wireless module, developers will need to add a WIFI or cellular module to the board and
write code. One of its most distinctive characteristics is that it has built-in WIFI connectivity
assistance, making the development of IoT applications much easier.

The Nodemcu (Node Micro Controller Unit) is an open-source software and hardware
development environment around the ESP8266, a very inexpensive system-on- a-chip
(SoC) environment. The ESP8266, however, is also difficult to access and use as a chip.
For the simplest tasks such as powering it on or sending a keystroke to the "computer"
on the chip, you have to solder wires with the appropriate analog voltage. It is an

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enormous burden on hobbyists, hackers, or learners who want to experiment with it in
their own IoT projects.

FIG 3.7 NODEMCU DEVKIT BOARD

An open-source firmware ESP8266 constructed on top of the proprietary SDK of

the chip manufacturer. The firmware offers an easy programming environment based on
eLua (integrated Lua), which with an established developer community is a very easy and
quick scripting language. The language of Lua scripting is simple to know for newcomers.
A DEVKIT board that includes a conventional circuit board with the ESP8266 chip. The
DEVKIT board is shown in Fig 3.7 and its buttons are shown in Fig 3.8 for a flexible IoT
controller, the Arduino project produces an open-source hardware architecture and SDK
software.

FIG 3.8 DISPLAY BUTTTONS IN DEVKIT BOARD

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 3.7 EYEBLINK SENSOR

The eye blink sensor illuminates the eye with infrared light and monitors the
`changes in the reflected light. The infrared light reflected from the eye is used to
determine the results. The sensor output is active high for eye close and can be
given directly to microcontroller for interfacing application (e.g., Buzzer).The eye
blink sensor is an infrared sensor. It contains two parts. A transmitter and a
receiver. The transmitter continuously emits infrared waves onto the eye. While
the receiver continuously looks for variations in the reflected waves which indicates
that the eye has blinked. If the eye is closed that means it will give high output. If
eye is open then it will give a low output. This sensor can be used in a very different
variety of robotics and mechatronics projects as it provides excellent results and is
very economical

3.7.1 Working principle of the eye blink sensing system

FIG 3.9 EYEBLINK SENSOR

The eye blinking system can be used for different purpose. The eye blink sensor
constantly sends infrared waves which are reflected and detected by the receiver. As
soon as the eye blinks, the output of the sensor goes high. This output is sent to the
Arduino board. The Arduino sends the signal to the buzzer to make the noise. In this way,
a blink is detected. This system can be used with all modes of transports be it trains,
ships, planes, cars, etc. This can be very useful to avoid accidents. Another purpose of
this system, it can be used in hospitals to check as the patient is unconscious. When the

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output goes low i.e., when the eyes of the patient open, that is when the Arduino should
command the buzzer to ring. The fig 3.9 shows the Eye blink Sensor.

DHT11 is a Humidity and Temperature Sensor, which generates calibrated digital

output. DHT11 can be interface with any microcontroller like Arduino, Raspberry Pi, etc.
and get instantaneous results. DHT11 is a low cost humidity and temperature sensor
which provides high reliability and long term stability. The fig 3.10 shows the components
of DHT11 sensor.

FIG 3.10 COMPONENTS OF DHT11 SENSOR

3.8 LIQUID CRYSTAL DISPLAY

LCD stands for Liquid Crystal Display. LCD is finding wide spread use
replacing LEDs (seven segment LEDs or other multi segment LEDs) because of the
following reasons: The ability to display numbers, characters and graphics. This is in
contrast to LEDs, which are limited to numbers and a few characters .Incorporation of a
refreshing controller into the LCD, thereby relieving the CPU of the task of refreshing
the LCD. In contrast, the LED must be refreshed by the CPU to keep displaying the data.

