Hand Gesture RL Based Wheel Chair

Submitted in partial fulfillment of the requirement for the award of

Degree of
BACHELOR OF ENGINEERING
IN
ELECTRICAL AND ELECTRONICS ENGINEERING

Submitted to

RAJIV GANDHI PROUDYOGIKI VISHWAVIDHYALAYA,

BHOPAL (M.P.)

Submitted by
Atharva Mishra (0105EX151020)
LavKush Kumar (0105EX151048)
Krishnakant Sahu (0105EX151043)
Mukesh Tiwari (0105EX151058)
Jitendra Kumar (0105EX151039)

Under the Supervision of

Prof. Nitin Tyagi
Department of Electrical and Electronics Engineering

DEPARTMENT OF ELECTRICAL AND ELECTRONICS ENGINEERING

ORIENTAL INSTITUTE OF SCIENCE & TECHNOLOGY,
BHOPAL (M.P.)-462021, INDIA
 2015-2019
ORIENTAL INSTITUTE OF SCIENCE & TECHNOLOGY
Accredited by National Board of Accreditation, New Delhi
Approved by AICTE, New Delhi & Govt. of M.P. Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal
Oriental Campus, Thakral Nagar, Raisen Road, Bhopal-462
Bhopal 462 022 (M.P.) INDIA

BONAFIDE CERTIFICATE

This is to certify that the dissertation entitled“Hand

Hand Gesture RL Based
Wheel Chair”has”has beencarried out by StudentAtharva
StudentAtharva Mishra
(0105EX151020), LavKush Kumar (0105EX151048), Krishnakant
Sahu (0105EX151043), Mukesh Tiwari (0105EX151058), Jitendra
Kumar (0105EX151039)student
(0105EX151039) of “Bachelors
lors of Engineering in
Electrical and Electronics Engineering”
Engineering” under our supervision and
guidance in the “Department
Department ofElectrical and Electronics Engineering
Engineering.

Date:
Place: Bhopal

APPROVED & SUPERVISED BY:

Prof. Nitin Tyagi

SUPERVISOR
Electrical and Electronics Engineering
OIST, Bhopal

FORWARDED BY:

Prof. Monika Jain Dr. A. K. Tiwari

(Professor and HOD) Director
Electrical and Electronics OIST, Bhopal
Engineering

OIST, Bhopal
 ORIENTAL INSTITUTE OF SCIENCE & TECHNOLOGY
Accredited by National Board of Accreditation, New Delhi
Approved by AICTE, New Delhi & Govt. of M.P. Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal
Oriental Campus, Thakral Nagar, Raisen Road, Bhopal-462
Bhopal 462 022 (M.P.) INDIA

CERTIFICATE OF APPROVAL

The dissertation entitled “Hand

Hand Gesture RL Based Wheel Chair
Chair”
being submitted by “Student Atharva Mishra (0105EX151020),
LavKush Kumar (0105EX151048), Krishnakant Sahu
(0105EX151043), Mukesh Tiwari (0105EX151058), Jitendra Kumar
(0105EX151039)”has been examined
examined by us andis hereby approved for the
award of degree Bachelors of Engineeringin Electrical and Electronics
Engineering for which it has been submitted. It is understood that by this
approval the undersigned do not necessarily endorse or approve any
statement
atement made, opinion expressed or conclusion drawn therein, but
approve the dissertation only for the purpose for which it has been
submitted.

