2023 JETIR June 2023, Volume 10, Issue 6 www.jetir.

org (ISSN-2349-5162)

Arduino-Based Smart Wheelchair With Wireless

Communication And Control Facility
1
Sumanta Chatterjee, 2Namrata Pal, 3Niladri Mondal, Pabitra Kumar Bhunia4
1
Assistant Professor, 234UG Student
1234
Department of Computer Science and Engineering
1234
JIS College of Engineering, Kalyani, India

Abstract : This abstract provides a concise overview of mobile-based and voice controller-based wheelchairs, two innovative
assistive technologies designed to enhance mobility and independence for disabled individuals. These systems utilize mobile
applications and voice recognition techniques, respectively, to facilitate intuitive wheelchair control and navigation. The mobile-
based wheelchair system incorporates a mobile application installed on a smartphone or tablet. The instructions are communicated
to the wheelchair control system, enabling users to maneuver their wheelchairs using visual and auditory cues provided by the
application. In the voice controller-based wheelchair system, voice recognition technology is employed to interpret spoken
commands from the user. Advanced algorithms analyze and process these commands, allowing the system to recognize and respond
to specific voice prompts. The wheelchair control module translates these commands into appropriate motorized movements,
enabling users to control their wheelchairs through natural voice instructions. Both mobile-based and voice controller-based
wheelchairs offer distinct advantages to disabled individuals. The mobile-based system provides flexibility, as it can be used with
a range of mobile devices and offers customizable settings for route selection and accessibility preferences. The voice controller-
based system offers an intuitive and hands-free control interface, reducing physical exertion and allowing for effortless wheelchair
navigation. These assistive technologies significantly enhance the mobility and independence of disabled individuals. By
eliminating the need for manual controls, individuals with limited physical capabilities can operate their wheelchairs more
efficiently. Both systems prioritize user safety, incorporating collision detection mechanisms and obstacle avoidance features.

IndexTerms - Android Application, Wheel chair, Ultrasonic Sensor, HC-05 Bluetooth Module, DC Motors, Arduino UNO
Micro-controller.

I. INTRODUCTION

The field of assistive technologies has witnessed significant advancements in recent years, aiming to enhance the independence
and mobility of individuals with disabilities. Mobility plays a vital role in the lives of individuals with disabilities, as it directly
impacts their independence and quality of life. Traditional manual wheelchairs have long served as a means of transportation for
disabled individuals, but advancements in technology have led to the development of innovative solutions that further enhance their
mobility and control. Two such technologies that have gained significant attention are mobile-based wheelchairs and voice
controller-based wheelchairs. These assistive systems leverage the power of mobile applications and voice recognition techniques
to provide intuitive and efficient control and navigation for wheelchair users.

In this project, we present the design and implementation of an Arduino-based smart wheelchair with Bluetooth connectivity,
enabling remote control and enhanced functionality. Mobile-based wheelchairs utilize mobile applications installed on smartphones
or tablets to enable users to navigate their surroundings. On the other hand, voice controller-based wheelchairs employ voice
recognition technology to interpret spoken commands from the user. The core component of our project is the Arduino
microcontroller, a versatile and programmable board that serves as the control unit for the wheelchair. By integrating Bluetooth
technology into the system, we enable wireless communication between the wheelchair and a mobile device, such as a smartphone
or tablet. This allows users to control the wheelchair remotely, providing them with greater flexibility and independence.

The primary objectives of our project include the development of a robust motor control system, implementation of Bluetooth
communication protocols, and integration of user-friendly control interfaces. By leveraging the power of Arduino and Bluetooth
technology, we aim to create a smart wheelchair that offers precise maneuverability, obstacle detection, and advanced control
functionalities. Both mobile-based and voice controller-based wheelchairs offer distinct advantages for disabled individuals. These
technologies promote greater autonomy and independence, empowering wheelchair users to navigate their surroundings more
effectively. By eliminating the need for manual controls, these systems reduce physical strain and enhance the overall user

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experience. Additionally, they prioritize safety by incorporating collision detection mechanisms and obstacle avoidance features,
ensuring a secure and protected navigation environment.

Moreover, this project explores the potential of assistive technologies to improve the quality of life for individuals with mobility
impairments. By empowering users with greater control and accessibility, smart wheelchairs can enhance their autonomy and
participation in daily activities, both indoors and outdoors

II. 2. RESEARCH METHODOLOGY

For developing the system, we need the following hardware materials:

1. Arduino UNO: The Arduino board serves as the core microcontroller for the smart wheelchair project. Two popular
options are the Arduino Uno and Arduino Nano. The Arduino Uno features an ATmega328P microcontroller, operates at
5V, has 14 digital input/output pins, 6 analog input pins, and 32 KB of flash memory. On the other hand, the Arduino Nano
also utilizes the ATmega328P microcontroller, operates at 5V, offers 22 digital input/output pins, 8 analog input pins, and
32 KB of flash memory.

