B.

E (E&TC)
gestures.

Wheel chair Controller using Hand

A B.E PROJECT REPORT ON

B.E(ELECTRONICS AND TELECOMMUNICATION)
SUBMITTED BY
ADITYA N. KULKARNI

B120073072

GAURAV SINGH

B120073038

RAVINDRA KADAM

B120073060

GAURAV BALANDE

B120073007

ACEDEMIC YEAR: 2016-17

PUNE VIDYARTHI GRIHAS COLLEGE OF ENGINNERING AND
TECHNOLOGY
SAVITRIBAI PHULE PUNE UNIVERSITY

Certificate

1
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

THIS IS TO CERTIFY THAT B.E PROJECT AND SEMINAR WORK FOR THE
PROJECT TITLED
WHEEL CHAIR CONTROLLER USING HAND GESTURES &
DETECTION OF OBSTACLES

is work carried out by them in the first semester of AY 2016-17, under the guidance
of Prof. S.L.Joshi and it is approved for the partial fulfillment of the requirements
of Savitribai Phule Pune University for the subject B.E -Project and Seminar for
B.E. (Electronics and Telecommunication) (2012 Course).

Prof. S.L.Joshi

Prof. P. G. Shete

(Project Guide)

(Head of the Department)

ACKNOWLEDGEMENT

2
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

We would like to express our deepest appreciation to all those who provided us
the possibility to undergo this project. A special gratitude we give to our project
guide Prof.Mr.S.L.Joshi whose contribution in stimulating suggestions and
encouragement helped us to coordinate our project, and especially in writing this
report.
Furthermore we would also like to acknowledge with much appreciation the
crucial role of the staff of Department of Electronics & Telecommunication

Engineering, who gave the permission to use all required equipment and the
necessary material to complete the task.

We will also like to appreciate the guidance given by other supervisors,

classmates, and all those, whose contributions have improved our project.

INDEX
3
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Sr. No.

Title

Page no

1.

ABSTRACT

2.

INTRODUCTION AND

3.
4.
5.

OVERVIEW
LITERATURE SURVEY
SYSTEM ARCHITECTURE
SPECIFICATIONS

6.

SOFTWARE AND HARDWARE

16

6.1

SOFTWARE

19

6.2

HARDWARE

20

7.
8.

PROJECT PLAN
TENTATIVE BILLING

26
27

9.

CONCLUSION

28

10.

FUTURE SCOPE

29

11.

REFERENCE

32

4
PVGs COET-E&TC

11
13

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

ABSTRACT

The physically challenged people or people who lost their limbs by paralysis, accident or
old age find difficult to move around room. The elders may also forget the way to the different
rooms in house because of the less active cognitive function, as they become older. They also
find it difficult to move inside house for day to day activities. The gesture based wheelchair is
suitable for the elderly and the physically challenged people. By making use of the system, these
people can go to different rooms in the house. It is also a virtue of the system that even the foot
can be substituted in place of the hand for users who might find that more convenient. The aim of
this project is to controlling a wheel chair and electrical devices by using MEMS
ACCELEROMETER SENSOR (Micro Electro-Mechanical Systems) technology. This project
proposes an integrated approach to real time detection, tracking and direction recognition of
hands, which is intended to be used as a human-robot interaction +interface for the intelligent
wheelchair. This project to demonstrate that accelerometers can be used to effectively translate
hand gestures into computer interpreted signals. For gesture recognition the accelerometer data is
calibrated and filtered. The accelerometer can measure the magnitude and direction of gravity in
addition to movement induced acceleration. Accelerometers are attached to the fingertips and
back of the hand. Arrows on the hand show the location of accelerometers and their sensitive
directions. This sensor finds the tilt and makes use of the accelerometer to change the direction
of the wheel chair depending on tilt. If the tilt is to the right side then the wheel chair moves in
right direction or if the tilt is to the left side then the wheel chair moves in left direction. Wheel
chair movement can be controlled in Forward, Reverse, and Left and Right direction along with
obstacle detection using ultrasonic sensor. Automation is the most frequently spelled term in the
field of electronics. The hunger for automation brought many revolutions in the existing.
5
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

6
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

CHAPTER
1
INTRODUCTION AND OVERVIEW

7
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

INTRODUCTION

This paper proposes an integrated approach to real time detection,

tracking and direction recognition of hands, which is intended to be used as a
human-robot interaction interface for the intelligent wheelchair. This paper is
to demonstrate that accelerometers can be used to effectively translate
finger and hand gestures into computer interpreted signals. For gesture
recognition

the

accelerometer

data

is

calibrated

and

filtered.

