A PROJECT REPORT ON

GESTURE CONTROLLED WHEELCHAIR

Submitted in partial fulfillment for the award of degree

BACHELOR OF

ENGINEERING IN

ELECTRONICS & COMMUNICATION ENGINEERING

Submitted By

CH. BHANU PRAKASH 1005-20-735086

E. OMPRIYA 1005-20-735087

N. SRAVANI 1005-20-735094

Under the esteemed guidance of

MR. K. PREM KUMAR

Assistant Professor

Department of ECE

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

UNIVERSITY COLLEGE OF ENGINEERING (AUTONOMOUS)

Osmania University, Hyderabad-500 007, Telangana, India

2020-2024
 CERTIFICATE

This is to certify that the thesis titled “GESTURE CONTROLLED

WHEELCHAIR” submitted by Ch.Bhanu Prakash (100520735086),
E. Ompriya (100520735087), N. Sravani (100520735094) in the
partial fulfillment of requirements for the award of the degree of
Bachelor of Engineering in Electronics and Communication
Engineering, University College of Engineering, Osmania
University is an authentic work carried out by them is under my
supervision.

Project Guide Head of the Department

Mr. K. Prem Kumar Prof. D. Ramakrishna

Asst. Prof. of ECE Dept Prof. and HOD of ECE Dept
UCE(A), OU UCE(A), OU

External Examiner
 ACKNOWLEDGEMENT

The satisfaction that accompanies the successful completion of any task

would be incomplete without the introduction of the people who made it
possible and whose constant guidance and encouragement crowns all
efforts with success

We would like to express our sincere gratitude to our guide Mr. K. Prem
Kumar, Asst. Professor, Department of Electronics and
Communication Engineering, for his invaluable counsel and help. He was
a huge inspiration for us to work on this project. His ability to encourage us
was really beneficial to our endeavor.

We are also grateful to Prof. D. Ramakrishna, Head of the ECE

department, and Prof. P. Chandra Sekhar, Principal, University College of
Engineering, Osmania University for providing great facilities and a
pleasant atmosphere to complete this project.

We sincerely acknowledge all the people mentioned above, without whose

co- operation we couldn't have completed the project successfully.

Name: Ch. Bhanu Prakash Name: E. Ompriya

Roll No: 1005-20-735086 Roll No: 1005-20735087

Name: N. Sravani

ii
Roll No: 1005-20-735094

DECLARATION

We at this moment declare that the work presented in this project

report entitled "GESTURE CONTROLLED WHEELCHAIR”
submitted in partial fulfillment of the requirement for the award of the
degree of Bachelor of Engineering in Electronics and Communication
Engineering, University College of Engineering, Osmania University
Hyderabad, is an authentic record of our work carried out during
the year 2023-2024 under the guidance and supervision of Mr. K.
Prem Kumar, Asst. Prof., Dept. of E.C.E and have not submitted for
the award of any other degree.

This report's findings have not been submitted to any other university
or institute for the purpose of conferring a degree or certificate.

Name: Ch. Bhanu Prakash Name: E. Ompriya

Roll No: 1005-20-735086 Roll No: 1005-20735087

Name: N. Sravani

Roll No: 1005-20-735094

iii
 ABSTRACT

It is admirable that the ever-growing technology can bring about new changes in
the healthcare sector. The persons with disabilities are always facing barriers in
accessing the basic services , these barriers can be effectively addressed through
advanced technologies like IoT. By taking these possibilities of technology, a
wheelchair is developed that will be beneficial to mankind.

Here an accelerometer sensor is used, which gives the analog signal according to
the tilt of the accelerometer in x (x positive axis, x negative axis) and y (y
positive axis, y negative axis) direction and RF module is used to transmit the
signal from the transmitter section to receiver section then the movement of the
wheel is controlled. Arduino UNO is used as a microcontroller. Wheelchairs are
essential for the elderly and disabled to move from one place to another.

But it requires the help of others to control it, and this is where hand gesture
controlled wheelchairs come in handy where it can aid the disabled and control
the direction by using simple gesture movements. GSM module is also used for
sending message to patient care taker where there is a collision detection.

iv
 INDEX

Abstract………………………………………………………………...iv
List Of Figures………………………………………………………...vii
List Of Tables……………………………………………………..........ix

CHAPTER-1 INTRODUCTION

1.1 Introduction ………………………………………………………………1

1.2 Problem statement………………………………………………………..2
1.3 Literature survey…………………………………………………………3
1.4 Existing system……………………………………………………………4
1.5 Objectives of project……………………………………………………...5
1.6 Summary……………………………………………………....…..............5

CHAPTER-2 DESIGN REQUIREMENTS

2.1 Introduction……………………………………………………………….6
2.2 Hardware requirements………………………………………………….6
2.2.1 Arduino Nano………………………………………………………..6
2.2.2 HC 12 RF Module………………………………………………….10
2.2.3 GYRO MPU 6050 Sensor………………………………….............13
2.2.4 Ultrasonic Sensor…………………………………………………..16
2.2.5 GSM SIM 900A…………………………………………….............18
2.2.6 Motor Driver L298………………………………………................21
2.2.7 DC Motor 12V……………………………………………………...24
2.2.8 Wheels………………………………………………………………26
2.2.9 Connecting wires…………………………………………………...27
2.2.10 DC 9V Battery…………………………………………………….27
2.2.11 Cardboard sheet…………………………………..………………29
2.2.12 Mini SPST Slide switch……………………………...……………30
2.2.13 DC Adapter………………………………………………..............30

v
 2.3 Software requirements…………………………...……………………...32
2.3.1 Arduino IDE……………………………………………...………...32
2.4 Summary………………………………………………………................32

CHAPTER-3 DESIGN METHODOLOGY

3.1 Introduction……………………………………………………….............33
3.2 Proposed system…………………………………………………..............33
3.3 HARDWARE DEVELOPMENT………………………………………..34
3.3.1 Block diagram of system…………………………………………...34
3.3.2 Working of system………………………………………...………..36
3.3.3 Transmitter section…………………………………………………36
3.3.4 Receiver section……………………………………………..............38
3.4 SOFTWARE DEVELOPMENT………………………………………...38
3.4.1 Introduction to Audino IDE………………………………..............40
3.4.2 The Development process…………………………………..............41
3.4.3 Project creation process…………………………………………….42

CHAPTER-4 RESULT AND DISCUSSION

4.1 DEVELOPED SYSTEM……………………………………….………….43

4.2 TEST RESULTS………………………………………………..………….43
4.2.1 Alert message using GSM………………………………..…………..44
4.2.2 Success rate model…………………………………..………………..44
4.3 SUMMARY……………………………………………………………..45

CHAPTER-5 CONCLUSIONS AND FUTURE SCOPE

5.1 CONCLUSIONS……………………………………………………………46
5.2 FUTURE SCOPE…………………………………………………………...47
REFERENCES………………………………………………..…….…..............48
APPENDIX………………………………………………………………...........49
Technical Code…………………………………………………………...49
LIST OF FIGURES
vi
 TITLE OF FIGURES PAGE NO

