Gujarat Technological University

Project Report On
“Gesture Controlled Wheelchair”

Electrical Engineering Department,

Government Polytechnic, Bhuj

Prepaired By:-
Sr.No. Name Enrollment No. Email
1 SAMA SHABANA J. 166210309095 samashabana1@gmail.com
2 CHAUHAN UNNATI V. 166210309508 unnatichauhan58@gmail.com
3 GUSAI PARTH B. 156218309005 parthgusai952@gmail.com
4 SAMA SOHEL SALIM. 166210309547 Sohelsama1011@gmail.com
5 SUMRA IBRAHIM I. 166210309103 Sumraibrahim369@gmail.com

Guide By:- Mr. V.A.Mistry

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 CERTIFICATE

This is certify that the Literature Report Presented in the entitled

“Gesture Controlled Wheelchair”

By

SAMA SHABANA J. 166210309095

CHAUHAN UNNATI V. 166210309508
GUSAI PARTH B. 156218309005
SAMA SOHEL SALIM. 166210309547
SUMRA IBRAHIM I. 166210309103

In a manner to warrant is acceptance as a Partial fulfillment of the requirement

for the course of third year of Diploma Engineering in its Electrical Branch.

Project Guide Head of Department

V.A.Mistry

ACKNOWLEDGMENT

The group expresses sincere thanks to our guide Lecturer.V.A.Mistry,

Electrical Engineering Department, for guiding the group at every step in the

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course of project work and acknowledges with deep gratitude, the valuable
guidance and encouragement provided.

The group is thankful to Lecturer. V.A.Mistry, for supporting us during each

coure of the project. Their help played an integral part in the successful
completion of our Project.

We would sincerly thanks to our INSTITUTE for providing reqired

equipment’s.

Finally we are thanks to ELECTRICAL ENGINEERING DEPARTMENT

for carrying our project successfull within the premises. Also really thankful to
our parents without their blessing this project work was impossible.

TABLE OF CONTENTS

TITLE PAGE
INTRODUCTION 1
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CERTIFICATE 2
ACKNOWLEDGEMENT 3
TABLE OF CONTENTS 4
ABSTRACT 5
CHAPTER-1:-INTRODUCTION 6
CHAPTER-2:-HARDWARE REQUIRED 7
2.1 ARDUINO UNO 8
2.2 JUMPER WIRE 10
2.3 BREAD BOARD 10
2.4 ARDUINO UNO USB CABLE 13
2.5 BATTERY 13
2.6 WHEELS 14
2.7 DC GEARD MOTOR 14
2.8 ADAPTER DC 15
2.9 L293D DRIVER 16
2.10 ACCELEROMETER 16

CHAPTER-3:-CIRCUIT 17
CHAPTER-4:-WORKING 18
FUTURE DEVELOPMENT 20
ADVANTAGE & DISADVANTAGE 20
CONCLUSION 21
REFERENCE 21
APPENDIX 23

ABSTRACT

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Gesture controlled wheelchair are latest development, gesture controlled
wheelchair the wheelchair moves as per users hand gesture the user has to
simply band his hand to move the wheelchair. Here we present the project to
control a wheelchair through hand gestures by accelerometer.

CHAPTER-1

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 • Introduction:
Wheelchair are useful for people for whom walking is difficult or
impossible due to some illness, injury or disability. There are different types of
wheelchair. manual wheelchairs are pushed using their handles. Motorized
wheelchairs, are driven by joystick.

Here we present the project to control a wheelchair through hand gesture. It

uses Accelerometer to record hand gestures. The gesture signal are fed to
ATmega32 microcontroller, which processes the information to control four DC
motors in order to move the wheelchair in any desired direction.

Accelerometer is widely used to convert hand gestures into equivalent

electrical signals. These are actually variable resistors, whose Accelerometer are
widely used to convert hand gestures into equivalent electrical signals. These
are actually variable resistors, whose resistance changes when these are bent in
either direction. This change in resistance is converted into an equivalent
voltage, which can be used for further processing.