The

accelerometers can measure the magnitude and direction of gravity in

addition to movement induced acceleration. In order to calibrate the
accelerometers, we rotate the devices. sensitive axis with respect to gravity
and use the resultant signal as an absolute measurement. Integrating a
single chip wireless solution with a MEMS accelerometer would yield an
autonomous device small enough to apply to the fingernails, because of their
small size and weight. Accelerometers are attached to the fingertips and
back of the hand. Arrows on the hand show the location of accelerometers
and

their

sensitive

directions,

that

the

sensitive

direction

of

the

accelerometer is in the plane of the hand.The gesture based wheelchair is

suitable for the elderly and the physically challenged people who are
unfortunate to have lost ability in their limbs due to paralysis or by birth or
by old age. Elders find it tough to move inside the house for day to day
activities without help or external aid. Our proposed system makes use of a
wheelchair that can be used by elderly or physically challenged to move
8
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

inside the home without difficulty and without external aid. The elders may
also forget the way to the different rooms in house due to the increase in
forgetfulness as they become older. The physically challenged, find difficult
to move the wheel chair without help from others. By making use of the
system, the elderly and the physically challenged can go to different rooms
in the house like kitchen, living room, dining room etc by just showing a
gesture which is predefined to that particular room. It is also a virtue of the
system that even the foot can be substituted in place of the hand for users
who might find that more convenient .The aim of this project is to controlling
a wheel chair and electrical devices by using MEMS ACCELEROMETER
SENSOR

(Micro

Electro-Mechanical

Systems)

technology.

MEMS

ACCELEROMETER SENSOR is a Micro ElectroMechanical Sensor which is a

highly sensitive sensor and capable of detecting the tilt. This sensor finds the
tilt and makes use of the accelerometer to change the direction of the wheel
chair depending on tilt. For example if the tilt is to the right side then the
wheel chair moves in right direction or if the tilt is to the left side then the
wheel chair moves in left direction. Wheel chair movement can be controlled
in Forward, Reverse, and Left and Right direction along with obstacle
detection using ultrasonic sensor.Automation is the most frequently spelled
term in the field of electronics. The hunger for automation brought many
revolutions in the existing technologies. One among the technologies, which
had RESEARCH ARTICLE OPEN ACCESS Prof. Vishal V. Pande et al Int. Journal
of Engineering Research and Applications www.ijera.com ISSN : 2248-9622,
Vol. 4, Issue 4( Version 4), April 2014, pp.152-158 www.ijera.com 153|P a g e
greater developments, is the MEMS ACCELEROMETER SENSOR. These had
greater importance than any other technologies due its userfriendly nature.
MEMS ACCELEROMETER SENSOR based devices can be easily reachable to
the common man due to its simpler operation

9
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

CHAPTER
2
LITERATURE SURVEY

10
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

2.1 LITERATURE SURVEY

1.

This project is inspired from an IEEE Research Paper Titled A Wearable Head- Mounted
SensorBased Apparatus for Eye Tracking Applications that was presented in the IEEE
International Conference on Virtual Environments, Human-Computer Interfaces, and
Measurement Systems Istanbul, Turkey, dated 14-16 July 2008. The above project
approach was dealing with wheelchair control using eye ball, movement with slight
modification to it. Our project deals with the control of wheelchair motion by hand
gesture. A Wearable Head- Mounted Sensor Based Apparatus for Eye Tracking Applications IEEE
International Conference on Virtual Environments, Human-Computer Interfaces, and Measurement

2.

Systems Istanbul, Turkey, dated 14-16 July 2008.

A. Murarka, M. Sridharan and B. Kuipers. 2008. Detecting obstacles and drop-offs using stereo and
motion cues for safe local motion.IEEE/RSJ International Conference on Intelligent Robots and Systems

3.

(IROS- 08).
Marhic, B. Robotic assistance: an automatic wheelchair tracking Intelligent Robots and Systems, 2005.
(IROS 2005). 2005 IEEE/RSJ.

11
PVGs COET-E&TC

B.E (E&TC)
gestures.
4.