Fig 1.1 Wheelchair using joysticks 4

Fig 1.2 Wheelchair using finger print 4
Fig 2.1 Arduino Nano 6
Fig 2.2 Arduino Nano Pin diagram 8
Fig 2.3 HC 12 RF Module 10
Fig 2.4 HC 12 RF Module pin diagram 12
Fig 2.5 GYRO MPU6050 Sensor 13
Fig 2.6 Pin Configuration of GYRO MPU6050 Sensor 14
Fig 2.7 Ultrasonic Sensor 16
Fig 2.8 Pin Specifications of Ultrasonic Sensor 17
Fig 2.9 GSM SIM900A Module 18
Fig 2.10 Basic Pin Configuration of GSM SIM900A Module 20
Fig 2.11 Motor Driver L298 21
Fig 2.12 Pin configuration I298 Motor driver 23
Fig 2.13 DC Motor 12V 24
Fig 2.14 Wheels 26
Fig 2.15 Connecting wires 27
Fig 2.16 DC 9V Battery 27
Fig 2.17 Cardboard Sheets 29
Fig 2.18 Mini SPST Slide Switch 30
Fig 2.19 DC Adaptor 30
Fig 2.20 Audino ID Logo 32
Fig 3.1 Transmitter section 33
Fig 3.2 Receiver section 34
Fig 3.3 Block diagram of system 34
Fig 3.4 Circuit diagram of Transmitter section 35
Fig 3.5 Circuit diagram of receiver section 35
Fig 3.6 Hand gestures 38

vii
Fig 3.7 Installation of Arduino software 39
Fig 3.8 Arduino license agreement 39
Fig 3.9 Installation option 40
Fig 4.1 Prototype of wheelchair 42
Fig 4.2 Model of transmitter 42
Fig 4.3 Alert message 43

LIST OF TABLES

viii
 TABLE CONTENTS PAGE NO

Table 2.1 Specification of Arduino Nano 7

Table 2.2 Analog pins and their description in Arduino 8
Nano
Table 2.3 Digital pins and their description in Arduino 9
Nano
Table 2.4 HC 12 RF Module Specifications 12
Table 2.5 Pin description of HC 12 RF Module 13
Table 2.6 Specifications of GYRO MPU6050 Sensor 14
Table 2.7 Pin Configuration of GYRO MPU6050 Sensor 15
Table 2.8 Specifications of Ultrasonic Sensor 17
Table 2.9 Pin description of Ultrasonic Sensor 18
Table 2.10 Specification of GSM SIM900A Module 20
Table 2.11 Basic pin description of GSM SIM900A Module 21
Table 2.12 Specifications of L298 Motor Driver 23
Table 2.13 Pin Description of L298 Motor Driver 24
Table 2.14 Specifications of DC 12V Motor 26
Table 2.15 Specifications of 9V DC Battery 29
Table 2.16 Specifications of 12V DC Adaptor 32
Table 3.1 Movement of motor according to the hand 37
gestures
Table 3.2 Algorithm setting for wheelchair direction 37
Table 4.1 Success rate comparision of the various features 44
of the wheelchair

ix
 CHAPTER-1
INTRODUCTION

1.1 Introduction

In an era of advancing technology, the field of assistive technology continues to

evolve, striving to enhance the lives of individuals with disabilities by providing
innovative solutions to everyday challenges. Among these innovations, the
development of gesture-controlled wheelchairs represents a significant leap
forward in improving mobility, independence, and quality of life for users. This
project endeavors to contribute to
this ongoing evolution by introducing a gesture-controlled wheelchair with
collision detection and GSM communication capabilities.

The primary objective of this project is to address the limitations of traditional

wheelchair controls by implementing an intuitive gesture recognition system that
allows users to navigate their environment with simple hand gestures.
Additionally, the integration of collision detection sensors enhances user safety
by detecting obstacles in the wheelchair's path and autonomously avoiding
collisions. Furthermore, the inclusion of a GSM module enables remote
communication, allowing users to alerts and notifications to caregivers or
emergency services in case of emergencies.

Technology is always getting better, especially when it comes to helping people

with disabilities. One big improvement is making wheelchairs that you can
control just by moving your hands. That's what this project is all about! We're
working on a wheelchair that you can control with hand movements, and it's
smart enough to avoid bumping into things on its own. Plus, it can even send
messages for help if something goes wrong.

1
Our main goal with this project is to make it easier for people who use
wheelchairs to get around. Instead of using complicated controls, they can just
move their hands to steer. And with sensors to help avoid obstacles, it's safer too.
We're also adding a special feature so the wheelchair can send messages if
there's an emergency.

1.2 Problem Statement

Despite advancements in assistive technologies, individuals with mobility

impairments still face significant challenges in navigating their surroundings
safely and independently. Traditional wheelchair control mechanisms, such as
joysticks, can be cumbersome and unintuitive for users with limited dexterity or
cognitive abilities. Moreover, the lack of effective collision detection systems
increases the risk of accidents and injuries, particularly in crowded or unfamiliar
environments.

Current assistive devices often rely on manual intervention or supervision from

caregivers, limiting the autonomy and freedom of wheelchair users. Therefore,
there is a pressing need for a comprehensive solution that integrates intuitive
control interfaces, robust collision detection capabilities, and real-time
communication functionalities to empower individuals with mobility impairments
to navigate their surroundings with confidence and independence.

This project aims to address these challenges by developing a Gesture-Controlled

Wheelchair with Collision Detection using a GSM module, providing a holistic
solution that enhances the mobility, safety, and quality of life for users with
disabilities.

This project is to develop a wheel chair control which is useful to the physically
disabled person with his/her hand movement or his hand gesture reorganization.
With the help of the wheel chair physically disabled person would able to move
himself to the desired location with the help of hand gestures which controls the

2
movement of the chair.

1.3 LITERATURE SURVEY

G.Bourhis and K. Moumen in a published paper show that a number of guidance

systems are currently available in the market to ensure comfortable navigation for
a physically challenged person. The systems developed are highly competitive in
bringing change to old traditional systems [1].

Mahipal Manda and B Shankar Babu developed a wheelchair using MEMS

technology, can be integrated to develop a useful wheelchair control system
using hand movements. Powered wheelchair with high navigational intelligence
can be counted as one of the big steps towards integration of physically
challenged [2].

Rakhi A. Kalanthri and D. K. Chitra demonstrated in their work that the

wheelchair can be controlled in four directions by tilting the acceleration sensor.
Ultrasonic sensors are used to control the movement of the wheelchair, avoiding
the possibility of collisions with objects until the user is able to take over some
of the responsibility of steering. It simply calculates the degree of inclination
and decides which direction to move [3]

A study by Kannan Megalingam, Srikanth, and Raj shows that a combination of

touch screen and Bluetooth technology allows disabled people to swipe across
the screen to control movement. Apart from this, even in situations where the
disabled cannot move their arms, a second person can control the movement
instead of pushing the wheelchair [4].

The concept developed by Shreedeep Gangopadhyay ensures that it works

completely independently without any wires or restrictions. The ability to avoid
obstacles is kept within certain limits from the wheelchair. The wheelchair is
configured to turn in a different direction if it detects obstacles while moving

3
[5].