(Internal Examiner) (External Examiner)

Date: Date:
 ORIENTALINSTITUTE
INSTITUTE OF SCIENCE & TECHNOLOGY
Accredited by National Board of Accreditation, New Delhi
Approved by AICTE, New Delhi & Govt. of M.P. Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal
Oriental Campus, Thakral Nagar, Raisen Road, Bhopal-462
Bhopal 462 022 (M.P.) IND
INDIA

DECLARATION

IStudent Atharva Mishra (0105EX151020), LavKush Kumar

(0105EX151048), Krishnakant Sahu (0105EX151043), Mukesh
(0105EX151039), student of
Tiwari (0105EX151058), Jitendra Kumar (0105EX151039)
Bachelors of Engineeringin
Engineering Electrical
ectrical and Electronics Engineering,
(M.P), hereby
Oriental Institute of Science & Technology, Bhopal (M.P)
declare that the work presented in this dissertation entitled “Hand Gesture
RL Based Wheel Chair”is
Chair the outcome of my own work, is bonafide and
correct to the best of my knowledge
knowledge and this work has been carried out
taking care of engineering ethics. The work presented does not infringe
any patented work and has not been submitted to any other University or
anywhere else for the award of any degree or any professional diploma.

Atharva Mishra
(0105EX151020)
LavKush Kumar
(0105EX151048)
Krishnakant Sahu
(0105EX151043)
Mukesh Tiwari
(0105EX151058)
Jitendra Kumar
(0105EX151039)
 ORIENTALINSTITUTE
INSTITUTE OF SCIENCE & TECHNOLOGY
Accredited by National Board of Accreditation, New Delhi
Approved by AICTE, New Delhi & Govt. of M.P. Affiliated to Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal
Oriental Campus, Thakral Nagar, Raisen Road, Bhopal-462
Bhopal 462 022 (M.P.) INDIA

DECLARATION

I hereby declare that the dissertation

disserta entitled “Hand
Hand Gesture RL
Based Wheel Chair”
Chair” is being submitted on the partial fulfillment for the
award of the degree of Master of Technology in ““Elecrical and
Electronics Engineering”.
Engineering”. The work has been carried out in the
department of “Elecrical
Elecrical and
and Electronics Engineering Department
Department”
(Oriental Institute of Science & Technology, Bhopal) is an authentic
record of my own work carried under the guidance of ““Prof. Nitin
Tyagi”.I
”.I have not submitted the matter embodied in this report for award
of any degree.
I also declare that “A
“A check for Plagiarism has been carried out on
the thesis / project / dissertation and is found within the acceptable limit
and report of which is enclosed herewith”.
herewith

Atharva Mishra (0105EX151020)

Date: LavKush Kumar (0105EX151048)
Krishnakant Sahu
Place: Bhopal (0105EX151043)
Mukesh Tiwari (0105EX151058)
Jitendra Kumar (0105EX151039)

Prof. Nitin Tyagi

SUPERVISOR
Electrical and Electronics
Engineering Director / Principal Sign with Seal
OIST, Bhopal
 ACKNOWLEDGEMENT

This Dissertation is the result of guidance and support of various people at Oriental
institute of science and technology, without whom all my effort would have been
directionless and fruitless. I sincerely thank all of them, for assisting me in completing
the dissertation.

I express my heartfelt and profound gratitude toDr. A.K.Tiwari Director OIST

Bhopal for his valuable suggestions at all stages of my research work.

I express my ardent and earnest gratitude to my guideDr.Monika Jain, Head of

Department ofElectrical and Electronics Engineering Department, OIST Bhopal, for
his help and encouragement at all the stages of my dissertation. His guidance and
motivation helped me to be fruitful in my effort.

Finally, I would like to say that I am indebted to my parents for everything that they
have done for me. All of this would have been impossible without their constant
support. And I also thank to God for being kind to me and driving me through this
journey.

