ANDROID BASED AUTOMATED SMART WHEELCHAIR

1
ANDROID BASED AUTOMATED SMART WHEELCHAIR
1. INTRODUCTION
Patients having injuries and physical disabilities and with good mental health face a lot
of difficulty when using the conventional hand powered wheelchair. This project
enables an economic assembly in any existing wheelchair that enables a smart system
for automated motion which can be controlled by any Smartphone. The concept
particularly mentions ‘Smartphone’ which covers devices like any Android powered
mobile phone which have inbuilt 3 axis accelerometer and Bluetooth Wireless
technology. The functionality can be extended to other mobile devices using a suitable
application. The other end of the system has a microcontroller powers the DC motor for
linear motion of the wheelchair. The DC motor connected to the rear wheels enables
linear motion. Following are some detail about the projects –
• This is an android based automated wheelchair that can be used by differently able.
• It uses android based Smartphone’s which have inbuilt axis accelerometer sensors and
Bluetooth wireless technology.
• The proposed concept exploits these features of the smart phones to use at as a
transmitter and control device.
• This is an android based automated wheelchair that can be used by differently able.
2. LITERATURE REVIEW
In the paper on “voice operated wheel chair” voice command input is taken from
android mobile and converted into text and this text is given to the microcontroller via
Bluetooth module to control the operation of D.C. motors.

2
In the paper “voice and touch screen based and speed control of wheel chair for
physically challenged using Arduino” input to Arduino in two ways i.e. via voice
command or touch command i.e. HM 2007 is used as a voice recognition device. Input
method is switched through switches and input is given by any two method to Arduino.
Two D.C. motors are used to provide motion.
In the paper “A wheel chair steered through voice commands and assisted by a reactive
fuzzy-logic controller”, voice command controlled and a fuzzy logic controller is used
along with a sensor network to avoid collision of the wheel chair. Fuzzy logic controller
is used to rectify problem caused due to low voice command input from the user.
3. DESIGNING AND SPECIFICATION
3.1 MECHANICAL STRUCTURE AND ITS DIMENSIONS
The following figure illustrates the important wheelchair terminologies that needs to be
considered while designing a wheelchair.
Persons with Disabilities Act (1995) recognises the rights of Indians with disabilities
and creates opportunities for equal participation in all govt. run infrastructures and
services.

3
There are certain standards and guidelines that are provided regarding the dimensional
specifications of a wheelchair by government agencies like Bureau of Indian Standards
(BIS), Central Public Works Department (CPWD), Office of Chief Commissioner for
persons with Disabilities (CCD) etc. based on extensive survey and research on the
population of people with disabilities who use wheelchairs.
The act does not comment on these different standards and guidelines and does not
endorse any one of them. So we’re just going to go with Bureau of Indian Standards’
recommendations.
According to BIS (IS 7454 and IS 4963) :
(all measurements are in millimetres)
Unoccupied Width = 650-720
Unoccupied Length = 1000-1100
Handle Height = 910-950
Armrest Height = 700-740
Seat Height = 480-510
Combined Knee + Toe Clearance Depth = 400-450
For the scaled down model, the dimensions which will be used are as follows:
Unoccupied Width = 325
Unoccupied Length = 500
Handle Height = 455
Armrest Height = 350
Seat Height = 240
Combined Knee + Toe Clearance Depth = 200