Wheel chair Controller using Hand

L.Josefssonand. Persson , Conformal Array Antenna Theory and Design

CHAPTER
3
SYSTEM ARCHITECTURE

12
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

SYSTEM ARCHITECTURE

Working:
In this project we will be using accelerometer for movement detection and direction
detection. The accelerometers can measure the magnitude and direction of gravity in addition to
13
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

movement induced acceleration. In order to calibrate the accelerometers, we rotate the device
sensitive axis with respect to gravity and use the resultant signal as an absolute measurement.
The resultant will be fed to AVR controller which then controls motor output with the help of
motor driving circuitry.
Motor Driver circuitry also helps to control motor speed by reversing polarities we can
rotate its shaft in reverse direction causing wheelchair to stop. Motors speed will be controlled
by combination of AVR controller and Motor Driving IC. In this case motor to be used must be
Geared DC motor
We also will be using ultrasonic sensor for obstacle detection. If the person using
wheelchair has some eyesight problem, can use this wheelchair to move around easily.
Ultrasonic sensor which we will be using in this project will send signal to AVR. With change in
distance from obstacle to user alarm tone will change. (AVR controller will control alarm tone
with change in distance).
Power supply will be given through external battery.

14
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

CHAPTER
4
SPECIFICATIONS

15
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

SPECIFICATIONS

1. AVR ATMEGA 16

8-bit controller with RISC architecture

Operating voltage : -2.7 5.5 v for atmega-16 L

Power Consumption: 3 V -25 V.

Operating Frequency: 8MHz with a/8 prescalar

Active : 1.1 mA

16
PVGs COET-E&TC

B.E (E&TC)
gestures.

Idle mode : 0.3 mA

Power down mode : < 1 uA

Wheel chair Controller using Hand

2. ULTRASONIC SENSOR: HC-SR04

Supply Voltage: 5V(DC).

Supply Current: 15mA.

Operating Frequency: 40KHz.

Detection Range: 3cm to 3m.

Measuring Angle: 15 deg.

Input Trigger signal : 10us

3. MOTOR DRIVER (L2 93D):

Supply voltage range : 4.5 v 36 v

Input Voltage: 7 V.

Output current 1 A per channel

Peak output current : 2 A per channel

4. ACCELEROMETER (AD XL 335):

17
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Operating Voltage Range 1.8 3.6 V

Supply Current VS = 3 V 350 A

Operating Temperature Range = 40 +85 C

CHAPTER
5
SOFTWARE AND HARDWARE

18
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

SOFTWARE AND HARDWARE

Software:
1. USBasp - USB programmer for Atmel AVR controllers(programming and
Burning .hex file)
2. Proteus 8- Circuit simulation.
3. Eagle PCB layout.

HARDWARE
19
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

ATmega16 features:-

Fig.ATmega16 pin diagram

High-performance, Low-power Atmel AVR 8-bit Microcontroller
Advanced RISC Architecture
131 Powerful Instructions Most Single-clock Cycle Execution
32 x 8 General Purpose Working Registers
Fully Static Operation
Up to 16 MIPS Throughput at 16 MHz
On-chip 2-cycle Multiplier
High Endurance Non-volatile Memory segments
16 Kbytes of In-System Self-programmable Flash program memory
512 Bytes EEPROM
1 Kbyte Internal SRAM
Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
Data retention: 20 years at 85C/100 years at 25C(1)
Optional Boot Code Section with Independent Lock Bits
In-System Programming by On-chip Boot Program
20
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes

One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and Capture
Mode
Real Time Counter with Separate Oscillator
Four PWM Channels
8-channel, 10-bit ADC
8 Single-ended Channels
7 Differential Channels in TQFP Package Only
2 Differential Channels with Programmable Gain at 1x, 10x, or 200x
Byte-oriented Two-wire Serial Interface
Programmable Serial USART
Master/Slave SPI Serial Interface
Programmable Watchdog Timer with Separate On-chip Oscillator
On-chip Analog Comparator
Special Microcontroller Features
Power-on Reset and Programmable Brown-out Detection
Internal Calibrated RC Oscillator
External and Internal Interrupt Sources
Six Sleep Modes: Idle, ADC Noise Reduction, Power-save, Power-down, Standby
and Extended Standby
I/O and Packages
32 Programmable I/O Lines
40-pin PDIP, 44-lead TQFP, and 44-pad QFN/MLF
Operating Voltages
2.7V - 5.5V for ATmega16L
4.5V - 5.5V for ATmega16
Speed Grades
0 - 8 MHz for ATmega16L
0 - 16 MHz for ATmega16
Power Consumption @ 1 MHz, 3V, and 25C for ATmega16L
Active: 1.1 mA
Idle Mode: 0.35 mA
Power-down

21
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Accelerometer (ADXL335):-

Fig.ADXL335 block diagram

-3-axis sensing
- Small, low profile package
4 mm 4 mm 1.45 mm LFCSP
-Low power : 350 A (typical)
-Single-supply operation: 1.8 V to 3.6 V
10,000 g shock survival
-Excellent temperature stability
-BW adjustment with a single capacitor per axis
-RoHS/WEEE lead-free compliant