FIG 3.11 LIQUID CRYSTAL DISPLAY

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 A model described here is for its low price and great possibilities most frequently
used in practice. It is based on the HD44780 microcontroller (Hitachi) and can display
messages in two lines with 16 characters each. It displays all the alphabets, Greek letters,
punctuation marks, mathematical symbols etc. In addition, it is possible to display
symbols that user makes up on its own. Automatic shifting message on display (shift left
and right), appearance of the pointer, backlight etc. are considered as useful
characteristics.
3.8.1 LCD screen
LCD screen consists of two lines with 16 characters each. Each character consists
of 5x7 dot matrix. Contrast on display depends on the power supply voltage and whether
messages are displayed in one or two lines. For that reason, variable voltage 0-Vdd is
applied on pin marked as Vee. Trimmer potentiometer is usually used for that purpose.
Some versions of displays have built in backlight (blue or green diodes). When used
during operating, a resistor for current limitation should be used (like with any LE diode).

3.9 DC MOTOR
The relationship between torque vs speed and current is linear as shown left; as
the load on a motor increase, Speed will decrease. The graph pictured here represents
the characteristics of a typical motor. As long as the motor is used in the area of high
efficiency (as represented by the shaded area) long life and good performance can be
expected. The fig 3.12 shows the DC Motor.

FIG 3.12 DC MOTOR

If voltage in continuous applied to a motor in a locked rotor condition, the motor

will heat up and fail in a relatively short time. Therefore, it is important that there is some

26
form of protection against high temperature rises. A motor’s basic rating point is slightly
lower than its maximum efficiency point.

3.10 HC BLUETOOTH MODULE

HC-05 Bluetooth Module is an easy-to-use Bluetooth SPP (Serial Port Protocol)

module designed for transparent wireless serial connection setup. Its communication is
via serial communication which makes an easy way to interface with controller or PC. HC-
05 Bluetooth module provides switching mode between master and slave mode which
means it able to use either receiving or transmitting data. The fig 3.13 shows the HC
Bluetooth module
HC-05 is normally used in embedded project, where data needs to be transmitted
wirelessly over a small distance. We can transmit data between two HC-05 module and
can also send data from HC-05 to any Bluetooth appliance i.e., mobile phone, laptop etc.
In order to do so, first of all, we need to power up our HC-05 module. As we push the
button connected to key pin, it will get low & HC-05 will start blinking. Now, if you check
on your mobile phone or laptop, you will be able to find a new Bluetooth device named
HC-05. Once you connected with this device, you will be able to send and receive data in
a serial stream manner. This stream is then processed by a microcontroller attached with
HC-05. However, do not expect this module to transfer multimedia like photos or songs;
you might have to look into the CSR8645 module for that.

FIG 3.13 HC BLUETOOTH MODULE

3.11 ARDUINO IDE

The Arduino IDE is an open-source software, which is used to write and upload
code to the Arduino boards. The IDE application is suitable for different operating systems

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such as Windows, Mac OS X, and Linux. It supports the programming languages C and
C++. Here, IDE stands for Integrated Development Environment. The program or code
written in the Arduino IDE is often called as sketching. We need to connect the Genuine
and Arduino board with IDE to upload the sketch written in Arduino IDE software shown
in fig 3.14. The sketch is saved with the extension’. ino’.

FIG 3.14 ARDUINO IDE SOFTWARE

3.11.1 Toolbar button

The icons displayed on the toolbar are New, Open, Save, Upload and Verify
showed in fig 3.15.

FIG 3.15 TOOLBAR BUTTON

• New- It is used to create a new sketch or opens a new window.

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 • Open- the Open button is used to open the already created file. The selected file
will be opened in the current window.
• Save- The save button is used to save the current sketch or code.
• Upload- the Upload button compiles and runs our code written on the screen. It
further uploads the code to the connected board. Before uploading the sketch, we
need to make sure that the correct board and ports are selected. A Bootloader is
defined as a small program, which is loaded in the microcontroller present on the
board. The LED will blink on PIN 13.
• Verify- The verify button is used to check the compilation error of the sketch or the
written code.
• Serial Monitor- The serial monitor button is present on the right corner of the
toolbar. It opens the serial monitor. When we connect the serial monitor, the board
will reset on the operating system Windows, Linux, And Mac OS X.