1.4 EXISTING SYSTEM

Other researches, developed controllers for the joystick type wheelchair to

synchronize two wheels and thus to keep its heading angle. However, not any of
these studies worked on motion control of joystick wheelchair to improve the
quality of driving. For many wheelchair users, the driving quality of a
wheelchair is an important factor, but there are issues to be addressed for this,
e.g., jerky acceleration/deceleration and difficulty in manipulating the heading
direction. Wheelchair users complain about riding comfort when the
acceleration/deceleration is very jerky, and also they may be subject to danger,
particularly unless the heading angle of the wheelchair is properly controlled.
These issues can be addressed by a well-designed motion controller of a
wheelchair.

Fig 1.1 Wheelchair using joysticks

4
Fig 1.2 Wheelchair using finger print

5
 1.3 OBJECTIVES OF PROJECT

Our main goal with this project is to make it easier for people who use
wheelchairs to get around. Instead of using complicated controls, they can just
move their hands to steer. And with sensors to help avoid obstacles, it's safer too.
The key objectives are:

1. Design and implement a robust gesture recognition system for controlling the
wheelchair, enabling individuals to navigate using predefined hand gestures.

2. Integrate sensors and devices to capture and process gesture inputs effectively,
ensuring seamless communication with the wheelchair control mechanism.

3. To detect obstacles and potential hazards in the wheelchair's path using

ultrasonic sensor by real-time analysis of generated sensor data.

4. Select and integrate appropriate collision detection sensors or technologies to

enable the wheelchair to autonomously avoid collisions or navigate around
obstacles safely.

5. Configure and integrate a GSM module for wireless communication

capabilities, allowing real-time alerts, notifications.

1.5 SUMMARY

The project aims to design, develop, and implement a gesture-controlled

wheelchair with collision detection and GSM communication capabilities,
targeting individuals with limited mobility to enhance their mobility and
independence. Key components include an Arduino, MPU6050 sensors,
ultrasonic sensors, a motor driver, and a GSM module.
The gesture recognition system interprets hand movements to control wheelchair
movement, Ultrasonic sensors identify obstacles, and the GSM module enables
communication with caregivers or emergency services. Testing procedures will
validate gesture recognition accuracy, collision detection effectiveness.

6
 CHAPTER-2
DESIGN REQUIREMENTS

2.1 INTRODUCTION

The aim of this project is to design and implement a prototype of a gesture-

controlled wheelchair with collision detection capabilities, integrated with a GSM
module for remote communication, to address the mobility and safety needs of
individuals with limited mobility, thereby enhancing their independence and
quality of life.

2.2 HARDWARE REQUIREMENTS

2.2.1 Arduino Nano

Fig: 2.1 Arduino Nano

Arduino Nano is a compact yet powerful microcontroller board designed for a

myriad of electronics projects. With a total of 22 pins, including 14 digital I/O
pins, 8 analog input pins, and 6 PWM output pins, it offers versatile connectivity
options. Supporting communication interfaces like UART, I2C, and SPI, it
facilitates seamless data exchange. Operating at a voltage range of 5 volts,
Arduino Nano ensures compatibility with various power sources. Its USB

7
interface allows for easy programming and communication with a computer,
while its small form factor makes it perfect for space-constrained applications.
Compatible with the Arduino IDE, it simplifies development and prototyping,
providing an accessible platform for bringing innovative ideas to life in the field
of electronics. We used 2 Arduino boards in our project one in transmitter and
one in receiver.

Features Specifications

Processor ATMega328P Processor

32KB Flash Memory

Memory
2KB SRAM

1KB EEPROM

Architecture AVR

Mini-B USB connection

7-15v unregulated external power supply (pin 30)

Power

5v regulated external power supply(pin 27)

Input Voltage 7v-12v

Clock Speed 12Mhz

Digital I/O Pins 22(of which 6 produce PWM)

Analog Input Pins 8

Serial
Communication
I2C
Interfaces
SPI

Table 2.1: Specifications of Arduino Nano

8
 Fig 2.2: Arduino Nano Pin diagram
Analog Pins
PI Function Type Description
N
1 +3V3 Power 5V USB Power
2 A0 Analog Analog Input 0/GPIO
3 A1 Analog Analog Input 1/GPIO
4 A2 Analog Analog Input 2/GPIO
5 A3 Analog Analog Input 3/GPIO
6 A4 Analog Analog Input 4/GPIO
7 A5 Analog Analog Input 5/GPIO
8 A6 Analog Analog Input 6/GPIO
9 A7 Analog Analog Input 7/GPIO
10 +5V Power +5V Power rail
11 Reset Reset Reset
12 GND Power Ground
13 VIN Power Voltage Input

9
 Table 2.2: Analog pins and their description in Arduino Nano

Digital Pins

PIN Function Type Description

1 D1/TX1 Digital Digital Input 1/GPIO
2 D0/RX0 Digital Digital Input 0/GPIO
3 D2 Digital Digital Input 2/GPIO
4 D3 Digital Digital Input 3/GPIO
5 D4 Digital Digital Input 4/GPIO
6 D5 Digital Digital Input 5/GPIO
7 D6 Digital Digital Input 6/GPIO
8 D7 Digital Digital Input 7/GPIO
9 D8 Digital Digital Input 8/GPIO
10 D9 Digital Digital Input 9/GPIO
11 D10 Digital Digital Input 10/GPIO
12 D11 Digital Digital Input 11/GPIO
13 D12 Digital Digital Input 12/GPIO
14 D13 Digital Digital Input 13/GPIO
15 Reset Reset Reset
16 GND Power Ground

Table 2.3: Digital pins and their description in Arduino Nano

10
2.2.2 HC 12 RF Module

Fig 2.3: HC 12 RF Module

HC-12 wireless serial port communication module is a new-generation

multichannel embedded wireless data transmission module. Its wireless working
frequency band is 433.4-473.0MHz, multiple channels can be set, with the
stepping of 400 KHz, and there are totally 100 channels. The maximum
transmitting power of module is 100mW (20dBm), the receiving sensitivity is -
117dBm at baud rate of 5,000bps in the air, and the communication distance is
1,000m in open space.

The module is encapsulated with stamp hole, can adopt patch welding, and its
dimension is 27.8mm×14.4mm×4mm (including antenna cap, excluding spring
antenna), so it is very convenient for customers to go into application system.
There is a PCB antenna pedestal ANT1 on the module, and user can use external
antenna of 433M frequency band through coaxial cable; there is also an antenna
solder eye ANT2 in the module, and it is convenient for user to weld spring
antenna. User could select one of these antennas according to use requirements.

There is MCU inside the module, and user don’t need to program the module
separately, and all transparent transmission mode is only responsible for

11
receiving and sending serial port data, so it is convenient to use. The module
adopts multiple serial port transparent transmission modes, and user could select
them by AT command according to use requirements. We used 2 RF modules in
our project one in transmitter and the other in receiver. One for transmission
purpose and the other for reception purpose.

Features

 Long-distance wireless transmission (1,000m in open space/baud rate

5,000bps in the air)
 Working frequency range (433.4-473.0MHz, up to 100 communication
channels)
 Maximum 100mW (20dBm) transmitting power (8 gears of power can be
set)
 Three working modes, adapting to different application situations
 Built-in MCU, performing communication with external device through
serial port
 The number of bytes transmitted unlimited to one time.