Atharva Mishra (0105EX151020)

LavKush Kumar (0105EX151048)
Krishnakant Sahu (0105EX151043)
Mukesh Tiwari (0105EX151058)
Jitendra Kumar (0105EX151039)
 TABLE OF CONTENT

1. INTRODUCTION

2. BLOCK DIAGRAM

3. WORKING DIAGRAM

4. CIRCUIT DIAGRAM

5. WORKING OF PROJECT

1. REMOTE CONTROL/SWITCHES

2. RF TRANSMITTER

3. RF RECEIVER

4. RELAY SYSTEM

5. HOME APPLIANCES

6. LIST OF COMPONENTS

7. Specification of Components

HT12E (Encoder)

HT12D

ULN 2003

Voltage Regulator 7805

8. PCB LAYOUT

9. PCB MANUFACTURING PROCESS

PCB LAYOUT

PREPARATION OF SCREEN

PRINTING

ETCHING

DRILLING

THINNING

COMPONENT MOUNTING

ETCHING PROCESS

Oriental Institute of Science and Technology, Bhopal Page | i

 COMPONENT ASSEMBLES

SOLDERING TECHNIQUES

10. BIBLIOGRAPHY

Oriental Institute of Science and Technology, Bhopal Page | ii

 LIST OF COMPONENTS

1) HT12E

2) HT12D

3) ULN2003

4) Sugar Cube Relay 6volt/220volt

5) Voltage Regulator 7805

6) Rf Transmitter

7) Rf Receiver

8) 4007 diodes

9) LEDs

10) PCB

Oriental Institute of Science and Technology, Bhopal Page | iii

 HAND GESTURE BASED WHEELCHAIR
CONTROLLER FOR THE DISABLED

ABSTRACT

Objective of this project is to make the user more comfortable, secure, and independent and many
added advantage at a low cost with the high response circuit design. To be simple and easy to handle
the wheel chair by themselves (disabled person); at the same time it should be reliable.

In case of any emergency the patient can just press the button provided which sends the alert
messages to the doctors/relatives with the help of GSM (Global System for Mobile Communications)
module. Obstacles can be detected automatically which saves the patient from risk. GPS (Global
Positioning System) tracker is provided to monitor them. Thus, this design does not consist of bulky
equipments to wear for monitoring. So, that the Patient can feel very comfortable and c in using this
wheel chair unlike the common one.
Key Words: GPS tracker, GSM module, Obstacles, secure.
1. Introduction

Hand gesture based wheelchair controller is one of the best methods to help the disabled people in
which they can control without any strain [1]. A Gesture is a form of non-verbal communication in
which visible bodily actions communicate particular messages, either in place of speech or together
and in parallel with spoken words. Gestures include movement of the hands, face, or other parts of the
body [2]. Here we use MEMS accelerometer sensor to recognize hand gesture which is a Micro
Electro Mechanical 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. Wheel chair movement can be controlled in Forward, Reverse, and Left and Right
direction along with obstacle detection using accelerometer sensor and ultrasonic sensor [3-5].

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
greater developments, is the MEMS accelerometer sensor. These had greater importance than any
other technologies due its user-friendly nature. MEMS based devices can be easily reachable to the
common man due to its simpler operation. User can wear it to his wrist like a watch and can operate it
by tilting the accelerometer sensor. Now-a-days people prefer only automatic equipments even though
they were healthy enough to operate them manually. Being a disabled person, manual wheel chair
makes them uncomfortable and tired [7].If they were seriously injured they should be always
accompanied by someone for help. Thus automatic wheel chair controller allows them to move
around individually at the same time this provides the safety and secure travelling [7-9].
2. Methodology
In this project wheelchair is operated using hand gesture and to sense the hand gesture MEMS
accelerometer is being used. Micro Electro Mechanical Systems (MEMS) is the integration of
mechanical elements, sensors, actuators, and electronics on a common silicon substrate through micro
fabrication technology. An accelerometer is an electromechanical device

IJSER International Journal of Scientific & Engineering Research, Volume 7, Issue 2, February-2016 115 ISSN 2229-5518
IJSER © 2016 http://www.ijser.org
that measures acceleration forces. MEMS accelerometer is a single chip with small size and low cost.
Because of their small size and weight, accelerometers are attached to the fingertips and back of the
hand. In this model we are using ADXL335 accelerometer, which is 3axis accelerometer and gives
digital output [10]The ADXL335 is a small, thin, low power, complete 3-axis accelerometer with
signal conditioned voltage outputs. The product measures acceleration with a minimum full-scale
range of ±3 g. It can measure the static acceleration of gravity in tilt-sensing applications, as well as