To control the wheelchair's motors, a motor driver is necessary. Two commonly used options are the L298N and L293D.
The L298N motor driver supports a maximum motor voltage of 46V, can handle a maximum continuous current of 2A per
channel, and can provide a peak current of 3A per channel. It operates at a logic voltage of 5V. The L293D motor driver,
on the other hand, can accommodate a motor voltage range between 4.5V and 36V, supports a maximum continuous
current of 600mA per channel, and can provide a peak current of 1.2A per channel. It also operates at a logic voltage of
5V.

2. L293D Motor Shield: The L293D Motor Shield is a commonly used motor driver module designed for Arduino boards.
It simplifies the control of DC motors by providing an all-in-one solution. The shield utilizes the L293D chip, which is a
dual H-bridge motor driver IC capable of independently controlling two DC motors. It supports bidirectional control,
allowing the motors to rotate in both forward and reverse directions. Each motor output can handle a continuous current
of up to 600mA and a peak current of 1.2A, making it suitable for small to medium-sized DC motors.

It offers control pins for motor operations and includes built-in protection features like diodes for voltage spike
suppression, thermal shutdown, and current limiting. Additionally, the shield provides extra I/O pins for expanding the
project's functionality and connecting other sensors or devices. Overall, the L293D Motor Shield is a user-friendly and
versatile solution for driving DC motors with Arduino.

Fig1: Arduino UNO Fig2: L293D Motor Shield

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3. BO Motors with Wheels: BO (Brushed DC) motors with wheels are commonly used in robotics and automation projects.
These motors consist of a rotor and a stator that generate a magnetic field. By attaching wheels to the output shafts of these
motors, they can produce rotational motion that translates into linear motion. This allows for the movement of wheeled
robots, vehicles, and other motorized devices. BO motors are popular due to their simplicity and widespread availability.
The wheels attached to these motors provide traction and enable the motor to propel the vehicle or device forward. Various
types of wheels can be used depending on the specific application requirements.

4. Bluetooth Module: Bluetooth modules are electronic devices that allow wireless communication between devices using
Bluetooth technology. They are commonly used in applications like IoT devices, smart homes, wearables, and robotics.
Bluetooth operates in the 2.4 GHz frequency range and eliminates the need for cables by enabling devices to connect and
exchange data wirelessly. Bluetooth modules act as transceivers, allowing devices to send and receive data packets. They
support serial communication protocols like UART, making integration with microcontrollers and other devices
straightforward. Popular Bluetooth modules include HC-05 and HC-06, which differ in Bluetooth versions and features.
The range of communication varies depending on the module, typically spanning from a few meters to around 100 meters.
Physical obstacles and interference can affect the range.

Fig3: BO Motors with Wheels Fig4: Bluetooth Module

5. 18650 Battery: The 18650 battery is a rechargeable lithium-ion battery that is commonly used in a wide range of electronic
devices. It has a cylindrical shape with a diameter of approximately 18mm and a length of 65mm. This form factor makes
it easy to handle and compatible with various devices. The 18650 battery utilizes lithium-ion chemistry, which offers a
high energy density and a long cycle life. It has a nominal voltage of 3.6V or 3.7V and a capacity that typically ranges
from 2000mAh to 3500mAh or higher. The battery can be recharged using a compatible charger designed for lithium-ion
batteries. It finds applications in devices such as laptops, flashlights, power banks, electric vehicles, and portable
electronics.

6. MDF Board: MDF (Medium Density Fiberboard) is a type of engineered wood product widely used in construction,
furniture manufacturing, and interior design. It is made by breaking down hardwood or softwood residuals into wood
fibers, which are then combined with a synthetic resin adhesive and compressed under high pressure to form panels. The
resulting boards have a dense and uniform composition without visible wood grain. MDF comes in various densities and
thicknesses, allowing for versatility in different application.

Fig5: 18650 Battery Fig6: MDF Board

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III. WORKING PRINCIPLE

The Arduino-based voice-controlled wheelchair with Bluetooth connectivity works by integrating various components and utilizing
programmed instructions to enable remote control and movement of the wheelchair. Here's a general overview of how the project
works:

● Hardware Setup: The project involves connecting the Arduino board to various components such as a Bluetooth module,
motor driver (e.g., L293D Motor Shield), DC motors, and a power source. The Bluetooth module enables wireless
communication between the wheelchair and a remote device, such as a smartphone or computer, using Bluetooth
technology. The motor driver facilitates control of the DC motors, allowing the wheelchair to move in different directions.