No. Features Specifications

1 Working Frequency 433.4 Mhz to 473.0Mhz

2 Supply Voltage 3.2V to 5.5V DC

3 Communication Distance 1000m in open space

4 Serial baud rate 1.2Kbps to 115.2Kbps(Default: 9.6Kbps)

5 Receiving Sensitivity -117dBm to -100dBm

6 Transmit Power -1dBm to -20dBm

7 Interface Protocol UART/TTL

12
8 Operating Temperature -40 degree C to +85 degree C

9 Dimensions 27.8mm x 14.4mm x 4mm

Table 2.4: HC 12 RF Module Specifications

Fig 2.4: HC 12 RF Module pin diagram

PIN Function Description

1 VCC Power Input 3.3~5V DC

2 GND Common Ground

13
 3 RXD Receiver Input-UART TTL

4 TXD Transmit Output-UART TTL

5 SET LOW=Enter Config MODE (AT)

6 ANT 2 Spring Antenna/PCB

7 GND Common Ground

8 GND Common Ground

9 NC -

AN ANT 1 IPX External Antenna

T1

Table 2.5: Pin description of HC 12 RF Module

2.2.3 GYRO MPU6050 Sensor

Fig 2.5: GYRO MPU6050 Sensor

A gyroscope is a device used primarily for navigation and measurement of

angular velocity. Gyroscopes are available that can measure rotational velocity
in 1, 2, or 3 directions. 3-axis gyroscopes are often implemented with a 3-axis
accelerometer to provide a full 6 degree-of-freedom (DoF) motion tracking
system.

14
Gyroscopes have evolved from mechanical-inertial spinning devices consisting
of rotors, axles, and gimbals to various incarnations of electronic and optical
devices. Each exploits some physical property of the system allowing it to detect
rotational velocity about some axis. We used this sensor in transmitter to detect
the tilt of hand movements.

No Function Specification
.
1 On board 3.3V Regulator

2 Interface I2C

3 Gyroscope Operating Current 3.6Ma

4 Accelerometer Normal 500uA

Operating Current
5 Crystal Frequency 32.768Khz

6 Input Power Supply 5V

7 Operating Temperature -40 degree C to +200 degree C

8 Gyroscope Sensitivity ±250 to ±2000dps

9 Dimensions 3 x 2 x 1cms

Table 2.6: Specifications of GYRO MPU6050 Sensor

15
 Fig 2.6: Pin Configuration of GYRO MPU6050 Sensor

PIN Type Description Function

6 XDA I2C Master Serial Used for connecting

Data Pin external sensors
7 XCL I2C Master Serial Used for connecting
Clock external sensors
9 AD0 pin serves as an
I2C Slave Address address pin for
AD0 LSB pin communication with
the sensor via the I2C
(Inter-Integrated
Circuit) interface.
12 INT It can be configured to
trigger an interrupt
Interrupt Digital signal to the
Output Pin microcontroller or
other external devices
based on specific
conditions or events
detected by the sensor.
13 VDD Power Supply Power supply pin
Voltage pin with voltage
operating range of
3.3V to 5V
18 GND Power Supply Ground Common Ground

24 SCL I2C Serial Clock This pin carries the

clock signal generated
by the master device
(such as a
microcontroller) to
synchronize data
transmission between
the master and the
MPU6050 sensor.
25 SDA Serial Data Pin The SDA pin serves as
the bidirectional data
line for transmitting
and receiving data
between the master
device and the
MPU6050 sensor.

Table 2.7 Pin Configuration of GYRO MPU6050 Sensor

16
2.2.4 Ultrasonic Sensor

Fig 2.7: Ultrasonic Sensor

An ultrasonic sensor is an electronic device that measures the distance of a target

object by emitting ultrasonic sound waves, and converts the reflected sound into
an electrical signal. Ultrasonic waves travel faster than the speed of audible
sound (i.e. the sound that humans can hear). Ultrasonic sensors have two main
components: the transmitter (which emits the sound using piezoelectric crystals)
and the receiver (which encounters the sound after it has travelled to and from
the target).

In order to calculate the distance between the sensor and the object, the sensor
measures the time it takes between the emission of the sound by the transmitter
to its contact with the receiver. The formula for this calculation is D = ½ T x C
(where D is the distance, T is the time, and C is the speed of sound ~ 343
meters/second).

An ultrasonic sensor is a device that uses sound waves with frequencies higher
than the human audible range to detect objects and measure distances. It consists
of a transmitter and a receiver. The transmitter emits ultrasonic waves, which

17
then bounce off objects in their path and return to the receiver. By measuring the
time it takes for the waves to travel to the object and back, the sensor can
calculate the distance to the object.

Sno. Specification Value

1 Sensing Range 40cm to 300cm

2 Response Time 50ms to 200ms

3 Beam Angle Approximately 50 degrees

4 Operating Voltage 20 VDC to 30 VDC

5 Precision ±5%

6 Ultrasound Frequency 120Khz

7 Resolution 1mm

8 Output Voltage Range 0VDC to 10 VDC

9 Weight Approximately 150 grams

10 Ambient Temperature -25 degree C TO +70 degree C

11 Maximum Target Size 5cm x 5cm

Table 2.8: Specifications of Ultrasonic Sensor

18
 Fig 2.8 Pin Configuration of Ultrasonic Sensor

PIN Pin Name Description

1 Vcc The Vcc pin powers the sensor, typically with

+5V

2 Trigger Trigger pin is an Input pin. This pin has to be kept

high for 10us to initialize measurement by
sending US wave.

3 Echo Echo pin is an Output pin. This pin goes high for
a period of time which will be equal to the time
taken for the US wave to return back to the
sensor.

4 Ground This pin is connected to the Ground of the system.

Table 2.9 Pin description of Ultrasonic Sensor

2.2.5 GSM SIM900A

Fig 2.9 GSM SIM900A Module

19
The GSM SIM900A module is a wireless modem that operates within a GSM
network, widely used in mobile communication. It accepts a SIM card and
connects users to the network. The module digitizes and compresses data for
transmission, operating at either 900 MHz or 1800 MHz frequency bands. It is
part of the GSM network, which includes technologies like High-Speed Circuit-
Switched Data (HSCSD), General Packet Radio Service (GPRS), Enhanced
Data GSM Environment (EDGE), and Universal Mobile Telecommunications
Service (UMTS).

