International Conference on Electrical, Computer and Communication Engineering (ECCE), February 16-18, 2017, Cox’s Bazar, Bangladesh
Wheel Therapy Chair: A smart system for disabled
person with therapy facility
Md. Mamunur Rahman
M.Sc. Student, Dept. of EEE
Chittagong University of Engineering and Technology
Chittagong- 4349, Bangladesh
md.mamunurrahman37@yahoo.com
Avradip Paul2, Ali Mohammed Jobayer 3
B.Sc. in EEE, Dept. of EEE
Chittagong University of Engineering and Technology
Chittagong- 4349, Bangladesh
2
avradippaul_09@yahoo.com
3
ali.jobayer2550@gmail.com
Abstract—Each and every person in this world has a desire to live
a normal human life but accidents, diseases, elder-ship make
their desire into disability. Moreover, there are lots of handicaps
and elders as well as the number of paralyzed people are
increasing day by day. They always need another person in
moving and have to go under some physical therapies under the
guidance of a therapist to recuperate their strain back. In this
paper the proposed system helps them to move freely & safely
and also takes the activities of a therapist in a cost effective
manner. This system is a combination of different controlling
features, has the ability to detect obstacle and provides few kinds
of therapies. A smart wheelchair is developed by using voice
recognition system to control the movement of wheelchair and
also with Arduino interfaced joystick. Besides, an ultrasound
system provides the facility of automatic obstacle detection. The
aim of research is to compact many facilities in a single
wheelchair at low cost.
Keywords—Arduino; Joystick; Voice recognition; Physical
exercise; Wheelchair.
I. INTRODUCTION
It’s a widespread nature of a human being to walk
independently as a by-born nature. But sometimes, some
reason causes the interruption of this character. Superior stage
of spiral cord damage, accident and brain as well as nervous
system anarchy are such types of cases which causes
inhabitants to loss control of arms or legs or together arms. In
addition, physical disorder at the time of born also makes
people immobilize. However, wheelchair is the way to make
this group to being able to move. But, in the occasion of upper
limb injury, it restricts some to the use of manual wheelchair,
which is operated by arm’s muscular strength. So, they have to
depend on others to give the manual force to move the
wheelchair. . To remove this enslavement and progress the
feature of their life, present science made a progression on
wheelchair history, which eliminates some of the mobility
problems. Electric Powered Wheelchair is the solution, which
is commonly branded as Automatic Wheelchair. The
wheelchair where an electric motor moves the chair in spite of
630
Swarup Chakraborty
M.Sc. Student, Dept. of EEE
Chittagong University of Engineering and Technology
Chittagong- 4349, Bangladesh
swarup1103@gmail.com
Md. Azad Hossain
Assistant Professor, Dept. of ETE
Chittagong University of Engineering and Technology
Chittagong- 4349, Bangladesh
azad@cuet.ac.bd
labor-intensive power as known as motorized wheelchair,
electric wheelchair power chair, or electric-powered
wheelchair [1].As an initiative approach, a motor obsessed
electronic structure was proposed to renovate the manual one.
A few designs for an electric wheelchair based on manual one
was first published by an American Inventor, named as
George Westinghouse in 1914 [2].However, a group of
engineers leaded by George Klein are considered as the
inventor of first electric powered wheelchair [3].Then in1956,
a company named as Everest & Jennings started the
commercial production of electric wheelchair [3].From the
invention of power wheelchair, many researchers proposed
different methods to control the wheelchair. One of the most
popular of them is the use of joystick or control switches
[4].However, to overcome the limitations of joystick control,
Padmapriya showed the potentiality of hand-glove control
based on ZigBee [5] while Anusha designed a system; focused
on a bend sensors [6] as well as using of hand glove control
grounded on MEMS also proposed[7]. Another common
alternative is voice control method, where a predefined
particular spoken word was recognized by a speech
appreciation development kit which generates a specific
corresponding signal built on a microcontroller arrangement
[8] or the entire enunciated signal was coped by a
microcontroller or computer [9].In addition, a compact form
of marketable electronic power-driven wheelchair which is
organized by a speech recognition method established on
grammar and laptop along six Peripheral Interface Controller
(PIC) was suggested by Akira Murai[10].But the system was
not user friendly in together the case of easiness and cost.