3.11.2 Menu Bar

• File- When we click on the File Button on the Menu bar, a drop-down list will
appear. It is shown below:

• New – The new button opens the new window. It does not remove the sketch is
already present.
• Open – It allows opening the sketch, which can be browsed from the folders and
computer drivers.
• Open Recent – The open recent button contains the list of the recent sketches.
• Sketchbook – It stores the current sketches created in the Arduino IDE software.
It opens the selected sketch or code in a new editor at an instance.
• Close – The close button closes the window from which the button is clicked.
• Save – The save button is used to save the current sketch. It also saves the
changes made to the current sketch. If we have not specified the name of the file,
it will open the ‘Save As’ window.

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• Save As – We can save the sketch with a different name using the ‘Save As’
button. We can also change the name accordingly.
• Page Setup – It allows setting the page margins, orientation, and size for printing.
The ‘Page Setup’ window will appear as.
• Print – According to the settings specified in the ‘Page Setup’, it prepares the
current sketch for printing.
• Preferences – It allows the customization settings of the Arduino IDE.
• Quit – The Quit button is used to close all the IDE windows. The same closed
sketch will be reopened when we will open the Arduino IDE.
• Undo – The Undo button is used to reverse the last modification done to the sketch
while editing.
• Redo – The Redo button is used to repeat the last modification done to the sketch
while editing.
• Cut – It allows us to remove the selected text from the written code. The text is
further placed to the clipboard. We can also paste the text anywhere in our sketch.
• Copy – It creates a duplicate copy of the selected text. The text is further placed
on the clipboard.
• Copy for Forum – The ‘Copy for Forum’ button is used to copy the selected text
to the clipboard, which is also suitable for posting to the forum.
• Copy as HTML – The ‘Copy for HTML’ button is used to copy the selected text as
HTML to the clipboard. It is desirable for embedding in web pages.
• Paste – The Paste button is used to paste the selected text of the clipboard to the
specified position of the cursor.
• Select All – It selects all the text of the sketch.
• Go to line – It moves the cursor to the specified line number.
• Comment / DE comment – The Comment / DE comment button is used to put or
remove the comment mark (//) at the beginning of the specified line.
• Increase Indent – It is used to add the space at the starting of the specified line.
The spacing moves the text towards the right.

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 • Decrease Indent – It is used to subtract or remove the space at the starting of the
specified line. The spacing moves the text towards the left.
• Increase Font size – It increases the font size of the written text.
• Decrease Font Size – It decrease the font size of the written text.
• Find – It is used to find the specified text. We can also replace the text. It highlights
the text in the sketch.
• Find Next – It highlights the next word, which has specified in the ‘Find’ window.
If there is no such word, it will not show any highlighted text.
• Find Previous – It highlights the previous word, which has specified in the ‘Find’
window. If there is no such word, it will not show any highlighted text.

3.11.3 Sketch

• Verify/Compile – It will check for the errors in the code while compiling. The
memory in the console area is also reported by the IDE.
• Upload – The Upload button is used to configure the code to the specified board
through the port.
• Upload Using Programmer – It is used to override the Bootloader that is present
on the board. We can utilize the full capacity of the Flash memory the ‘Upload
Using Programmer’ option.
• Export compiled Binary – It allows saving a .hex file and can be kept archived.
Using other tools, .hex file can also be sent to the board.
• Show Sketch Folder – It opens the folder of the current code written or sketch.
• Include Library – Include Library includes various Arduino libraries. The libraries
are inserted into our code at the beginning of the code starting with the #. We can
also import the libraries from .zip file.
• Add File – The Add File button is used to add the created file in a new tab on the
existing file. We can also delete the corresponding file from the tab by clicking on
the small triangle -> Delete option.