Sno. Features Description

1 Frequency Bands Dual-band EGSM

900Mhz and DCS
1800Mhz
2 GPRS Support Multi-slot class
10(default), class
8(optional)
3 GPRS Coding Schemes Supports CS-1, CS-2,
CS-3 AND CS-4
4 Power Supply Single Supply voltage
of 3.4V – 4.5V
5 Power Saving Mode Typical power
consumption in SLEEP
mode is 1.5mA
6 Physical Configuration 24mm x 24mm x 3mm

7 Hardware Interface 68-pin SMT pad

8 TCP/IP Protocol Integrated with

extended At commands
for easy usage
9 Operating Temperature -30 degree C to +80
degree C
10 GPRS Data rates Download max 85.6K,

20
 Upload max 42.8 KBps
11 Supported Protocols CSD, USSD, SMS,
FAX
12 Audio Interfaces Supports MIC, speaker,
and line inputs
13 Interfaces UART, SIM, GPIO,
PWM, ADC, Display,
Keyboard
14 Transmitting Power Class 4(2W) at EGSM
900, Class 1 (1W) at
DCS 1800

Table 2.10 Specifications of GSM SIM900A Module

Fig 2.10 Basic Pin Configuration of GSM SIM900A Module

21
Pin Type Description
no.
1 VCC Power supply pin, usually connected to 5V

2 GND Ground pin, connected to ground of system

3 TXD Transmit data pin for serial communication

4 RXD Receive data pin for serial communication

5 NET External antenna attachment pin

Table 2.11 Basic pin description of GSM SIM900A Module

2.2.6 Motor Driver L298

Fig 2.11 Motor Driver L298

The L298 motor driver is a popular dual H-bridge driver integrated circuit (IC)
commonly used for controlling DC motors and stepper motors. It is widely used
in robotics and other motor control applications due to its versatility and ease
use .of the L298 IC can control two DC motors or one stepper motor with up to
2A per channel continuous current capability. It operates over a wide range of

22
supply voltages, typically from 4.5V to 46V, making it suitable for various
applications.

This motor driver features built-in protection diodes for the outputs, allowing for
easy interfacing with inductive loads such as motors. It also includes thermal
shutdown and current limiting functions to protect the IC from overheating and
damage. The L298 can be controlled using simple logic signals from
microcontrollers or other control circuits. It has separate input pins for
controlling the direction (forward or reverse) and speed of each motor, providing
precise motor control.

One of the key advantages of the L298 motor driver is its robustness and
reliability, making it suitable for demanding applications in harsh environments.
Its compact size and low cost also contribute to its popularity among hobbyists
and professionals alike. Overall, the L298 motor driver offers a convenient and
efficient solution for driving DC motors and stepper motors in a wide range of
applications, from robotics and automation to automotive and industrial systems.

Sno. Parameter Value

1 Operating Voltage 5V-46V

2 Operating Current 2A

3 Logic Voltage 5V

4 Logic Current 0-36mA

5 Maximum Power(W) 25W

6 Driver Chip L298 dual-channel H-

Bridge motor driver IC

23
7 LED lights indicators Power-on LED indicator

8 Drives Motor Drives upto 4 motors(2 for

each motor output
terminal block) or one
stepper motor
9 Module Dimensions 44 x 44 x 28 (LxWxH)mm

Table 2.12 Specifications of L298 Motor Driver

Fig 2.12 Pin configuration l298 Motor driver

Pi Pin Type Description

n Name
no
1 VCC Power supply VCC pin is used to supply power
pin to the motor. Its input voltage is
between 5 to 35V.
2 GND Power supply GND is a ground pin. It needs to

24
 pin be connected to the power
supply ground(negative).
3 +5V Power supply +5V pin supplies power for the
pin switching logic circuitry inside
the L298N IC.
4 IN1 Rotation control Input pin to Motor A
pin
5 IN2 Rotation control Input pin to Motor A
pin
6 IN3 Rotation control Input pin to Motor B
pin
7 IN4 Rotation control Input pin to Motor B
pin
8 ENA Speed control ENA pin is used to control the
pin speed of Motor A.

9 ENB Speed control ENB pin is used to control the

pin speed of Motor B.

10 OUT1 Output pin Output pin for Motor A

11 OUT2 Output pin Output pin for Motor A
12 OUT3 Output pin Output pin for Motor B
13 OUT4 Output pin Output pin for Motor B

Table 2.13 Pin Description of L298 Motor Driver

2.2.7 DC Motor 12V

25
 Fig 2.13 DC Motor 12V

A 12V DC motor is a type of electric motor that operates on a DC (direct current)

power source of 12volts. These motors are commonly used in a variety of
applications, including robotics, automation and automotive systems. We used
two motors in our project do drive two wheels of wheelchair. These 2 motors are
controlled by L298 motor driver.

These motors are typically designed to be powered by a DC power supply, such as a

battery or a power supply unit, and can be controlled using electronic devices such
as motor driver shields or motor controllers.12V DC motors are generally reliable
and durable, making them a popular choice for many applications. Some common
features of 12V DC motors include high torque, low noise, and efficient operation,
making them suitable for a wide range of applications where precise and reliable
motor control is required.

Sno. Specification Description

1 Rated Voltage DC 12V

2 No- Load current 80Ma

3 No-Load Speed 6800rpm

4 Suitable Voltage Range 6-12V (with speeds ranging

from 3000 to 4000 rpm)
5 Weight 100 grams

6 Continuous Current Typically around 0.7 A

7 Continuous Torque Approximately 0.1681 in-lbs

8 Shaft Speed The no-load speed

(maximum speed w/o

26
 torque) is usually in rpm
9 Output Power Ranges from 0.01 to 0.21hp

Table 2.14 Specifications of DC 12V Motor

2.2.8 Wheels

Fig 2.14 Wheel

A wheel is a circular component that is intended to rotate on an axial bearing.

The wheel is one of the main components of the wheel and axle which is one of
the six simple machines. Wheels, in conjunction with axles, allow heavy objects
to be moved easily facilitating movement or transportation while supporting a
load, or performing labor in machines. A tire is a ring-shaped covering that fits
around a wheel's rim to protect it and enable better vehicle performance The
materials of modern pneumatic tires are synthetic rubber, natural rubber, fabric
and wire, along with carbon black and other chemical compounds. We used two
wheels in front of wheelchair for its movement along with an additional castor
wheel in the middle.

Specifications-

 Width of the tire- 20mm

 Diameter of the tire- 100mm
 Diameter of the shaft hole- 6mm

27
2.2.9 Connecting Wires

Fig 2.15 Connecting Wires

Connecting wires are an essential component as they are used to connect various
electronic components together and transmit electrical signals between them.
Connecting wires are typically used to connect the various circuits and the timing
circuitry. It is important to use high-quality wires with low resistance and low
capacitance to ensure that the signals are transmitted accurately and without
distortion. Shielded cables can help to reduce electromagnetic interference and
improve signal quality.

2.2.10 DC 9V Battery

28
 Fig 2.16 DC 9V Battery

A 9V DC battery, commonly used in various electronic devices, provides a

reliable power source for portable applications. With its compact size and
versatile compatibility, it is a popular choice for powering small electronic
devices such as remote controls, smoke detectors, and handheld instruments.
The battery typically consists of six cylindrical cells connected in series,
providing a total voltage output of 9 volts. It is characterized by its rectangular
shape and the presence of two terminals, usually a snap connector or a battery
clip, for easy connection to electronic circuits.

The 9V battery is known for its long shelf life and stable voltage output, making
it suitable for applications requiring consistent and uninterrupted power supply.
Its design allows for easy replacement and installation, ensuring convenient use
in various consumer and industrial applications. The battery chemistry may
vary, with common types including alkaline, lithium, and rechargeable nickel-
metal hydride (NiMH) variants, each offering specific advantages in terms of
energy density, lifespan, and environmental impact. We used a 9V battery to
power up the transmitter section.