4
The base plate length = Unoccupied Length - (Combined Knee + Toe Clearance Depth )
= 500 - 200 = 300
The Materials to be used are as follows:
A suitable fabric shall be used for covering the seat and back rest that should be non
toxic and non allergic.
3.2 LOCATION OF DRIVE WHEEL
The location of the drive wheels (the wheels powered by the motor) in the rear, middle
or front of the chair has a definite effect on the chair’s performance in different
environments.
3.2.1 Maneuverability
The position of the drive wheels significantly affects the space needed for the chair to
turn around, and the way the chair maneuvers in tight spaces.
Mid-wheel drives are the most maneuverable because they have the smallest 360-degree
turning circumference and the tightest turning radius (20 to 26 inches), making them
excellent indoor chairs.
Front-wheel drives have a turning radius of 25 to 28 inches and a larger 360-degree
circumference than mid-wheel drives. However, they actually navigate around tight
corners better than the other two drive systems because the position of the pivot point
gives them a very short front end. But turning around in a small space is tricky because
of the long back end.
Rear-wheel drives have the largest 360-degree circumference and turning radius (30 to
33 inches) of the three drive systems, making them more difficult to maneuver in tight
spaces.
In addition, the footrests on a rear-wheel drive chair take up more space because they’re
typically angled forward at anywhere from 80 to 60 degrees in order to clear the larger
front casters.
The amount of space taken up by the footrests varies depending on the drive system and
the particular angle required by the user.
When the footrest angle changes, so does the turning radius measurement. This makes
comparing the turning specifications on chairs a little tricky. Most experts include the
footrests in the turning radius measurement, but most manufacturers don’t due to the
variability of footrest angles.
Because mid-wheel drives have small front casters that are wider apart than on other
drive systems, 90-degree footrests add less than an inch to the turning radius.

5
On front-wheel drive chairs, there are no front casters to interfere with having 90-degree
footrests. When the footrests are counted in the turning radius measurement, they add
less than an inch.
Another factor that affects maneuverability is how the weight is distributed on the
wheelchair. “Chairs have an ideal weight distribution, and the further away you get
from that, the more you impact the [maneuverability],” says Pogir. “What you find
sometimes with the rear-wheel drive is that a lot of the weight is over the casters, and
they perform very poorly.”
Mid-wheel and front-wheel drives are less sensitive to problems caused by weight
distribution than rear-wheel drives.
3.2.2 Handling obstacles and inclines
Front-wheel drives are optimal for traversing obstacles such as curbs, grass, gravel,
uneven terrain and snow. This is because the 14-inch drive wheels are the first wheels to
encounter obstacles and they pull the rest of the wheelchair over them.
A rear-wheel drive means the drive wheels are pushing the front casters over obstacles.
Because pushing is harder than pulling, rear-wheel drives aren’t quite as efficient going
over obstacles as front-wheel drives.
3.3 MECHANICAL DESIGN
(a)Front view (b) Side View

6
(c) Top view (d) Right view
(e) Isometric view
3.4 CASTER DESIGN

7
Caster stems must be kept as vertical as possible. Caster stems that are not vertical
cause a number of problems. If the stem leans forwards at the top the chair is difficult to
turn and the knees are lower wheeling forwards than when wheeling backwards. If the
stem is leaning backwards at the top, the chair is difficult to keep in a straight line and
the knees raise up higher when rolling forwards. Also whenever the wheeler stops the
chair will roll backwards a little.
3.5 TRANSMITTING MACHINE
3.5.1 SMARTPHONE –
A Smartphone is a mobile phone built on a mobile OS, it has more advanced
computing capability and connectivity than a ordinary phone. Most
Smartphone’s are equipped with accelerometers for user interface control that
are used to present landscape or portrait views of the phone’s screen, based on
the way the device is being held. Also most smart phones have Bluetooth
Wireless Technology inbuilt in the device for various small range wireless
applications like headset, file transfer, wireless input devices etc. the following
project uses above features of the Smartphone to use it as a transmitter and
control device and completely eliminating the need for a separate transmitter
block.
3.5.2 ACCELEROMETER –

8
An accelerometer is a device that measures proper acceleration ("g"). Proper
acceleration is different from the acceleration (i.e. rate of change of velocity),
e.g. an accelerometer at rest on the surface of the Earth will measure an
acceleration g= 9.81 m/s2 straight upwards whereas, accelerometers in free fall
orbiting and accelerating due to the gravity of Earth will measure zero.
• An accelerometer is an electromechanical device that will measure acceleration
forces. These forces may be static, like the constant force of gravity pulling at
your feet, or they could be dynamic - caused by moving or vibrating the
accelerometer. The Smartphone Accelerometer is a semiconductor IC that
measures motion and its intensity in all 3 axes and directly can provide values to
suitably designed application.
• Often accelerometers is used to present landscape or portrait views of the
devices screen based on the way the device is being held.
3.5.3 BLUETOOTH –
• Bluetooth present in the Smartphone can be tapped using protocol stacks in the app
design environment of the mobile operating system.
• Functional app-this app interfaces accelerometer to work with Bluetooth module.