CHAPTER-2

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 • Hardware required

SR NO. HARDWARE REQUIRED QUANTITY

1 Arduino Uno 1
2 Jumper wire -
3 Bread Board 1
4 Arduino Uno USB Cable 1
5 Battery 1
6 Wheel 4
7 DC Geared Motor 4
8 DC Adapter 1
9 L293D Driver 2
10 Accelerometer 1

2.1 Arduino Uno

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 Arduino is an open-source platform used for building electronics projects.
Arduino consist of both a Physical Programmable circuit board (often referred
to as a microcontroller ) and a piece of a software, or IDE (integrated
Developed Environmet )that runs on your computer, used to write and upload
computer code to the physical board.

The arduino platform has become quite popular with people just starting
out with electrons, and for good reason. Unlike most previous programmable
circuit boards, the arduino does not need a separate piece of hardware (called a
Programmer ) in order to load new code into the board you can simply use a
USB cable. Additionally, the arduino IDE uses a simplified version of C++,
making it easier to learn to program. Finally, Arduino provides a standard form
factor that breaks out the functions of the microcontroller into a more accessible
Package.

 All About Arduino:

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 One of the most popular Arduino boards out there is the Arduino Uno.
While it was not actually the first board to be released, it remains to be the most
actively used and most widely documented on the market. Because of its
extreme popularity, the arduino Uno has a ton of Project tutorials and forums
around the web that can help you get Started or out of a jam. We’re big fans of
the Uno because of its great features and aese of use.

• Board Breakdown:

Here are the components that make up an arduino board and what each
of their functions is.

• DC Power Barrel Jack- This is used for Powering your Arduino

with a power supply.

• 5V Pin- This pin supplies 5 Volts of power to your Projects.

• USB Connection- Used for Powering up your Arduino and uploading

sketches.

• Ground Pin- There are a few ground pins on the ArduinoAnd they
all work the same.

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 • Reset Button- This will restart any code that is loaded to the Arduino
board.

• Microcontroller- This is the brains and is where the programs are

stored.

• Digital Input/Output- Pins 0-13 can be used for digital input orr
output.

• Analog Pins- These Pins can read the signal from an analog sensor
and convert it to digital.

• PWM-The Pins Marked with the (~) symbol can simulate analog
output.

2.2 Jumper Wire:

A jumper wire ( also Known as jumper, jumper wire, jumper cable,

Dupont wire, or cable – named for one manufacturing of them ) is an electrical
wire or group of them in a cable with a connector or pin at each end ( or
sometimes without them – simply “tinned” ), which is normally used to
interconnect the components of a breadboard or other prototype or test circuit,
internally or with other equipment or components, without soldering.

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 Individual jump wires are fitted by inserting their “end connectors” into
the slots provided in a breadboard, the header connector of a circuit board, or a
piece of test equipment.

2.3 Bread Board:

• Bread Board Basic:
A breadboard is a circuit which if of a temporary nature used for the
purpose of testing and prototyping circuit. It is easy to prototype circuits with
the help of breadboards are Generally used to test circuits. As this device have
holes in it. In order to form a circuit, wires are inserted simply inside the holes.
An advantage of using a breadboard is that the positions of the wires can be
changed if they are placed in a wrong order. In the below diagram you can see
alphabets are used in order to identify vertical columns.

• Bread Board
A Bread board is a circuit board that is used to make temporary
circuit. It is a device having electronics and test circuit designs. The
electronics and test circuit designs. The electronic element inside the
electronic circuit can be interchanged by inserting the terminals and
leads and leads into holes and later connecting it with the help of
appropriate wires. The device has stripes of metal below the board that
connects the holes placed on the top of the board. The connections of the
breadboard are mostly temporary and the elements can further be
reassembled and reused without any damage. Breadboards are generally

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 used in electrical engineering. Engineers make use of breadboards in
order to test different products made by them. Using breadboard is the
most efficient way of testing and also they are cost effective. They can
be reused again and again for the purpose of testing. Today, starting from
tiny analog, digital circuits to big complicated CPU’s everything can be
tested with the help of this.

Breadboards earlier were made of copper wires or terminal strips.

These days it is made up of white plastic and is a breadboard that can be
plugged. Breadboards are soldering less and they are made of two kinds
of strips i.e. terminal bus strips. Terminal strips help in holding the
electronic elements while the bus strip is used to power electric power to
all the electronic components. You can find manufacturers selling solder
less breadboards very easily, some manufactures sell the bust and
terminal strips separately and some sell it together.