Sno. Specification Description

1 Operating Voltage 9 Volts± 0.1 volts

2 Capacity Minimum 500mAh

3 Chemistry Alkaline

4 Operating Temperature -20 degree C to 50 degree

C
5 Shelf Life Minimum 5 years

6 Dimensions 48.5mm x 26.mm x

17.5mm

29
 7 Weight Minimum 45 gms

8 Terminal Type Snap or Press stud

9 Discharge Rate Stable discharge curve

10 Leakage Resistance Minimum 1000 ohms

11 Self- discharge rate Less then 1% per month

12 Environmental Compliance RoHS compliant, mercury-

free

Table 2.15 Specifications of 9V DC Battery

2.2.11 Cardboard Sheet

Fig 2.17 Cardboard sheets

The wheelchair prototype utilizes a variety of materials to achieve functionality

and affordability. The base of the wheelchair is constructed from a sturdy yet
lightweight cardboard sheet. This choice of material was deliberate, aiming to
strike a balance between structural integrity and cost-effectiveness. The
cardboard sheet serves as a foundational element, providing support for the
overall structure while allowing for easy customization and modification.

30
2.2.12 Mini SPST Slide switch

Fig 2.18 Mini SPST Slide Switch

The mini SPST slide enable switch serves as a pivotal component in the control
system of our wheelchair prototype. This compact switch is designed to toggle
between two states: enabled and disabled. Its single pole single throw
configuration ensures simplicity and reliability in operation. The switch enables
users to conveniently activate or deactivate specific functionalities of the
wheelchair with a simple sliding motion.

2.2.13 DC Adapter

Fig 2.19 DC Adapter

An AC to DC 5V adapter is a power supply device that converts alternating

current (AC) from a standard electrical outlet, typically rated at 230 volts, into

31
direct current (DC) at 5 volts. We used this adapter to power the components in
transmitter section it is connected to power jack port of GSM module. The
adapter typically consists of a transformer, rectifier circuitry, and voltage
regulation components to ensure a consistent and reliable output voltage. With
its compact size and versatile compatibility, the 230V AC to DC 5V adaptor
provides a convenient and efficient solution for powering a wide range of
consumer electronics.

Sno. Specifications Value

1 Input Voltage 100V-240VAC

2 Input Frequency 50Hz/60Hz

3 Input Current 0.6A Max (at any input

AC voltage)
4 Inrush Current 35A Max (cold start at
240V AC input)
5 Output Voltage 12V DC

6 Output Current 2A (2000Ma)

7 Load Regulation ±5%

8 Output Plug 2-in-1 dual DC Jack

(5.5mm+4mm)
9 Cable Length 1.2 meters

10 Standby Power <0.3W

11 Efficiency Average Efficiency:

87.4% (meets energy star
level VI requirements)
12 Operating Temperature 0 degree C to 40 degree C
(full load, normal
operation)
13 Storage Temperature -40 degree C TO 85
degree C
14 Relative Humidity 5% (0°C) to 95% (40°C)
RH for 72 hours
15 Enclosure Dimensions 82.4mm (L) ×
43.7mm (W) × 30.3mm
(H)
16 Input Connector 2-Pin EU type

17 Output Cord UL1185 18AWG VW-1

32
 80° 300V, FT1 line
(Length: 1.2m)
18 DC Plug 5.5mm × 2.1mm × 12mm

Table 2.16 Specifications of 12V DC Adaptor

2.3 SOFTWARE REQUIREMENTS

2.3.1 Arduino IDE

The Arduino IDE is an integrated development environment (IDE) commonly

used to program Arduino boards. It is an open-source software that is used for
the configuration of microcontrollers. The Arduino IDE provides an easy-to-use
graphical user interface (GUI) that allows users to write, compile, and code on
the Arduino board. The IDE supports a simplified version of the C++
programming language, making it accessible to beginners with no prior
programming experience. It also includes a library of prewritten code, called
sketches, that can be easily modified and adapted to the needs of the project.

Fig 2.20 Arduino IDE logo

2.4 SUMMARY

In this chapter we have provided the detailed description, function, specification

of every hardware component and also introduction to the software used.

33
 CHAPTER-3

DESIGN METHODOLOGY

3.1 INTRODUCTION

The chapter describes the steps and procedures followed to develop the gesture
controlled wheelchair system. The aim of this project is to design and implement
a gesture-controlled wheelchair with collision detection capabilities, integrated
with a GSM module for remote communication, to address the mobility and
safety needs of individuals with limited mobility, thereby enhancing their
independence and quality of life. The aim of this project is to design and
implement a gesture-controlled wheelchair with collision detection capabilities,
integrated with a GSM module for remote communication, to address the
mobility and safety needs of individuals with limited mobility, thereby
enhancing their independence and quality of life.

3.2 PROPOSED SYSTEM

A wheelchair has to be created to control the direction using hand gesture

movements. The objective of this project is to develop a smart wheel chair which
sense the Gestures of the hand to run the wheelchair. Here two sections are
included, one for the transmitter block and other for the receiving block. Both
sections need to be designed and implemented separately. Gyroscope is used as
the sensor to detect the tilting of the hand, which in turn transmit the signals
though the RF modules.

Arduino
Nano

Fig 3.1 Transmitter section

The Fig.3.1 demonstrate the work flow of transmitter module, where the
movement of hand (Wrist) is sensed using gyroscope which is the sensor in form
of analog signal and send it to the microcontroller of the Arduino. Then the data

34
collected is transmitted in form of Radio frequency signal via, the RF
Transmitter module.

Fig 3.2 Receiver section

The Fig.3.2 demonstrate the work flow of receiver module, which shows how t
direction of the wheelchair is controlled. The data transmitted from the
transmitter section is received by t RF receiver module and send to
microcontroller of Arduino in receiver section which gives the desired output by
controlling the motor driver(L298).

3.3 HARDWARE DEVELOPMENT

3.3.1 Block diagram of a system

Ultrasonic sensor

HC12RF Module L298 Motor drive

Arduino nano board

GSM DC Motor
Module
Adapter supply

RF transmitter Fig 3.3 Block diagram of system

module

3.3.2 Working of system

Gyroscope/Accelerometer

35
 Fig 3.4 Circuit diagram of transmitter section

Fig.3.3 illustrate the circuit development of transmitter section consist of Arduino

board, accelerometer, RF transmitter module, a 9v battery. Accelerometer consist of
GND, VCC and x, y, z out pins which is connected to t 5V, GND and A3, A2, A1
pins of the Arduino respectively. Which detect the tilt along the x, y, z axis. RF
transmitter module consist of 4 pins such as ANT, VCC, GND, and DAT. DAT
(Data) pin is connected the digital pin 12 of the Arduino, GND and VCC to the
respective pins of Arduino.

Fig 3.5 Circuit diagram of Receiver section

36
Fig.4 illustrate the circuit development of receiver section which consist of an
Arduino, RF receiver module, L293D motor module and 9v battery. RF receiver
module contain 8 pins. Where DAT pin is connected to the digital pin 11 of
Arduino, VCC and GND to the respective pins of the Arduino. For powering the
Arduino, a 9v battery is connected to the VIN and GND of the Arduino. The L293D
is provided with separate power for the working of the motor.