Another, voice activated wheelchair based on PC workstation
established on .NET framework was planned [11].But the
recognition system was highly effected by background noises
i.e. it was unable to detect which one is ordinary conversion or
command if the command is common one. Besides these,
Qadri and Ahmed developed a voice controlled system by
using a DSP starter kit modeled as TMS320C6711 [12], while
another open-source software called Julian based speech
978-1-5090-5627-9/17/$31.00 ©2017 IEEE
 divided into two portions. First one is controlling portion
whereas the other is therapy portion.
A. Controlling Portion
A block diagram representing all the elements used in the
wheelchair is shown in Fig. 01 while, Fig. 02 and Fig. 03
show the primary proposed design by using Google Sketch up
Software. ITEAD joystick shield which sits on top of Arduino
board was castoff for joystick operation and turns it into a
simple controller. There are a joystick with button and
additional 6 buttons. These buttons can be used as the
replacement of joystick [16]. Bestowing to potentiometer
movement of joystick, an analog data is acknowledged
through Arduino shield and the motors are driven rendering to
the digital outputs provided by it for the four directional
movements of wheelchair (forward, backward, left, right). As
the operating voltage for both the Arduino board and joystick
shield is 5V-12V dc, a 9V dc battery filled up the requirement.
Person having permanent disabilities in upper limbs also
partaking the option to use the chair via using voice command
unit. An android phone and a Bluetooth module (HC-05) are
the fragments of this module. HC-05 module is nothing but a
Bluetooth SPP (Serial Port Protocol) component, which is
premeditated for transparent wireless serial connection setup
Figure 01: Block Diagram of full System [17]. The voice command (sound wave) from the user is
collected through the microphone of the android phone and
recognized wheelchair was made by Nishimori which had a formerly this command is harmonized with some predefined
dependence on laptop as well as no protection from obstacle command with the help of an android application. If both
[13].In addition, controlling through head movement [14] and commands are the lookalikes then android application
eye movement [15] were also proposed. generates an equivalent character which indicates the users
The implemented work is quite exceptional in the sense that it command.
provides a combination of controlling part and therapy part.
Therapy parts give some therapy facilities to the disabled
person to overwhelm their debility. Again, the other part
includes two types of controlling method which are joystick
and voice control method. The joysticks are Arduino
interfaced and can be easily organized by fingers movement.
Voice command system is done by the use of Bluetooth
module which eliminates the necessity of personal computer.
Therefore it is cost effective. Here using of Arduino
environment, reduce the circuit complexities. Moreover,
obstacle detection provides additional safety in case of any
sudden hurdle. Arduino shield and therapy facilities provided
a new revolution on wheelchair history and improvised the
previous work. Moreover, to help a paralyzed person to move Figure 02: System design by Google Sketch up Software
freely was not only our main concern but also help him to
recover his strain as well as he can easily go back to his
normal life, which we considered as the special feature of this
effort.
II. METHODOLOGY
This project was implemented concentrating to design a
power wheelchair which has both control systems for the
disabled having just lower limb or both lower limb and upper
limb injury as well as provide some therapy facilities to
support them to gain their stain back. So the whole system is

Figure 03: Detailed view of designed system

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Besides these, the output signal from the obstacle detection
unit is always observed by the Arduino shield. In addition, a
PING sensor is used to perceive obstacle. The Parallax PING
is an ultrasonic distance sensor which is used for an accurate,
non-contact distance measurement, ranging from about 0.2
meters to meters [18].The working procedure of PING sensor
is to transmit an ultrasonic surge and to provide an output
pulse resembling to the time required for the burst echo to
reappearance to the sensor. The detachment to target can just
be calculated through appraising the echo pulse width. Once it
founds a hindrance within its quantified range, it contributes
an output to central control unit which stops the wheelchair
instantaneously. When the output signal from the PING sensor
is low, Arduino shield process the required signal to the motor
driver circuit to power up the motors. The driver circuit
consists of four 12V relays [19] (Each two of them are used to
make H-Bridge[20] to drive any single motor) and four n-p-n
transistors (to magnify the driving current to drive the relays).