2.4 Arduino Uno USB Cable

Arduino Uno USB Cable use for giving serial data input or output USB
1.1 is a Universal serial bus ( USB ) standard, released in august 1998. The USB
1.1 Standard has been all but replaced by USB 2.0, and soon by USB 3.0USB
1.1 is sometimes called full speed USB. There There are actually two different
“speeds” at which a USB 1.1 device can run at – either low-bandwidth at 1.5
mbps or full bandwidth at 12 mbps. This is considerably slower than USB 2.0’s
480 mbps and USB 3.0’s 5,120 mbps maximum transfer rates.

2.5 battery

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 Here we are used 12 volt battery for Direct power supply to Arduino. The
Battery are 12 volt, lead – acid batteries. These battery can provide hundreds of
amps of electrical current for a short period of time this is why these battery are
commonly used in Arduino applications.

2.6 Wheel

Here we have Four wheels for driven a wheelchair. We are connectd two
wheels with DC Geared motor. We gave a power supply L293D driver in
Motors, after motor are working ( running ) and wheels moving. Other two
wheels are mechanical connected with shaft and bearing.

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2.7 DC Geared Motor

The four DC motors move the wheelchair in all the four directions:
forward, reverse, left and right. Two motors ( front and rear ) on one side, say
left side, are connected in parallel. Similarly, the other two motors on the right
side of the wheelchair are connected in parallel. So there are four motors for
each wheel.

2.8 DC Adapter

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 DC adapter is electrical circuits that transform alternating current ( AC )
input into direct current ( DC ) output. They are used in power electronic
applications where the power input a 50 Hz or 60 Hz sine – wave AC voltage
that requires power conversion for a DC output.

DC adapter uses rectifiers to turn AC input into DC output, regulators to

adjust the voltage level, and reservoir capacitors to smooth the pulsating. We
used 1 DC Adapter.

2.9 L293D Driver

It provides sufficient voltage and current for DC Motors to drive the

wheelchair.

2.10 Accelerometer

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 Accelerometer is a device that measure acceleration, we have to check the
intensity of the vibration when an accident occurs ( Impact ). If it is enough to
change the values of an accelerometer sensor, we can use it as an accident
detection sensor in our circuit.

For example, if you use a 3 axis analog accelerometer( ADXL ), we will

have 3 analog outputs X, Y, Z. When it’s lying flat on the table, the values of X,
Y, Z will be 0. If you tilt it toward any direction the value of that particular axis
will change.

CHAPTER 3
• Circuit Diagram

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• Connect the supply source to the 12v dc battery.

• L293D driver connect to the 5v dc supply.

• 5 volt DC supply to the L293D Driver through Arduino.

• 12 volt DC Supply to the L293D Driver through Arduino.

• 2 DC Motor connected with L293D Driver(1) and 2 DC Motor

connected with L293D Driver(2)

• Connect the Ground through PCB to the Arduino, L293D Driver,

Accelerometer,

• Pin Accelerometer SDA, SCL Connect with A4 and A5 Analog in.

• 5 volt DC supply in Accelerometer ThroughArduino.

• Connected Ground through PCB to all Hardware by Arduino.

CHAPTER-4
• Working:-

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 Circuit diagram of the Gesture Controlled wheelchair using ATmega32 is
Shown in Circuit Diagram.

In this circuit Diagram we use Arduino UNO, Jumper wire, Bread board,
Battery, Wheel, DC Geared Motor, DC Adapter, L293D Driver and
Accelerometer this components.

When we give DC supply 12 volt by Battery then our Circuit is Active and by
Accelerometer We Connected Whole Wheelchair.

• To Move Forward tilt the hand in forward direction.

• To move in Revers tilt the hand In backward Direction.

• To turn Right tilt the hand in right side.

• To turn left tilt the hand in left side.

• To Stop Hold the Hand Straight.

 Block Diagram:-

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 12 DC Supply

Arduino UNO

5 Volt DC Supply Accelerometer

Wheels

L293D Driver DC Motors

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 FUTURE DEVELOMENT

• By using Bluetooth sensor we controlled wheelchair with voice.

• By Using GSM Module we controlled wheelchair with mobile.

• Unnecessary disturbance come through wheelchair then stop.

• Wireless Connection with Gyrometer.

ADVANTAGE

• It Is Easy to design and manufacturing as all the components are easily

available.

• It is Portable and hence can be Placed Anywhere.