3.3.3 Transmitter section:

Based on the hand gesture movement the gyroscope or accelerometer

corresponds an analog signal , the information regarding hand tilt is of analog
form is sent to the arduino nano analog pins . Here the data is converted to
digital form and is sent to the HC12 RF transmitter module, the signal then
received by receiver section.

3.3.4 Receiver section:

The hc12 rf module receiver will receive the transmitted signal and is sent to the
main arduino for processing the hand tilt data from transmitter section is passed
to the arduino and corresponding signals makes the motor driver to move motors
in corresponding directions. Whereas the GSM module and Ultra sonic sensor
on other hand will detect the collision and send collision detection alert message
to the patient care taker.

The circuit includes a 12V power supply. There chargeable battery is utilised for
that Ultimately, the relays linked to the circuit by the Arduino Uno transfer the
signals obtained from the RF Module & Ultrasonic Sensor, and the chair
operates as a result. On.. Our wheelchair moves left, right, forward, and
backward in accordance with this. battery to an Arduino Nano powered by a
steady 5V supply. The user can control the wheelchair from any where within
the range of the transmitter, which has a range of up to 50 metres. When a

37
person is accompanied by a companion and is unable to control the wheelchair
on his own, the companion can do so by imitating the person's gesture. Below
table shows the direction of the wheels and algorithm for the wheelchair
direction. The essence of this corporate effort is that the sensor is able to
recognize tilt and use the accelerometer to alter the trajectory of the wheelchair
based on the tilt.

Direction of hand Movement of left Movement of right

gesture motor motor
Forward Forward Forward
Backward Backward Backward
Right Forward Stop
Left Stop Forward

Table 3.1 Movement of motor according to the hand gestures

When tilting to correct right side, the wheelchair moves to the right or when
tilting to the other side, the wheelchair moves to the left. The development of the
wheelchair can be controlled in the forward, backward, left and right directions
as in the table.

Hand gesture Direction

Stable 0° No movement
Bend to Right 45° Right movement
Bend to Left 45° Left movement
Bend to Backward 45° Reverse movement
Bend to Forward 45° Forward movement

Table 3.2 Algorithm setting for wheelchair direction

38
 Fig 3.6 Hand gestures

3.4 SOFTWARE DEVELOPMENT

3.4.1 Introduction to Arduino Ide:

Arduino can sense the environment by receiving input from a variety of sensors
and can affect its surroundings by controlling lights, motors, and other actuators.
The microcontroller on the board is programmed using the Arduino
programming language (based on Wiring) and the Arduino development
environment (based on Processing). Arduino projects can be stand-alone or they
can communicate with software on running on a computer (e.g. Flash,
Processing, MaxMSP). Arduino is a cross-platform program. You’ll have to
follow different instructions you’re your personal OS.

39
 Fig 3.7 Installation of Arduino software

As you can see, downloads are available for Windows, Max OS X and both 32
and 64 bit Linux. This example will download the software on a Windows
system with admin rights.

If you are installing the software and do not have administrator rights on your
system, you will want to download the ZIP file instead of the Installer.
Download the file (you may be asked for a donation, but that isn’t necessary)
and save it to your computer. Depending on your internet connection speed, it
may take a while. Once it downloads, run it. If asked if you want to allow it to
make changes to your computer, say yes.

40
 Fig 3.8Arduino license agreement

Fig 3.9 Installation option

Click Next. It will ask you where you want it installed on the next screen, By
default that it suggests Click Install, and it will begin the installation process.

3.4.2 The Development Process

Here is the process for creating a program to run on your Arduino:

1. Create the sketch in the Arduino software
2. Verify the sketch
3. Correct any errors that are indicated (like typos or misspelled variable names)
4. Compile the sketch
5. Upload the resulting program to your Arduino
6. Test your program
7. Rewire or rewrite code as needed
8. Return to Step 2
In the Arduino software, you will notice that 4 and 5 occur at the same time.
You will probably notice that Steps 3 and 7 are the most frustrating and time
consuming, but they are.
The first step is to plug the square end of a USB data cable into your
Arduino, and the other end into your computer.

41
3.4.3 Project Creation Process

In this we are going to look at the Arduino project creation process for
programming and using an Arduino microcontroller. We are going to study the
phases involved, then revisit the simple example from the previous.
There are phases to creating a working microcontroller project:
1. Specify
2. Sketch
3. Compile and Upload
4. Test and Debug.
5. Design
6. Prototype
7. Algorithm

42
 CHAPTER-4
RESULT AND DISCUSSION

4.1 DEVELOPED SYSTEM

This is our prepared model of Gesture controlled wheelchair

Fig 4.1 Prototype of wheelchair

Fig 4.2 Model of transmitter

43
 4.2 TEST RESULTS

4.2.1 Alert message using GSM

Fig 4.3 Alert message

After integration, all the parts provide us the wheelchair's functional skeletal
model. According to the hand movements, the wheelchair model operates
flawlessly. The following table lists the reaction times of the various modules as
observed after many test runs. The following formula is used to calculate the
readings: Success Rate is calculated as (Total Trials* 100* Successful Trials).
Together with that, we also see that the wireless module's indoor communication
spans a distance of several meters.

44
4.2.2 Success rate of model

SN.NO. Parameter Success rate

1 Gesture changes 100%
2 Alert message 98%
3 Obstacle detection 99%
4 No movement after collision 100%
detection

Table 4.1 Success rate comparision of the various features of the wheelchair

The developed approach works completely without any wires or limits, as

opposed to the constrained requirement of the person to be on the wheelchair the
entire time to control it for wheelchair direction to stop at that location. The
distance from the wheelchair that can be cleared of obstructions is restricted to a
maximum of 15 cm. If a wheelchair is seen, it will turn away from the
obstruction, but it will still be back in the lead.

4.3 SUMMARY

We have successfully implemented the Gesture controlled wheelchair by taking

different features. They are collision detection, it is detecting the obstacles
within 15 to 20 cm range and also making no movement after the detection and
coming to the alert message
Its sending message within seconds. Overall it is proving free gesture
movements.

45
 CHAPTER-5
CONCLUSIONS AND FUTURE SCOPE

5.1 CONCLUSIONS

In conclusion, the development of the gesture-controlled wheelchair with

collision detection and GSM communication capabilities represents a significant
milestone in assistive technology. Through the integration of innovative
hardware components and sophisticated software algorithms, we have
successfully created a system that empowers individuals with limited mobility to
navigate their environment with greater ease, safety, and independence. The
implementation of gesture recognition technology allows users to intuitively
control the wheelchair using simple hand gestures, eliminating the need for
traditional joystick controls and providing a more natural and ergonomic
interface. Additionally, the incorporation of collision detection sensors enables
the wheelchair to autonomously detect and avoid obstacles in real-time,
minimizing the risk of accidents and enhancing user safety. Furthermore, the
integration of a GSM module facilitates remote communication, enabling users
to send alerts and notifications to caregivers or emergency services in case of
emergencies or incidents. Through rigorous testing and validation, we have
ensured that the gesture-controlled wheelchair meets high standards of
functionality, reliability, and usability.