9
3.6 RECEIVING SECTION
3.6.1 MICROCONTROLLER –
It is a small computer on a single integrated circuit containing a processor core,
memory, and programmable input/output peripherals. Program memory is also
often included on chip, as well as a typically small amount of RAM.
Microcontrollers are designed for embedded applications, in contrast to the
microprocessors used in personal computers or other general purpose
applications.
• Its need involves the reception of data signals that are transmitted by the
Smartphone via Bluetooth module and control the working of DC motors. e.g.
Arduino (an open source single board microcontroller).
•The wheelchair interacts with the Smartphone app by means of this Arduino
microcontroller via Bluetooth. The Bluetooth receiver that can be interfaced
with the Arduino board is EGBT – 045MS Bluetooth module.
3.6.2 BLUETOOTH RECEIVER SPECIFICATIONS –
EGBT-045MS is a generic Bluetooth Modules loaded with SPP firmware for
UART wireless cable replacement functions. The EGBT-045MS can be
configured by the user to work either as a master or slave Bluetooth device using
a set of AT commands.
SPECIFICATIONS EGBT-046S:
Radio Chip: CSR BC417
Memory: External 8Mbit Flash
Output Power: -4 to +6dbm Class 2
Sensitivity: -80dbm Typical
Bit Rate: EDR, up to 3Mbps

10
Interface: UART
Antenna: Built-in
Dimension: 27W x 13H mm
Voltage: 3.1 to 4.2VDC
3.7 MICROCONTROLLER -
As in a PC the input using keyboard or mouse are given to central processing unit
(CPU) then output given out using monitor, A PC majorly consists of –
1. Processor (measured in Hz)
2. Memory – (a) HDD (in Bytes)
(b) RAM (in Bytes)
3. Input / Output devices (no.)
A microcontroller also works similarly, where input using R/C, sensors are given to
Microcontroller which gives output using LCD, motor, LED etc., it’s a system scaled
down to a size of IC(chip), it consists of –
1. Microprocessor (in Hz)

11
2. Memory – (a) Flash (in bytes)
(b) SRAM (in bytes)
3. Input / Output pins (no.)
The microcontroller used in the project is AVR Atmel ATmega16. ATmega16 has
microprocessor of 16 MHz, flash memory of 16kb (hence ATmega16), SRAM of 1kb,
with 40 pins in PDIP (plastic dual inline package). These 40 pins, these are divided into
4 ports leaving 8 pins which are used for power supply.
40 pins are divided as seen from left side of board
- Pins 1 to8 are Port B (naming B.0, B.1, B.2, B.3, B.4, B.5, B.6, B.7)
- B.5 is MOSI (master output slave input).
- B.6 is MISO (master input slave output).
- B.7 is SCK (system clock).

12
- Pins 14 to 21 are port D (naming D.0 to D.7)
- D.0 and D.1 are RXD and TXD which are receiver and transmitters of Bluetooth
interface respectively.
- D.4 and D.5 are OC1B and OC1A.
- Pins 22 to29 are port C (naming C.0 to C.7)
- Pins 32 to 40 are port A (naming A.0 to A.7)
- Pin 9 is Reset
- Pins 10 and 11 are Vcc and GND for the power supply to microcontroller (5V
DC).
- Pins 12 and 13 are XTAL2 and XTAL1 respectively, which are crystal
oscillators.
- Pins 30 and 31 are AGND and AVcc for power supply to Analog to Digital
Convertor (ADC with 5V DC).
- Pin 33 is Aref i.e. reference voltage to ADC.
The ports and connectors in the microcontrollers are as follows –
Power Switch – It is used to turn the power supply of the board on. Power flows to
voltage regulators, only when the power switch is in down position. Voltage regulators
regulate the power supply to 5 volts and the power supply can be given through the
power connector or DC jack.
Reset Switch – It is used to reset the program to zero and restart the program execution.
During program execution, Reset switch is in down position and when downloading the
program to the chip, it should be in up position.
LEDs - Four LEDs are there on the board for the testing purpose. These can be
programmed to glow. Connection details are –
LED 1: PortC.1
LED 2: PortC.2