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dynamic acceleration resulting from motion, shock, or vibration [9]. The user selects the bandwidth of
the accelerometer using the CX, CY, and CZ capacitors at the XOUT, YOUT, and ZOUT pins.
Bandwidths can be selected to suit the application, with a range of 0.5 Hz to 1600 Hz for the X and Y
axes, and a range of 0.5 Hz to 550 Hz for the Z axis. The ADXL335 is available in a small, low
profile, 4 mm × 4 mm × 1.45 m

m, 16-lead, plastic lead frame chip scale package (LFCSP_LQ).

2.1. Features:
1. 3-axis sensing
2. Small, low profile package
3. 4 mm × 4 mm × 1.45 mm LFCSP Low power: 350 μA (typical) Single-supply operation: 1.8 V to
3.6 V 10,000 g shock survival
4. Excellent temperature stability
5. BW adjustment with a single capacitor per axis RoHS/WEEE lead-free compliant.

3. Block Diagram

Block diagram is a diagram of a system, in which the principle parts or functions are
represented by blocks connected by lines that show the relationships of the blocks. We
consider two sections (Transmitter & Receiver)

3.1. Transmitter section

Fig 3:1 shows the functional block diagram of transmitter section. In transmitter section “Micro
Electro-Mechanical Systems (MEMS) technology” is used. It is a three axis accelerometer which gets
the user instructions by tilting the accelerometer. According to the tilt, sensor produces the output
which is an analog output. That analog output is converted into digital by using A/D converter.
Depending on the input received from the A/D converter the microcontroller produces the output.
Crystal oscillator is used here to generate the clock pulse & to support the RF module with its
frequency. It is provided in both the transmitter and the receiver section. RF transmitter transmits the
data signals with its carrier wave which can be accepted only by the receiver of the same frequency.
Functional Block diagram of Transmitter section
3.2. Receiver Section
From Fig 3:2, the transmitted data signals are received by RF receiver which operates in the same
frequency as the receiver. The encoded data signals are separated by the decoder. Then the micro

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controller produces the output which instructs the driver circuit to close or open the switches in it.
Depending on the switches closed it produces either positive or negative output and motor rotates
accordingly. Additional feature called “emergency button” is placed in the wheelchair on pressing, it
sends the location and an alert message to the Doctor/relatives which would help the user in an
emergency situation. Thus the Patient can feel very comfortable, secure and independent at low cost.
If there is any obstacle we use ultrasonic sensor to acknowledge it. Here it is not avoided but it is
acknowledged using buzzer which helps the user to decide the path and it is safer than avoiding it

automatically.

Oriental Institute of Science and Technology, Bhopal Page | vi

4. Software

4.1. Proteus
Proteus combines advanced schematic capture, mixed mode SPICE simulation, PCB (Printed
Circuit Board) layout and auto routing to make a complete electronic design system. Proteus is a
Virtual System Modelling and circuit simulation application. The suite combines mixed mode circuit
simulation, animated components and microprocessor models to facilitate co-simulation of complete
microcontroller based designs. Proteus also has the ability to simulate the interaction between
software running on a microcontroller and any analog or digital electronics connected to it.

5. Result and Discussion

5.1. Transmitter section

5.1.1. Simulation

Simulation circuit of Transmitter section

Oriental Institute of Science and Technology, Bhopal Page | vii

In the transmitter section for simulating MEMS we have placed 4 switches which give the specified
output when they are closed. Closing SW1 instructs the RF Transmitter to transmit “f”. Similarly
Closing SW2 instructs the RF Transmitter to transmit “b”. Closing SW3 instructs the RF Transmitter
to transmit “l”. Closing SW4 instructs the RF Transmitter to transmit “r”. The SW5 is given for
Emergency button .On closing it receives the information from the GPS tracker along with the
emergency message it sends the position to the mobile number programmed in the GSM Module.