Two 12 DC series motors are used. DC series motors are
chosen because of offering high starting torque, vigorous,
having a simple design and pretty low cost [21]. The voltage
and current ratings of both motors are 12V and 5 Amp. The
RPM (Revolution per Minute) of both motors is 1050 and
after a gear mechanism which has the gear ratio is 15, it
appears as 70 finally. For making the connection between the
motor’s shaft and wheels, freewheel [22] and ruler chain [23]
are used. The rear wheel’s radius is 0.35m and the front
cluster’s radius is 0.05 m. Front casters swivel as the
wheelchair turns in response to changes in the speed of the
rear wheels. A 12v DC lead acid battery [24] is used as power
supply for the motors. Another 9v battery is used to supply
power to obstacle distinguishing unit. Fig. 04 shows the
implemented system.
B. Therapy Portion
The therapy unit includes manually controlled weight
loading, trunk flexors exercise and automatically controlled
pulley system, vibration pad. The automatic pulley system is
used for upper limbs due to left or right cerebral nervous
system disorder .It helps the patient to regenerate blood
circulation in upper limbs. We have used a servo motor
(TowerPro MG995) which rotates within a specified angle. Its
stall torque is 10.00 kg-cm and speed is 0.20 sec/60°. The
rotational range is 180 degree. It can hold up to a 10 Kg
weight [25]. The motor makes a revolution of 180 degree to
raise the hand. When the rotor rotates anti clockwise, it raises
the hand and vice versa. In case of trunk flexors, the
abdominal muscles may be worked by using 10-15 kg
resistance, one to each hand. This has the effect of offering
resistance to the abdominal muscles of up to 20-30 kg as the
springs are being used in parallel or with the patient sitting
holding a pole to which are attached two springs [26]. Weight
loading exercise increases strength and stability. The
improvement of these types of loading is that the patient is
moving a known weighting with every endeavor. The
disadvantages are that secure anchorage is sometimes difficult
to achieve and the patient may not make a maximal effort at
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Figure 04: Detailed view of the implemented system.
each attempt [26]. The benefits of Vibration pad are to build
strength and burn calories. Here, we have used Grove-
vibration motor to make the vibration pad [27]. If the input is
logic high, then it makes vibration. Here, an audio supported
system is provided to help the disabled persons. The persons
are capable to know about the remunerations of each therapy
and process to perform using the system. It resides of a micro
SD card shield, Arduino UNO [28], an n-p-n transistor, four
1K Ohm resistors, a speaker and four on-off switches. The
Arduino SD Card Shield is used for conveying data to and
from a standard SD card. For picking the flash card slot, there
is an adjustment. The ADC (analog digital converter) yields
sampling, quantizing, encrypting and adapting the analog
audio signal into digital data and saves as files, which are the
basic principles and methods of digital audio processing
technology. Of course, throughout the playback, the digital
data drives through the DAC, digital analog converter to
reestablish the analogy signal form to be frolicked out by the
sound scheme. A specific switch is used to play an individual
audio file adjacent to a particular therapy. When the user
pushes one of the switches, he will get the procedure and
benefits of prescribed therapy. This system can be also used
for recreation or counseling purposes also.
C. System Algorithm:
¾ Step1: Start
¾ Step 2: initial
¾ Step 3: Read F,L,R,B (Front, Left, Right, Back)
¾ Step 4: justify F=1?
¾ Step 5: If ‘yes’ go read objects
¾ Step 6: If ‘no’ go L=1?
¾ Step 7: If ’ yes’ go read object
¾ Step 8: If ‘no’ go R=1?
¾ Step 9: If ‘yes’ go read object
¾ Step 10: If ‘no’ go B=1?
¾ Step 10: If ‘yes’ go read object
¾ Step 11: If ‘no’ go step 2
¾ Step 12: if object=1?
¾ Step 13: If ’ no’ go step 2
¾ Step 14: If ‘yes’ set F=0
¾ Step 15: End.