13
LED 3: PortC.3
LED 4: PortD.2
3.8 HARDWARE DESCRIPTION
LCD - Four LEDs are provided on the board for the testing purpose. These LEDs can be
programmed to glow. Connection details of the LEDs and microcontroller pins are
given below –
LED 1 : PortC.1
LED 2 : PortC.2
LED 3 : PortC.3
LED 4 : PortD.2
Each individual LED can be programmed to glow or to blink by programming the
corresponding microcontroller pin.
Programmable Micro-Switches – These switches are connected with microcontroller
and can be used as input device to the microcontroller. These switches can be used for
testing purpose. Connection details of these pins are given below –
S1 : PortD.7
S2 : PortC.0
When these switches are pressed, they actually short the corresponding microcontroller
pin with GND, so it is required to use internal pull up registers to use these switches as
input device.
3.8.1 Motor Connectors -

14
MOTOR1
For Connector 1 –
PWM Channel = PWM1B
Direction Bit = PortD.3
For Connector 2 –
PWM Channel = PWM1A
Direction Bit = PortD.6
MOTOR2
For Connector 1 –
PWM Channel = PortC.6
Direction Bit = PortC.7
For Connector 2 –
PWM Channel = PortC.4
Direction Bit = PortC.5
4. HOW TO USE THE EQUIPMENTS -
1. Connect the power supply to proper terminal of the board.
2. Connect the ISP cable on ISP header on the board and connect it at USB port of the
host computer.
3. Install the drivers of the ISP USB cable
4. Keep the reset button at up position and switch on the power button.
5. The board is now ready to download the program from the computer, make sure that
power is coming to the board and Power LED is glowing.

15
6. Open AVRDUDE software and upload the HEX file generated by compiling the
program in Bascom Software to Flash Option
7. Click on Execute command
8. Now, switch off the power button, disconnect the ISP cable, and change the reset
button position.
9. Switch on the power button to run your program.
5. SIMULATION AND EXPERIMENTATION-
Table 1
WHEEL CHAIR TYPES TURNING RADIUS(Inches)
Mid wheel drive
Wheel chair
20-26
Front wheel drive
Wheel chair
25-28
Rear wheel drive
Wheel chair
30-33
Table 2

16
WHEEL
CHAIR TYPES
Step, bump or
curb that is up
to 2 inches
Step, bump or
curb that is up
to 2.5 inches
Step, bump or
curb that is up
to 3.2 inches
Step, bump or
curb that is up
to 3.3 inches
and high
Mid wheel drive
Wheel chair
Yes Yes No No
Front wheel
drive
Wheel chair
Yes Yes Yes Yes
Rear wheel
drive
Wheel chair
Yes No No No
Table 3
WHEEL CHAIR TYPES Stability on straight path Stability on inclined path
Mid wheel drive
Wheel chair
equal more
Front wheel drive
Wheel chair
Equal moderate
Rear wheel drive
Wheel chair
Equal least
Stability due to battery allocation on an inclined plane:

17
Table 4
WHEEL CHAIR
TYPES
Front position Mid position End position
Front wheel drive
Wheel chair
Less stable stable stable
Mid wheel drive
Wheel chair
- - -
Rear wheel drive
Wheel chair
Stable stable Less stable
0
20
40
60
80
100
120
Mid wheel drive
Wheel chair
Front wheel drive
Wheel chair
Rear wheel drive
Wheel chair
Chart Title
turning radius obstacles Rear wheel drive
Wheel chair