• It has low cost of Manufacturing.

• The µC can be reprogrammed if any modification is required.

• Due to wireless Communication Data rate is faster.

• Wireless makes case of operation.

• No need of Lengthy wires.

• Power Consumption.

DISADVANTAGES

• If Power Supply fails system won’t work

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• Failure of Device/components may have dire consequences, fatal
Accidents can occur.

CONCLUSION

• Automated wheel chair can be used to help handicapped

people,especially those who are not able to move.

• The system was successfully implemented to move the wheel chair

Left,Right,Forward,Backward or stay in the same position.

REFERENCES

• Rakhi A. Kalantri, D.K Chitre , “Automatic Wheelchair using

Recognition” in International Journal of Engineering and Advanced
Technology(IJEAT)2013,PP.146-150.

• Manisha Devi, B.Anil Kumar,”Accelerometer Based Direction

Controlled Wheelchair Using Gesture Technology” in International
Journal of Scientific Enginering and Technology,2014,pp:1065-1070.

• V Sundara Siva kumar,G.Ramesh,P Nagesh “Hand Gesture Based

Wheelchair Movement Control for Disaibled Person Using
MEMS”International Journal of scientific Engineering and Technology
2015.

• Prof. Vishal V. Pande, Nikita S. Ubale, Darshna P. Masurkar, Nikita R.

Ingole, Pragati P “Hand Gesture Based Wheelchair Movement Contrl for

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 Disabled Person Using MEMS” in International Journal of Engineering
Research and Applications,April 2014, pp:152-158.

• Arduino website,http//arduino.cc/Main/arduinoBoardMega.

APPENDIX

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PROGRAMING:-

#include<Wire.h>

constint MPU=0x68;

int16_tAcX,AcY,AcZ,Tmp,GyX,GyY,GyZ;

int LMT1=8,LMT2=9; // Motor Terminals M1

intXvalue,Yvalue; // Variables for storing the value

int RMT1=10,RMT2=11; // Motor Teminals M2

Serial.begin(9600);

pinMode(LMT1,OUTPUT); // Motors are declared as output

pinMode(LMT2,OUTPUT);

pinMode(RMT1,OUTPUT);

pinMode(RMT2,OUTPUT);

void loop(){

Wire.beginTransmission(MPU);

Wire.write(0x3B);

Wire.endTransmission(false);

Wire.requestFrom(MPU,12,true);

AcX=Wire.read()<<8|Wire.read();

AcY=Wire.read()<<8|Wire.read();

AcZ=Wire.read()<<8|Wire.read();

GyX=Wire.read()<<8|Wire.read();

GyY=Wire.read()<<8|Wire.read();

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GyZ=Wire.read()<<8|Wire.read();

Serial.print("Accelerometer: ");

Serial.print("X = "); Serial.print(AcX);

Serial.print(" | Y = "); Serial.print(AcY);

Serial.print(" | Z = "); Serial.println(AcZ);

Serial.print("Gyroscope: ");

Serial.print("X = "); Serial.print(GyX);

Serial.print(" | Y = "); Serial.print(GyY);

Serial.print(" | Z = "); Serial.println(GyZ);

Serial.println(" ");

if(AcX<-6000&&-11000)

digitalWrite(LMT1, LOW);

digitalWrite(LMT2, HIGH);//FORWARD

digitalWrite(RMT1, HIGH);

digitalWrite(RMT2, LOW);

else if(AcX>4000&&6000)

digitalWrite(LMT1, HIGH);

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digitalWrite(LMT2, LOW);//REVERSE

digitalWrite(RMT1, LOW);

digitalWrite(RMT2, HIGH);

else if(AcY<-7000&&-5000)

digitalWrite(LMT1, HIGH);

digitalWrite(LMT2, LOW);//LEFT

digitalWrite(RMT1, HIGH);

digitalWrite(RMT2, LOW);

else if(AcY>5000&&12000)

digitalWrite(LMT1, LOW);

digitalWrite(LMT2, HIGH);//RIGHT

digitalWrite(RMT1, LOW);

digitalWrite(RMT2, HIGH);

else

digitalWrite(LMT1, LOW);

digitalWrite(LMT2, LOW);//STOP

digitalWrite(RMT1, LOW);

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digitalWrite(RMT2, LOW);

delay(333);

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