 In the above algorithm, five variables (F, L, R, B and
object) are declared for the movement into four directions and
object detections where F stand for front direction, L positions
for left direction, R opinions for right and B for back
respectively while object for obstacle detection. Initially it
reads the value of variable F. If the value is 1 then it makes a
front movement. Otherwise, it will check the variable L and
turn the chair into left in the case of satisfying the condition. If
the condition is again false, then it will check the variables R
and B in turn and do the predefined right and back movement
on the yes case. When all the statements are false, then it will
again initialized and repeat the whole process. However, if the
system detects any obstacle during the procedure then it will
make the value of object variable equal to 1 which makes a
pause of the whole system by setting F=0.
D. System Flowchart
In Fig. 05 flowchart of the wheelchair system is shown
which gives the perception of system software. This system
considers four variables for movement in four directions. If
one of these variables gets high, wheelchair moves on the
consistent direction. When the system reads object as high, it
stops the motors considering all other variables as don’t care
and goes to initial condition.
Figure 05: A flowchart of wheelchair system software
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III. ANALYSIS
The joystick provides analog value from 0 to 1023 in x & y
axis which can be seen in serial monitor of Arduino
environment. At the left most position in X axis, it gives 0 that
is considered as LOW and right most position it gives 1023 that
is considered as HIGH. Along Y axis at the upper most position
it gives 1023 that is considered as LOW and lower most
position it gives 0 that is considered as HIGH. At the central
position for both X & Y axis the value is 512 to 516.The two
Outputs of the joystick are connected to analog pin A0 & A1 of
the Arduino. In algorithm, a threshold value of 1000 is defined
in both X & Y axis to regulate right and forward movement.
Any greater value than this in X axis gives the right movement
and in Y axis gives the front movement. On the other hand,
another threshold value of 10 is defined to realize the left and
backward movement. Any value lower than this, gives left
movement in X axis and back movement in Y axis. For voice
command unit an android cell phone was used. An android app,
named “Voice Recognition” was developed by the authors to
receive the sound wave through the microphone of the phone,
crisscross the matching with some predefined commands, and
create some equivalent characters according to the commands.
For ‘Front’ it is ‘F’ while for ‘Back’ it is ‘B’. Similarly for
‘Left’, ‘Right’ and ‘Stop’ these are ‘L’, ‘R’ and ‘S’
respectively. After receiving the characters by a Bluetooth
module breakout (HC-05) [29], they are sent to Arduino MEGA
[30] for accomplishing necessary procedures to drive the motor
through motor driver circuit. Windows phone can be used
instead of Android phone. Just the related app need to be
developed in Windows platform. For constructing a power
wheelchair, a manual wheelchair was modified by using two 12
Volts and 5A DC motors. The rear wheel’s radius is 0.35 m and
RPM was 19 during the test drives. As manual wheelchair was
modified, the structure was robust and bulky. Its weight is
about 50 Kg. For the used DC motors, a wheel’s torque of
30.15 N-m is available which is able to carry a load of 93 Kg
(considering the factors; surface friction for concrete surface
0.015, maximum incline angle zero degree, time required to
achieve maximum speed 1s and frictional loss 10%). So a
person of 43 Kg-weight can be carried by the chair. As for
standard to carry a person of 70 kg-weight the required wheels’
Figure 06: Auto-pulley treatment in both cases
torque is 38.661 N-m. To meet this torque, the required power
rating of the motors is 76.92 W. So the required motor ratings
are 12 V and 6.4 A or 24 V and 3.2 A. For judgment the
outcomes of therapy facilities, two case studies are analyzed
for two different patients. The first one was Mr. Anil Kumer
Das, a person of a 70 years old. He met a stroke with LHP,
slurring of speech and some other physical difficulties on
January 20, 2012. In case study two, the patients name was
Mr. Makhan Talukder, a person of 60 years old. He has faced
the same problem as prescribed in previous case. In both cases
the patients have experienced the auto pulley system and
vibration pad. Since both of them could not make a little effort
in their legs, so they had no use the weight loading exercises.