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3.11.4 Tools

• Auto Format – The Auto Format button is used to format the written code. For
example, lining the open and closed curly brackets in the code.
• Archive Sketch – The copy of the current sketch or code is archived in the .zip
format. The directory of the archived is same as the sketch.
• Fix Encoding and Reload – This button is used to fix the inconsistency between
the operating system char maps and editor char map encoding.
• Manage Libraries – It shows the updated list of all the installed libraries. We can
also use this option to install a new library into the Arduino IDE.
• Serial Monitor – It allows the exchange of data with the connected board on the
port.
• Serial Plotter – The serial plotter button is used to display the serial data in a plot.
It comes preinstalled in the Arduino IDE.
• WiFI101 / WIFI NINA Firmware Updater – It is used to check and update the Wi-
Fi Firmware of the connected board.
• Board – We are required to select the board from the list of boards. The selected
board must be similar to board connected to the computer.
• Processor – It displays the processor according to the selected board. It refreshes
every time during the selection of the board.
• Port – It consisted of the virtual and real serial devices present on our machine.
• Get Board Info – It gives information about the selected board. We need to select
the appropriate port before getting information about the board.
• Programmer – We need to select the hardware programmer while programming
the board. It is required when we are not using the onboard USB serial connection.
It is also required during the burning of the Bootloader.
• Burn Bootloader – The bootloader is present on the board onto the
microcontroller. This option is useful when we have purchased the microcontroller
without the bootloader. Before burning the bootloader, we need to make sure about
the correct selected board and port.

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 The help section includes several documents that are easy to access, which
comes along with the Arduino IDE. It consists of the number of the options such as Getting
Started, Environment, Troubleshooting, Reference etc. We can also consider the image
shown above, which includes all the options under the Help section. Some documents
like Getting started, Reference, etc., can be accessed without the internet connection as
well. It will directly link us to the official website of Arduino as shown in fig 3.16.

FIG3.16 WEBSITE OF ARDUINO

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 CHAPTER 4

METHODOLOGY

4.1 METHODOLOGY FLOWCHART

The methodology gives the stepwise procedure and simplified methods or
techniques for the fulfilment of the objectives of the study. The fig 4.1 shows the flowchart
of methodology adopted for this study.

Problem Identification

Review of Literature

Formulation of Objectives

Model Development

Components Outputs

1. Arduino Uno 1. Movement of wheelchair is accessed using

2. MEMS Sensor mobile application which is done with the help
3. DHT11 Sensor of HC Bluetooth sensor.
4. Ultrasonic Sensor 2. Temperature of the disabled person can be
5. DC Motor measured with the help of DHT11 sensor.
6. Nodemcu 3. Their needs are displayed in the IoT page
7. Eye blink Sensor website using Nodemcu
8. LCD Display 4. While the movement of the wheelchair obstacle
9. IR Sensor detection is done using ultrasonic sensor.
5. Eye blink sensor is used to turn on the fan and
light by the disables by their eye movement

FIG 4.1 METHODOLOGY FLOWCHART

34
 For any study, it is necessary to know about the need for the study to find out the
major problems. The review of various literatures helped in framing the objectives of the
study. In general, the wheelchair facilitates people with more disabilities in their daily lives
by allowing them to independently move with the help of an assistive and straightforward
interface. Using Arduino Uno this project offers movement of the wheelchair and change
in the direction using mobile applications with the help of HC-Bluetooth sensor. Along with
this ultrasonic sensor is used to detect the obstacle and change the direction of
wheelchair. DHT11 sensor is used to measure the temperature of the disabled person,
MEMS sensor is used to know the needs of the disabled person and display them in IoT
page with the help of Nodemcu, Eye blink sensor is used to turn on the fan and light by
the disables just with their eye movement.

4.2 BLOCK DIAGRAM

Ultrasonic Sensor IoT Page

DHT11 Sensor DC Motor Driver

Motors
Arduino Uno
Eye blink Sensor

Loads

HC Bluetooth
sensor
LCD Display

FIG 4.2 BLOCK DIAGRAM

35
 The above fig 4.2 shows the block diagram of the proposed system. This
wheelchair is an IoT based user friendly wheelchair. So, we have used an Arduino UNO
and different type of sensors. Firstly, Ultrasonic sensor is used to detect the obstacle and
change the direction of the wheelchair in the movement. DHT11 sensor is used to
measure the temperature of the disable person. Eye blink sensor is used to turn ON the
light and fan. For the demo we used DC fan and IR. HC Bluetooth sensor is used for to
control wheelchair and change the direction of the wheelchair using mobile application.
Mainly HC Bluetooth sensor is used to connect the wheelchair with the mobile application
via Bluetooth. We have created an IOT page, which is used to display the temperature
measured by DHT11 sensor and their needs. DC Motor driver is used for wheelchair
movement.

