Wireless Head Gesture Controlled Robotic Wheel Chair for Physically Disable Persons

摘要

A robotic wheelchair is assumed to be capable of doing tasks like navigation, obstacle detection, etc. using sensors and intelligence. The initial part of the work was development of a cap controlled wheelchair to test and verify the gesture operation. Following that, a real time operating wheelchair was developed consisting of mode changing option between joystick control mode and head gesture control mode as per as the user’s requirement. The wheelchair consists of MPU6050 sensor, joystick module, RF module, battery, dc motor, toggle switch and Arduino. The movement of the head is detected by MPU6050 and the signal is transmitted to the microcontroller. Then the signal is processed by controller and motion of wheelchair is enabled for navigation. The wheelchair was capable of moving left, right, forward and backward direction. The speed of the wheelchair was 4.8 km/h when tested. Design objective of the wheelchair included cost effectiveness without compromising safety, flexibility and mobility for the users.