22
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Ultrasonic sensor (HCSR04):Ultrasonic ranging module HC - SR04 provides 2cm - 400cm non-contact
measurement function, the ranging accuracy can reach to 3mm. The modules
includes ultrasonic transmitters, receiver and control circuit. The basic principle
of work:
(1) Using IO trigger for at least 10us high level signal,
(2) The Module automatically sends eight 40 kHz and detect whether there is a
pulse signal back.
(3) IF the signal back, through high level , time of high output IO duration is
the time from sending ultrasonic to returning.
Test distance = (high level timevelocity of sound (340M/S) / 2,
Wire connecting direct as following:
_ 5V Supply
_ Trigger Pulse Input
_ Echo Pulse Output
_ 0V Ground
Electric Parameter
Working Voltage DC 5 V
Working Current 15mA
Working Frequency 40Hz
Max Range 4m
Min Range 2cm
Measuring Angle 15 degree
Trigger Input Signal 10uS TTL pulse
Echo Output Signal Input TTL lever signal and the range in
proportion
Dimension 45*20*15mm

Motor driver IC L293D

23
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Figure 1 DC MOTOR BRIDGE

WORKING CIRCUITRY

Separate Input-Logic Supply.

Internal ESD Protection.
High-Noise-Immunity Inputs.
Output Current 1 A Per Channel.
Peak Output Current 2 A Per
Channel.
Output Clamp Diodes for Inductive Transient Suppression (L293D).

24
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

CHAPTER
7
PROJECT PLAN

25
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Project Plan

1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.

Component Selection.(Done)
Circuit design.(in process).
Program designing{Algorithm+flowchart}(by end of december)
Circuit simulation. (By end of december)
Circuit implementation on bread board. (by mid of january)
Testing and debugging. (by mid of february)
PCB layout Design. (by end of february)
PCB layout implementation.(mid of march)
Component Mounting and soldering.(by end of march)
Testing for defects in PCB{I/O, Voltage ,current, connectivity}.(by end of marsch)
PCB Mounting on Wheelchair.(by end of april).
Testing for wheelchair moment.(by end of april).

26
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

TENTATIVE BILLING AND COSTING

Sr.

Hardware(component) List

No. of

No

Cost

Componenta

1.

ATMEGA 16

210.00

2.

Accelerometer(ADXL335)

260.00

3.

Ultrasonic sensor(HCSR04)

140.00

4.

Motor Driver(L293D)

60.00

5.

DC Motor

3605.00

6.

Alarm/buzzer

24.00

7.

Wheelchair

800.00

8.

Battery

1200.00

Total Cost

6300.00/-

27
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

CHAPTER
7
CONCLUSION

Our project is capable to control the wheelchair motion for disabled people using hand gesture.
Improvements can be made by using various body gestures such as eye gaze, leg movement or head
movement accordingly.

28
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

CHAPTER
8
Future Scope and application

29
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

Future Scope

As part of further development, the project can be developed with additional voice
recognition feature through on board processing and power supply.

There can also be the application of intelligent Frame Navigation for Handicapped people
to go through entire house and get help from technological interface for the navigation.

Also it can be further developed to use wireless system and automatic breaking system.

To enhance the speed of wheelchair DC motors can be replaced by servomotors

This system can be extended by using GSM, which will send message dureing
emergency.

Applications

In Hospitals for handicapped patients: Some patients that cannot manipulate the
wheelchair with their arms due to a lack of force or psychomotor problems in the superior

members require electric wheelchair.

The wheelchair is operated with the help of accelerometer, which in turn controls the

wheelchair with the help of hand gesture.

The wheelchair moves front, back, right and left. Due to which disabled and partially
paralyzed patient can freely move.

30
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

CHAPTER
8
References

31
PVGs COET-E&TC

B.E (E&TC)
gestures.

Wheel chair Controller using Hand

REFERENCES

A Wearable Head- Mounted Sensor Based Apparatus for Eye Tracking Applications
IEEE International Conference on Virtual Environments, Human-Computer Interfaces,

and Measurement Systems Istanbul, Turkey, dated 14-16 July 2008.

A. Murarka, M. Sridharan and B. Kuipers. 2008. Detecting obstacles and drop-offs
using stereo and motion cues for safe local motion.IEEE/RSJ International Conference

on Intelligent Robots and Systems (IROS- 08).

Marhic, B. Robotic assistance: an automatic wheelchair tracking Intelligent Robots and

Systems, 2005. (IROS 2005). 2005 IEEE/RSJ.

L.Josefssonand. Persson , Conformal Array Antenna Theory and Design

32
PVGs COET-E&TC