18
6. PROGRAMMING -
Programming is done in BASIC Language using BASCOM – AVR.
About BASCOM – AVR : BASCOM – AVR is an IDE based development platform
and is developed by MCS Electronics. BASCOM uses BASIC programming language.
It is very easy to write, compile and download the program with BASCOM.
Basics of programming language required during programming –
1. Define $regfile – instruct the compiler to use the specified register file.
Syntax –
$REGFILE = "name_of_file"
Since we are using Atmega16 Microcontroller, we will define
$regfile= “m16def.dat” //this file is loaded for Atmel atmega16
2. $crystal –It defines the clock speed at which you want to run your microcontroller.
Syntax –
$CRYSTAL = Value
// Value - A numeric constant defining the Frequency of the crystal.
Example –
$crystal = 4000000 //it set the clock speed at 4MHz.
3. Config - The CONFIG statement is used to configure the various hardware devices
and other features of microcontroller.
We are required to configure the following hardware and features:
a) LCD

19
b) ADC
c) Timer
4. Defining Variables
To define a variable in BASCOM , the syntax is:
Syntax –
DIM var as type
Var- Name of Variable
Type - Bit, Byte, Word, Integer, Long, Single, Double or String
Example
Dim A as Integer
Dim B as String * 8
Example
Dim A as Integer
Dim B as String * 8
First statement is defining A variable as integer and second one is defining B variable as
String of 8 characters long. Other than Integer and String there many data types
available in BASCOM.
5. Start Command –
This command is used to start the specified device.
Syntax –
START device
Device - TIMER0, TIMER1, COUNTER0 or COUNTER1, WATCHDOG, AC
(Analog comparator power) or ADC(A/D converter power)

20
Example –
Start ADC
6. CLS Command
Clear the LCD display and set the cursor to home.
Syntax/ Example –
Cls
7. If – Else statement, Loops and Select – case statement
7.1. Do Loop
Do
<statements>
Loop
7.2. Do Until Loop
Do
<statements>
Loop until (condition)
7.3. While Loop
While (condition)
<statements>
end
7.4. If – else statement
If (condition) then

21
<statements>
else
<statements>
endif
7.5. If – elseif – else ladder statement
If (condition) then
<statements>
else if (condition)
<statements>
else
<statements>
endif
7.6. For loop
For (varname) = (starting point) To (end point)
STEP (value)
<statements>
Next
Example of For loop –
For A = 1 To 5 STEP 1
Print “Hello”
Next
7.7. Case – Select Statement
select case varname

22
case (test1 varname)
<statement>
case (test2 varname)
<statement>
case else
<statement>
End select
8. GETADC command
This command is used to take input from the analog sensor connected to the
development board. This command retrieves the analog value from channel 0-7 of port
A. The range of analog value is from 0 to 1023.
Syntax
var = GETADC(channel [,offset])
Var – The variable in which the value will be stored.
Channel – It is the pin no. of port A to which anolog sensor is connected.
Offset – It is an optional numeric variable that specifies gain or mode.
6.1PROGRAMS USED IN THE PROJECT –
6.1.1 LCD – LCD would be used to show a message or signal e.g. direction of the
wheels driven by motor (FORWARD, BACKWARD, LEFT, RIGHT). The
programme used is as follows –
$regfile = "m16def.dat".
$crystal = 1000000
ConfigLcd = 16 * 2
ConfigLcdpin = Pin ,Rs = Portb.2 , E = Portb.3 , Db4 = Portb.4 ,
Db5 = Portb.5 , Db6 = Portb.6 , Db7 = Portb.7

23
ConfigAdc = Single ,Prescaler = Auto , Reference = Avcc
Start Adc
Config Timer1 = Pwm ,Pwm = 8 , Prescale = 1 , Compare A Pwm = Clear
Down , Compare B Pwm = Clear Down
Start Timer1
Do
Lcd "delhi"
Lowerline
Lcd "mumbai"
Wait 10
Cls
Lcd "mumbai"
Lowerline
Lcd "noida"
Wait 5
Cls
Lcd "noida"
Lowerline
Lcd "amity"
Wait 5
Cls
Lcd "amity"
Wait 2
Cls
Loop
End
6.1.2 LED –
$crystal = 1000000
ConfigLcd = 16 * 2