4.3 CONNECTION

The fig 4.3 shows the component connection. Two Arduino UNO has been used
to avoid connection traffic. In first Arduino, MEMS sensor, DHT11 sensor, Eye Blink
sensor and Nodemcu are connected and in the second Arduino is completely used for
the movement of the Wheelchair. The ultrasonic sensor and HC Bluetooth sensor is
connected to the second Arduino for the wheelchair movement. The Output is obtained
from first Arduino. Both the Arduino’s are connected with each other. Liquid Crystal
Display is attached to the first Arduino.

FIG 4.3 COMPONENT CONNECTION

36
 FIG 4.4 CONNECTION MODEL

4.4 OUTPUTS
The fig 4.4, 4.5 & 4.6 given below are the outputs from the IOT page. The output
shows the needs and the temperature of the disabled person. It helps the attender to
check their vitals and know their needs from any place and at any time. These outputs
are obtained from changing the angle of MEMS sensor.

FIG 4.5 OUTPUT FOR NEED FOR WATER

37
 FIG 4.6 OUTPUT FOR NEED RESTROOM

FIG 4.7 OUTPUT FOR NEED FOOD

The disable person can adjust the angle of MEMS sensor in order to convey their needs.
Those angles are written as code in Arduino IDE and that is feed into MEMS sensor. As
per the code when the angle is changed their needs will be displayed in IoT page.

4.5 Obstacle Detection

This flowchart is to represent the functionality of obstacle detection in our proposed

system. As the below flow chart show when the wheelchair is in movement using
ultrasonic sensor, we will detect the obstacle and change the direction of the wheelchair.
If else there will be no change in the direction of wheelchair unless we change the
direction of wheelchair. The two criteria address the safety of smart wheelchair are

• To maintain a safe distance from the obstacle.

• Detect obstacles of various size

38
 Stop
Forward
Signal
Read all sensors and
Bluetooth signal

Going Forward, Tried Going Tried Going

Object in Front Right?
Left?
and/or sides

Turn Turn
Right Left

Going forward
object in front right
Left Turn Go
corner Possible? Left

Object on
right side? Stop Right signal

Stop Forward signal

Going forward Right Turn

object in front left Go
Possible?
corner Right

Object on
left side? Stop Left signal

Stop Forward signal

39
4.6 ALGORITHM
The below condition is to display the outputs in the LCD display and in the IoT page.

START

Input for
LCD
Display

If (rawX > 470)

True

Print “Need Water”

True
If (rawZ > 470)

Print “Need Food”

True

If (rawY > 470)

Print “Need
Restroom”

STOP
CHAPTER 5

40
 CHAPTER 5

CONCLUSION

5.1 GENERAL
This paper presents different smart technologies for wheelchairs. It focuses on
two main properties: The human – machine interface and the navigation methods and
devices. Also, it reviews other smart system like knowing their needs and safety systems.
From the review of many published papers, it is concluded that researches are
continuously trying to build a powerful and helpful wheelchair to ease the daily life
activities and to give more independent mobility for people with different types of
disabilities.

Unfortunately, there are very few commercialized wheelchairs with the smart
technology available. One reason is because the robustness and safety of the technology
is not 100% guaranteed yet in many researches. However, the main reason is maybe
related to marketing and feasibility issues. Using high-tech smart wheelchair depends on
the severity of the disability, the individual’s overall moral and attitude towards his or her
condition and the most important is the price of the technology. Moreover, smart
wheelchairs are complicated for many users. Therefore, familiarization and training
sessions are needed as after sales services. This makes the investment in smart
wheelchair less interesting for stockholders.

5.2 FUTURE SCOPE

• Obviously, much future work remains to be completed before the smart wheel chair
is ready for commercialization. This work includes developing hardware and
software.
• We have planned the range of activities to evaluate the smart wheel chair as it is
progress towards commercialization.
• Future work should maybe focus more on the add-on approach which gives
flexibility in configurations of sensors, interface, and input devices based on each
individual user’s need and budget

41
• Other options for making the wheelchair friendlier can be added in future also. For
example, entertainment and social communication facilities might be added to the
wheelchair.
• First aid, muscle relaxing and rehabilitation tools might be considered as useful
add-ons too.

42
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