1. WHEELCHAIR FOR
PHYSICALLY DISABLED
PEOPLE WITH VOICE,
ULTRASONIC
AND INFRARED SENSOR
CONTROL
PRESENTED BY:
 RAMEESHA KHALID
 SUNDUS HAYAT KHAN
 NABEEL AHSAN
 AZHAR MALIK

2. TABLE OF CONTENT
 Introduction
 Driving modes
 Mode selection
 Controlling modes
 Block diagram
 Electronic system configuration
 Block diagram
 Detection using infrared sensor
 Advantages
 Conclusion
 Future modifications

3. INTRODUCTION
 Designed specially for a person having physical disability.
 A dependent-user recognition voice system and ultrasonic and infrared
sensor systems has been integrated.
 Avoid obstacles and detect stairs or holes and allow autonomous driving
(for example, following walls).

4. Joystick control:
use joystick in driving mode.
 This mode is called "Manual control".
With voice commands:
 wheelchair is controlled by various voice commands.
 sensors act as a safety means while giving the commands
 Sensors protects from unexpected presence of obstacles. The
user can activate or deactivate the sensors, either the
ultrasonic or the infrared or both.
 This driving mode is called "Voice control".
Autonomous driving:
 Wheelchair follow walls or forward movement around
obstacles.
 This permits the user to move around in certain
environments, such as hospitals, rehabilitation centers, etc.,
without the need of voice commands constantly to the
wheelchair.
 This mode is called "Autonomous control".
DRIVING MODES

5. MODE SELECTION

6. CONTROLLING MODES
Voice control
 A set of 9 voice commands
 Chosen by user and recorded in a memory card
 Each command has an associated function: "Stop",
"Forward", "Back", "Left", "Right", "Plus", "Minus",
"Password" and "Track".
Autonomous Control
 "Track", allows switching between the "Voice
Control" and the "Autonomous Control" modes
 "More" and "Less permits the linear speed in
autonomous mode.
 Wheelchair follows walls at a certain distance from
same..

7. Fuzzy Control of the Sensor System.
 All sensors that are activated in a wheelchair, detects and avoid
collision with the obstacles.
 In case of moving obstacles, speed reduces until the obstacle
disappears from the path of the chair.
 Controller sets an i/p and o/p coefficients between 0 and 1 in order to
reduce and reestablish the linear speed.

8. BLOCK DIAGRAM OF THE
FUZZY CONTROLLER.

9. ELECTRONIC SYSTEM
CONFIGURATION
The main blocks in the system are as follows:
 Feedback control of the angular speed of
each motive wheel.
 Power and Activation Motor Unit.
 Speech Recognition Unit.
 Ultrasonic and Infrared Systems.
 Memory Board.
 User Interface (Display and keyboard)

10. BLOCK DIAGRAM OF AN
ELECTRONIC SYSTEM

11. DETECTION OF STAIRS USING
INFRARED SENSOR
𝑥
𝑓
=
𝑎
𝑑
⇒ 𝑑 = f
𝑎
𝑥
where
x: position measured by the PSD.
f: focal distance of the PSD optical
system.
a: distance between the IRED and
PSD.
d: desired distance.

12. ADVANTAGES
 To guarantee easy, comfortable driving.
 To respond to the speed requirements for a system of this type (maximum speeds of
up to 3 m/s).
 To be easily adaptable to any type of commercial wheelchair chassis.
 Easy to handle the chair and obtaining maximum efficiency.
 To guarantee practically constant speeds, to a large extent independently of the
characteristics of the surface over which the wheelchair is moving (greater or lesser
roughness of the floor or ground and the slope of same) and the weight of the person
using it.

13. CONTINUE..
 To make the system easily configurable, on the basis of the needs of the user:
activating or de-activating of the various sensors, selection of different voice patterns,
selection of different speed margins, human-machine interface which permits up-to-
date information on the state of tile wheelchair, etc.
 To make it possible for the same wheelchair to be used by various people without the
need for recording the voice patterns each time the wheelchair is to be used. This has
been achieved thanks to a memory board which can be personal for each user.
 To make the electronic system open to future additions.

14. CONCLUSION
Compared with other prototypes developed, this chair has the advantage of including a
control system for voice commands together with a multi-sensor system which allows
obstacles and important changes of level in floors to be detected (such as downward
staircases). All this allows people to move around in an easy manner (the voice commands
used are few) and a safe one (thanks to the sensor support), even in environments where
there are elements which could put these movements at risk

15. FURTHER MODIFICATIONS
 Eye movement.
 Self propelling with underwater mobility.
 “Convertible” i.e. from sitting to a standing position
and continue to move.

16. REFERENCES
 http://ww.geintra-uah.org/en/system/files/private/fulltext.pdf
 http://rvsn.csail.mit.edu/wheelchair/
 http://www.bluebadgestyle.com/2012/11/are-these-the-wheelchairs-
of-the-future/