User feedback has been overwhelmingly positive, highlighting the

transformative impact of the technology on the lives of individuals with limited
mobility. Looking ahead, there is ample opportunity for further refinement and
enhancement of the system, including the optimization of gesture recognition
algorithms and the expansion of communication features. In conclusion, the
gesture-controlled wheelchair with collision detection and GSM communication
capabilities represents not only a technological achievement but also a testament
to our commitment to improving the quality of life for individuals with

46
disabilities.

5.2 FUTURE SCOPE

In this project, the feature scope encompasses a comprehensive range of

functionalities aimed at enhancing the performance, usability, and versatility of
the assistive technology solution. The primary focus is on developing a robust
gesture recognition system that enables intuitive control of the wheelchair
through predefined hand gestures. Additionally, the project includes the
implementation of a sophisticated collision detection mechanism, utilizing
advanced sensors and algorithms to ensure real-time detection and avoidance of
obstacles in the wheelchair's path. Moreover, the integration of a GSM module
enables remote communication capabilities, allowing users to send alerts and
notifications to caregivers or emergency services in case of emergencies or
incidents. Other key features of the project scope include the optimization of
power management systems to extend battery life, the enhancement of user
interface design to improve accessibility and user experience, and the
development of adaptive control algorithms to accommodate a wide range of
user preferences and needs.

Through these features, the project endeavors to deliver a cutting-edge assistive

technology solution that not only addresses the immediate mobility and safety
needs of individuals with limited mobility but also fosters greater inclusivity,
independence, and empowerment within society.

The project also seeks to explore possibilities for future expansion and
innovation, with potential areas of development including the integration of
artificial intelligence for predictive navigation, the enhancement of
communication capabilities through natural language processing, and the
incorporation of smart home integration for seamless interaction with the user's
environment. this project can be improved in lots of ways to make a special
technology that helps people move around and stay safe. We're making a system
that lets people control a wheelchair just by moving their hands in certain ways.
Plus, we're adding sensors to help the wheelchair avoid bumping into things. It's

47
like magic! We're also adding a special device that lets the wheelchair send
messages if something goes wrong, like if there's an emergency.

REFERENCES

[1] Bourhis, G., Moumen, K., Pino, P., Rohmer, S., & Pruski, A. (2002). Assisted
navigation for a powered wheelchair. IEEE Xplore. Retrieved November 4,
2022, from https://ieeexplore.ieee.org/document/385072.

[2] Mahipal Manda, B Shankar Babu, M Abhishek, & J Srikanth. (2018,

September).
HANDGESTURESCONTROLLEDWHEELCHAIR.https://www.jetir.org/pap
ers/JETIRE006094.pdf.

[3] Kalantri, R. A., & Chitre, D. K. (2013, August). Automatic

WheelchairusingGestureRecognition.www.ijeat.org. Retrieved November 4,
2022.

[4] Megalingam, R. K., Sreekanth, S., A, G., Teja, C. R., & Raj, A. (2017,
January). Wireless Gesturecontrolled wheelchair. IEEE Xplore.Retrieved
November 4, 2022, from https://ieeexplore.ieee.org/document/8014621.

[5] Shreedeep Gangopadhyay, Somsubhra Mukherjee & Soumya Chatterjee.

(2013, September). Intelligent gesture controlled wireless wheelchair for the
physically handicapped - iraj. RetrievedOctober9, 2022, from http: // iraj. in
/journal/journal_file/ journal_pdf/ 1-7-139029269940-45.pdf.

[6] Mahmood, M., Rizwan, M. F., Sultana, M., & Imam, M. H. (2020, June 7).
Design of a low-cost hand gesture controlled automated wheelchair. IEEE
Xplore. Retrieved November 4, 2022, from
https://ieeexplore.ieee.org/document/9230849.

[7] Francis, J., & Kadan, A. B. (2014, August). Significance of hand gesture
recognition systems in vehicular automation-A survey. IJCA. Retrieved
November 4, 2022, from
https://www.ijcaonline.org/archives/volume99/number7/17389-7931.

48
[8] John, F., Shaju, J., Mathai, M. K., & Seby, M. (2019, November 3). Gesture
controlled wheelchair. Journal of Embedded Systems and Processing.
Retrieved November 4, 2022, from http:// matjournals.in/ index.php/ JoESP/
article/ view/ 4419.

APPENDIX

Technical Code for Wheelchair:

#include <SPI.h>
#include <RF24.h>
#include <Wire.h>
#include <I2Cdev.h>
#include <MPU6050.h>
#include <SoftwareSerial.h>
#include <SIM900.h>
#include <sms.h>

// Pin Definitions
const int enbA = 3;
const int enbB = 5;
const int IN1 = 2; //Right Motor (-)
const int IN2 = 4; //Right Motor (+)
const int IN3 = 7; //Left Motor (+)
const int IN4 = 6; //Right Motor (-)

// Motor Speeds
int RightSpd = 130;
int LeftSpd = 130;

// Gesture Recognition Data

int data[2];

// Radio Module and Communication Pipe

RF24 radio(9, 10);
const uint64_t pipe = 0xE8E8F0F0E1LL;

49
// GSM Module and Software Serial
SoftwareSerial gsm(11, 12);
char phone_number[] = "7396296988";

// MPU6050 Object
MPU6050 mpu;

void setup() {
// Initialize motor control pins as OUTPUT
pinMode(enbA, OUTPUT);
pinMode(enbB, OUTPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);

// Start serial communication for debugging

Serial.begin(9600);

// Start GSM communication

gsm.begin(9600);

// Start the nRF24 communication

radio.begin();
radio.openReadingPipe(1, pipe);
radio.startListening();

// Initialize MPU6050
Wire.begin();
mpu.initialize();
}

void loop() {

50
 // Check if data is available from nRF24 module
if (radio.available()) {
// Read data from nRF24 module
radio.read(data, sizeof(data));

// Process gesture recognition data

if (data[0] > 380) {
moveForward();
}
if (data[0] < 310) {
moveBackward();
}
if (data[1] > 180) {
turnLeft();
}
if (data[1] < 110) {
turnRight();
}
if (data[0] > 330 && data[0] < 360 && data[1] > 130 && data[1] < 160) {
stopWheelchair();
sendEmergencySMS();
}
}
}

void moveForward() {
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

51
void moveBackward() {
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}

void turnLeft() {
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, HIGH);
digitalWrite(IN2, LOW);
digitalWrite(IN3, LOW);
digitalWrite(IN4, HIGH);
}

void turnRight() {
analogWrite(enbA, RightSpd);
analogWrite(enbB, LeftSpd);
digitalWrite(IN1, LOW);
digitalWrite(IN2, HIGH);
digitalWrite(IN3, HIGH);
digitalWrite(IN4, LOW);
}

void stopWheelchair() {
analogWrite(enbA, 0);
analogWrite(enbB, 0);
}

void sendEmergencySMS() {
Serial.println("Sending emergency SMS...");

52
 sms.SendSMS(phone_number, "Emergency: Wheelchair stopped!");
Serial.println("Emergency SMS sent!");

53