● Voice Control: The project incorporates voice recognition capabilities using a voice recognition module or speech
recognition library. The voice recognition module or library interprets voice commands spoken by the user. These voice
commands are processed and converted into specific instructions or signals that the Arduino can understand.

● Bluetooth Connectivity: The Bluetooth module on the Arduino board establishes a connection with a remote device. This
connection allows the Arduino to receive voice commands wirelessly from the remote device. The Arduino receives the
voice commands transmitted over Bluetooth and processes them for further action.

● Motor Control: Based on the received voice commands, the Arduino board triggers corresponding actions on the motor
driver. The motor driver interprets the instructions from the Arduino and controls the DC motors accordingly. For example,
specific voice commands can be programmed to make the wheelchair move forward, backward, turn left, or turn right.

● Power Supply: The project requires a suitable power supply, such as a battery pack or power adapter, to provide the
necessary power to the Arduino board, motor driver, and DC motors.

By combining voice recognition, Bluetooth connectivity, and motor control, the Arduino-based voice-controlled wheelchair enables
users to control the wheelchair's movement using voice commands wirelessly. The Arduino board acts as the central controller,
processing the voice commands received via Bluetooth and sending corresponding signals to the motor driver to initiate the desired
movements of the wheelchair.

Fig 7: Workflow Diagram

Here are the advantages of the Arduino-based voice-controlled wheelchair with Bluetooth connectivity:

● Accessibility: Enables easy wheelchair control for individuals with limited mobility or physical disabilities through voice
commands.

● Convenience: Wireless Bluetooth connectivity offers flexibility and eliminates the need for physical wires or direct contact
with the wheelchair.

● Intuitive Interaction: Voice commands provide a natural and intuitive control method, simplifying navigation and
maneuvering.

● Hands-Free Operation: Allows for hands-free wheelchair operation, benefiting individuals with limited dexterity or
motor skills.

● Customization and Adaptability: The system can be personalized and tailored to individual user preferences and needs.

● Real-Time Responsiveness: Provides immediate response to voice commands, ensuring timely and accurate wheelchair
control.

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● Potential for Expansion: Offers opportunities for incorporating additional features and integration with other devices or
systems.

● Cost-Effective Solution: Arduino-based projects are often more affordable compared to commercial alternatives, making
it accessible to a wider range of users.

In summary, the Arduino-based voice-controlled wheelchair with Bluetooth connectivity offers accessibility, convenience, intuitive
interaction, customization, real-time responsiveness, expansion potential, and cost-effectiveness for wheelchair users.

IV. RESULTS AND DISCUSSION

Table 1: Experimental result analysis of success rate of both voice recognition and mobile control:

Command/Control Success Rate of Voice Success Rate of Mobile Overall Success Rate
Recognition Control

Forward 100% 100% 100%

Backward 98% 100% 99%

Turn left 94% 98% 96%

Turn right 95% 99% 97%

Stop 97% 99% 98%

Overall Success Rate 96.8% 99.2% >98%

–

In this proposed model we have taken 50 persons and based on their mobile controlling or voice command to the system, we have
taken total 50 readings. We have concluded that not all the times every sensor will work properly but, in most cases, our system
gives accurate value and alerts properly. The accuracy of this proposed work is more than 98%.

V. CONCLUSION

In conclusion, both mobile-based and voice controller-based wheelchairs offer significant benefits for disabled individuals,
enhancing their mobility and independence. Mobile-based wheelchairs utilize smartphones or tablets as control devices, allowing
users to navigate their wheelchairs using touchscreen interfaces. These systems provide a familiar and intuitive control mechanism,
leveraging the widespread adoption of mobile devices. Mobile-based wheelchairs often offer additional features such as
customizable control interfaces, mapping capabilities, and the potential for integrating with other smart home devices or
applications. They can be particularly advantageous for individuals who are already comfortable with using mobile technology.
On the other hand, voice controller-based wheelchairs utilize voice recognition technology to interpret verbal commands and
translate them into wheelchair movements. This technology enables users with limited physical dexterity or mobility to operate
their wheelchairs effectively. Voice control offers hands-free operation, allowing individuals with limited or no upper limb function
to navigate their surroundings independently. Voice-controlled wheelchairs can be particularly useful for individuals with
conditions such as spinal cord injuries, muscular dystrophy, or amyotrophic lateral sclerosis (ALS).

In concluding the words of our project, mobile-based and voice controller-based wheelchairs represent significant advancements in
assistive technology for individuals with disabilities. By harnessing the capabilities of mobile applications and voice recognition,
these innovative solutions offer intuitive control, seamless navigation, and increased independence for wheelchair users. They
empower individuals to overcome physical limitations, enhancing their overall quality of life and fostering a more inclusive society.

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VI. REFERENCES

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