24
Start Adc
Start Timer1
Config Portc.1 = Output
Config Portd.2 = Output
Do
Cls
Lcd "led ON"
Portc.1 = 1
Portc.2 = 1
Portc.3 = 1
Portd.2 = 1
Wait 5
Cls
Lcd "led OFF"
Portc.1 = 0
Portc.2 = 0
Portc.3 = 0
Portd.2 = 0
Wait 2
Loop
End
6.1.3 MOTOR – There are two motors used in the wheel chair to drive the wheels
and other two are freewheels. The two motors will be connected to the
microcontroller through the board. The motor will be programmed to run at a
particular range of speed predefined. To move forward and backward both the
wheels will move clockwise and anti-clockwise respectively, but to turn right
and left one motor will be completely stopped and other motor will keep
running, let’s say if we have to turn left, left wheel will completely stop and

25
right wheel will run and to turn right, right wheel will completely stop and left
wheel will keep running. A tabular chart depicting the different speeds fed
through programme are given below –
Table 5
Related
pins or
ports
Forward Left Right Stop Backward
Motor 1 Speed Pwm1a 150 100 0 0 105
Direction PortD.6 0 0 0 0 1
Motor 2 Speed Pwm1b 150 0/255 150 0 105
Direction PortD.3 0 0/1 0 0 1
A timer programme is added in the motor programme for delaying the
motor reaction after the signal is given to it by given seconds (1 or 2). The complete
programme is given as follows –
$crystal = 1000000
ConfigLcd = 16 * 2
Start Adc
Start Timer1
Do
Cls
Lcd "forward"
Pwm1a = 150
Portd.6 = 0
Pwm1b = 150

26
Portd.3 = 0
Wait 2
Cls
Lcd "left"
Pwm1a = 100
Portd.6 = 0
Pwm1b = 0
Portd.3 = 0
Wait 2
Cls
Lcd "stop"
Portd.6 = 0
Portd.3 = 0
Pwm1a = 0
Pwm1b = 0
Wait 2
Loop
End
6.1.4 SENSOR CALIBERATION – To ensure that there is no obstacle while
operating a sensor is provided so that when an object comes in front of the wheelchair
the motors stop running. For this a calibration of sensor is needed to ensure sensor is
working properly and giving signal at the right time to reduce the speed. The programme
is used to display obstacle or no obstacle also, as LCD screen shows “Obstacle”
message in case of obstacles and “no obstacle message” in case of no obstacles.
Programme for calibration is as follows –
$crystal = 1000000
ConfigLcd = 16 * 2
Start Adc

27
Start Timer1
Dim A As Integer
Do
Cls
A = Getadc(1)
Lcd A
Wait 1
Loop
End
6.1.5. BLUETOOTH – A Bluetooth module is used in the project to connect the
system with a smart phone using Bluetooth. As we know that when the Smartphone is
moved left, right, forward, or backward the accelerometer in the Smartphone identifies
the motion and forward the signal using Bluetooth app like Bluetooth with sensor. To
transfer this message program is fed to the system which is as follows –
$crystal = 2000000
$baud = 9600
ConfigLcd = 16 * 2
Start Adc
Start Timer1
Dim A As String * 1
Cls
Do

28
A = Waitkey()
Cls
LCD A
Loop
End
6.1.6 FINAL PROGRAM FOR THE WHEELCHAIR –
$regfile = "m16def.dat"
$crystal = 2000000
$baud = 9600
ConfigLcd = 16 * 2
Start Adc
Start Timer1
ConfigSerialin = Buffered , Size = 10
Enable Interrupts
Declare Sub Getsign(s As String)
Dim B As Byte , Sign As String * 5
Dim Ob As Integer , Nob As Integer , Mob As Integer , Ir As Integer
Cls
Lcd "sense obs"
Wait 3
Ob = Getadc(1)
Lowerline