Besides this since both have lost the control of their left hand,
they could not use the trunk flexors. In case of auto pulley
system the motor failed to raise the hand above enough
because of the lacking of required torque. Both hands were
enough heavy than our expectation. The solution is to change
the servo motor of high torque rating. The vibration pad just
worked properly as our expectation.
Figure 07: Vibration Pad
Figure 08: Trunk Flexors
Figure 09: Audio Support System
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IV. RESULTS & DISCUSSION
A. Outcomes
In the test run, it is found that the motors can carry around
93 kg weight, but it have to carry at least 120 kg weight
(assumed the patients weight is 70 kg). So the motors can
carry only the wheelchair with additional apparatus not a
person higher that 43 kg. However, the joystick shield is easy
to use. The wheelchair can be moved easily only with the
thumb movement. The switches are also works as good as a
replacement of joystick. The voice control system works in the
right way both in normal and noisy condition. User just has to
raise voice level in noisy condition. The obstacle detection
sensor also works properly. The detection distance is just one
meter and the wheelchair stops after 0.4 meter. Besides these,
all the therapy facility are comfortable.
B. System application
The system is very fruitful for the following cases:
1. A disable person can use this system as a wheelchair and
also for his recovery of the disability with the therapy
facilities.
2. A paralyzed person needs some important therapies
regularly and for long period of time. To avail these therapies
a therapist or a doctor or a specialist is essential. But with this
system the disable person can accomplish some basic
therapies without help of another person or only with the help
of family members.
3. Moreover, a therapist or a specialist demands a large
amount of fee which is a burden for a person of middle or
lower class family. In that case this system can save their
money, by fulfilling their demand.
4. The system is able to detect an obstacle which is not usually
present in ordinary wheelchair.
5. Using this power wheelchair can be beneficial for
conserving a person's energy. This is especially important for
people with disabilities, such as multiple sclerosis or post-
polio syndrome. This power wheelchair can allow people to be
mobile within their home or community without expending a
lot of muscle work and energy. This, in turn, can benefit
people by allowing them to conserve their energy for other
activities important to them.
C. System limitation
As there is no good without bad, this system has some
limitations also. These includes
1. It can only carry around 93 kg. If the weight exceeds this
limit, it becomes too heavier for the system to carry and the
mechanical system may fail.
2. Manual wheelchair can be folded but this facility is not
available in the system.
D. Proposed solutions
We proposed some solutions for the mechanical problems.
They are:
1 .Increasing motor rating: Assume each motor have to carry
70 kg weight. So the torque required 16.84 N-m. Then the
required power rating of the motor will be at least 120 watt. So
we have to use two motors of the same rating for keeping the
same r.p.m and acceleration to carry the desired load.
2. Bigger inner flywheel: It will decrease the speed but in the
meantime it increases the torque on the wheel shaft.
3. Smaller but thicker wheel: Here we proposed to increase the
thickness of the wheel and add soft tyre-tube system around
the perimeter, so that it can carry more loads as well as
increase the friction to avoid slippy effect. But here is a
problem that due to larger wheel and extra tyre tube system
the self- weight of the total structure increases, unexpectedly.
So for reducing the weight, we prefer to reduce the diameter
of the wheel, with losing the facility of manual using.
E. Future development
The improvement of the system can be done as given
below:
1. Redesigning and rebuilding as per patient’s requirements.
2. Development of the wheelchair with brain control system.
3. Implementation of all kinds of therapy facilities related to
wheelchair.
4. Implementation of more scientific therapy treatments such
as transcutaneous electrical nerve stimulation, arm movement
using robotic hand.
V. CONCLUSION
In this project, Arduino based joystick wheel chair was
developed with therapy facilities and obstacle detection.
Besides joystick, voice control method through Bluetooth
module also implemented for the person having upper limb
injury. This wheel chair is more efficient and cost effective
compared to other methods of control. Different types of
therapy facility create a new revolution with this automated
system. This system is very useful for a developing country
like Bangladesh where most of the peoples are unable to effort
the costly therapies from specialists of doctors. With the help
of Government this system can be improved and implemented
to a higher scale so that the poor and middle class family
members can aim such type of system for their welfare and
treatment.
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