5.1.2. Output

Fig 5:2 Virtual terminal of GSM Module

Fig 5:3 Virtual terminal of RF Transmitter

5.2. Receiver section

5.2.1. Simulation
In the receiver section originally the values will be received by the receiver but in simulation we give
manual inputs to the receiver thus when “f” is given Driver circuit is programmed to rotate both the
motor in forward direction. When “b” is given Driver circuit is programmed to rotate both the motor
in reverse direction. When “r” is given Driver circuit is programmed to rotate one of the motor rotates
in forward direction and other in reverse direction.
When “l” is given Driver circuit is programmed to rotate one of the motor rotates in forward direction
and other in reverse direction.

Oriental Institute of Science and Technology, Bhopal Page | viii

Fig 5:4 Simulation circuit of Receiver section

5.2.2. Output

Fig 5:5 Virtual terminal of RF Receiver

6. Conclusion

The motive of this project is to help the poor disabled people with the highly effective
automatic controlled wheel chair.
Thus in this project we were able to control some of the overall draw backs of the other
techniques which were prescribed or used earlier. We have replaced low cost highly
effective wheel chair and long lasting mainly concentrated on its cost and effectiveness
which is not considered in the previous papers. In this project, we have introduced MEMS
accelerometer which is known for its convenience. RF transmitter and RF receiver (wireless)
is used for transmission and reception of the data from the accelerometer sensor which
eliminates the usage of wires, thus the bulkiness of the project is reduced. Design will be
simple & easy to handle. Ultrasonic sensor will be placed in front of thewheel by which
obstacles can be detected and they are programmed only to turn ON the buzzer (because automatic
change in the direction may be dangerous).Then user will give another alternate direction to move on

Oriental Institute of Science and Technology, Bhopal Page | ix

which saves the patient from risk. In case of any emergency the patient can just press the button which
will be placed in the wheel chair. It makes the GSM module to send the recorded alert messages to
doctors/relatives. It is also designed to send the location to help the user with the help of GPS tracker.
This design does not consist of bulky equipment to wear for monitoring. So, that the patient can feel
very comfortable, secure and independent at a very low cost.

REFERENCES

[1]Rafael barea Luciano Boquete and Manuel Mazo; “System for Assisted Mobility Using Eye
Movements Based on Electrooculography”, IEEE, Vol 10, no 4, pp.209-218, December 2002.
[2]Diksha Goyal and Dr.SainiS.P.S; “Accelerometer Based Hand Gesture Controlled Wheelchair”,
International Journal on Emerging Technologies, no 0975-8364, pp.15-20, June 2013.
[3]Tom Carlson; “Collaborative Control for a Robotic Wheelchair : Evaluation of Performance,
Attention and Workload”, IEEE ,Vol 42, no 3,pp. 876-888,June 2012.
[4] Sehoon Oh, naoki Hata and Yoichi Hon; “Integrated Motion Control of a Wheelchair in the
longitudinal, Lateral and Pitch Directions”, IEEE, pp.153-185, June 2011.
[5] Kohei Arai and Ronny Mardiyanto; “Eyes Based Electric Wheelchair Control System”,
IJACSA, vol 2, no 12, 2011
[6] Lai Wei, Huosheng Hu, Tao Lu and Kui Yuan; “Evaluating the Performance of a Face
Movement Based Wheelchair Control Interface in an Indoor Environment”, IEEE, pp. 14-18,
December 2010.
[7] Rahul C M and Nalini C Iyer; “Voice and Accelerometer Controlled Wheelchair”, IJRET, no
2319-1163, pp. 2321-7308.
[8] Amundson JS and Amundson SG, “A joystick controlled wheelchair”, Biomed Sci Instrum,
Vol 27, pp. 131-133, 1991.
[9] http://en.wikipedia.org/wiki/Accelerometer

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