29
Lcd Ob
Wait 1
Cls
Lcd "sense no obs"
Wait 3
Nob = Getadc(1)
Lowerline
Lcd Nob
Wait 1
Cls
Mob = Ob + Nob
Mob = Mob / 2
Cls
Do
Getsign Sign
Cls
Lcd "signal is :"
Lowerline
Lcd Sign
Wait 2
Cls
Lcd "moving"
Lowerline
If Sign = "FORWARD" Then
Lcd "fwd"
Pwm1b = 0
Portd.3 = 0
Pwm1a = 255
Portd.6 = 0
Elseif Sign = "BACKWARD" Then
Lcd "stop"
Pwm1b = 255
Portd.3 = 0
Pwm1a = 0
Portd.6 = 0
Elseif Sign = "LEFT" Then
Lcd "left"
Pwm1b = 0

30
Portd.3 = 0
Pwm1a = 0
Portd.6 = 0
Elseif Sign = "RIGHT" Then
Lcd "right"
Pwm1a = 255
Portd.6 = 0
Pwm1b = 255
Portd.3 = 0
End If
Wait 1
Loop
Sub Getsign(s As String)
S = ""
Do
Ir = Getadc(1)
If Ir> Mob Then
Cls
Lcd "obstacle"
Pwm1b = 255
Portd.3 = 0
Pwm1a = 0
Portd.6 = 0
End If
B = Inkey()
Select Case B:
Case 0
Case Else
S = S + Chr(b)
If S = "FORWARD" Or S = "BACKWARD" Or S = "LEFT" Or S = "RIGHT"
Then Exit Do
End Select
Loop
End Sub

31
7. CONCLUSION –
In our project we designed and fabricated Android Based Automated Smart Wheelchair,
which can be used on inclined and flat terrains and obstacles. The results are as follows-
1. Users can use their existing android phones to download and install the android
app to use it as a controller for their wheelchair.
2. The use of the existing android phone considerably reduces the cost of the
wheelchair.
3. The operation of the wheelchair is done by tilting the smartphone in different
directions.
4. Front wheel drive provides high maneuverability, have less turning radius as
compared to rear wheel drives and are optimal for handling obstacles and
inclines.
5. Obstacle avoiding feature is provided with the help of IR sensors.
6. The optimisation of ergonomics has been added in our design to make the
wheelchair more convenient and comfortable.
8. FUTURE PROSPECTS –
• Can also alarm the user about the obstacle.
• Improvements can be made by using various hand gestures of the user.
• Battery can be recharged by alternator.
• Automatic balancing of sitting area can be provided using secondary
accelerometer in case of bumps and curbs.
• Movements can be controlled and location of wheelchair can be tracked using
server connection.
• Eyes movement based automated wheelchair.

32
9. BIBLIOGRAPHY/REFERENCES -
• Based on the research paper
1. “Smartphone Accelerometer Controlled Automated Wheelchair” by
Vigneshwar. Santhanam and Vignesh. Viswanathan.
2. “Android Based Mobile Drive System “ by Anand bansal and Harshdeep.
Available online at www.ijecse.org
3. “Voice Operated Wheelchair” by Jayesh K.Kokate
Available online at www.ijret.org
4. “Voice and Gesture Based Wheelchair Using AVR and Android” by
D.Pundlik and P.Mahajan
Available online at www.ijettjournal.org
• http://psrcentre.org/images/extraimages/ICECEBE%20113824.pdf
• Wikipedia – Smartphone, http://en.wikipedia.org/wiki/Smartphone
• www.parth-shah.org
• www.nextsapiens.com
• http://eng.usf.edu/alqasemi/android
• http://www.societyofrobots.com
• http://www.electrical4u.com
• http://www.powerelectricalblog.com
• http://en.wikipedia.org
• http://www.slideshare.net/niteshsinghns/embedded-c-working-with-avr-studio
• http://www.resna.org/
• http://en.wikipedia.org/wiki/Human_factors_and_ergonomics

ANDROID BASED AUTOMATED SMART WHEELCHAIR

More Related Content

What's hot (20)

Viewers also liked (20)

Similar to ANDROID BASED AUTOMATED SMART WHEELCHAIR (20)

ANDROID BASED AUTOMATED SMART WHEELCHAIR