EYE- CONTROLLED

WHEELCHAIR

PROJECT MEMBERS
RINKU LAL GAUTAM
PRAFUL CHUGHA
NEHA WADHVA
RAJIV PARWANI 
 
PROJECT GUIDE
Mrs. ARCHANA SINGHI

B.E. ELECTRONICS & TELECOMMUNICATIONS

(2010-2011)
WATUMULL INSTITUTE OF ELCTRONICS ENGINEERING &
COMPUTER TECHNOLOGY.
 TOPIC SURVEY

1.RAMAN AMPLIFIER
2.MOBILE CONTROLLED ELECTRICAL
APPLIANCES
3.CONTROLLED WHEELCHAIR

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 CONTROLLING WHEELCHAIR

1.JOYSTICK CONTROLLED
2.SENSOR CONTROLLED
3.EYE CONTROLLED

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CONTENTS

1. OBJECTIVE.
2. ABSTRACT.
3. INTRODUCTION.
4. VARIOUS EYE TRACKING MECHANISMS.
5. DETAILED BLOCK DIAGRAM.
6. CIRCUITS.
7. SOFTWARE LOGIC.
8. WHEEL MECHANISM.
9. FUTURE SCOPE.
10.REFERENCES.
11.A PIECE OF ADVISE.

9/11/2009 EYE CONTROLLED WHEELCHAIR 4

OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS OBJECTIVE
DETAILED BLOCK
DIAGRAM
CIRCUITS • Improve quality of handicapped patients’ life.
SOFTWARE LOGIC
WHEEL MECHANISM
FUTURE SCOPE • Lets patients maneuver with the wheelchair more
REFERENCES
conveniently and avoid calamities.

• The optical pupil tracking and wheelchair control are

combined to provide mobility to completely paralysed
people.

• Two different research domains, namely, the optical pupil

tracking and wheelchair control are combined to provide a
control device for people with physical disabilities.

• The domain of this project is “Human-Computer Interface

(HCI)”.

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ABSTRACT
• Describes an eye-control wheelchair, based on
“Human-Computer Interface (HCI)”.

• Consists of a standard electric wheelchair with an on-

board computer, electric circuits and a graphic user
interface run by the computer.

• This control technique could be useful in multiple

applications, such as mobility and communication aid
for handicapped persons primarily helping patients
suffering from quadriplegic and paraplegic diseases.
OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS INTRODUCTION
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC
WHEEL MECHANISM
FUTURE SCOPE • A wheelchair aid’s persons with moderate/severe
REFERENCES
physical disabilities or chronic diseases.

• Various kinds of interface have been developed for

wheelchair control such as joystick control,heart beat and
through censors.

• Difficulty in maneuvering .

• Mistakes in maneuvering the wheelchair may bring

calamities such as overturn,fall out of the wheelchair,etc.

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 VARIOUS TYPES OF EYE TRACKING
MECHANISMS

There are three systems that can be used to

compute the position of pupil .They are as
follows:

1.Electro-Oculogram method(EOG)method.

2. Lens System .

3. Head Mounted Camera System.

EOG METHOD PROCEDURE.
• The electrodes will be
attached to the user’s
face .
• A total of five electrodes C
will be used .
• One electrode will be A B

placed to the side of the D

left eye and another to E
the side of the right eye.
• One electrode will be
placed above the left eye
and another below the left
eye.
• A fifth electrode will be
attached by the ear.
OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM ADVANTAGES AND DISADVANTAGES
VARIOUS EYE TRACKING
MECHANISMS OF EOG METHOD.
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC
WHEEL MECHANISM Electrodes methods:
FUTURE SCOPE
REFERENCES

ADVANTAGES

• Both eyes can be recorded together

• Least expensive

• Simple to use

DRAWBACKS

• It is limited to horizontal and vertical movements

• Poor accuracy for absolute positioning

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LENS SYSTEM PROCEDURE
• A non slipping contact
lens fits over corneal
bulge.

• Tracking is recorded by
affixing a magnetic coil or
mirror to the lens.

• Mechanism employing
lens to detect eye
movements is shown in
the figure.
 HEAD MOUNTED CAMERA METHOD

PROCEDURE

1.Uses a camera to capture eye images, and

tracks pupil motion by means of image
processing program.

2. The centre position of the moving pupil is

computed at the computer.

3. The calculated result is then transmitted to the

powered wheelchair through serial port.
OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS 3. Head Mounted Camera method
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES

ADVANTAGES

• Doesn’t restrict the user’s head movements.

DRAWBACKS

• More awkward to use than the desk-based system

as the user has to have instrument mounted to
head
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 TYPES OF DETAILED BLOCK DIAGRAM

There are 2 types of block diagrams for eye

controlled wheelchair.

1.WIRELESS.
• The wireless version of the wheelchair suits the
scenario where similar wheelchairs operate
within a certain region (such as hospitals etc) .
2.WIRED
• Works on the similar lines as the one employing
wireless means of communication
• It does not involve the encoder—decoder and
the transmitter—receiver modules.
 WIRELESS BLOCK DIAGRAM
COMPONENTS

1.COMPUTER.
2.OPTO-ISOLATOR.
3.ENCODER(HT12E).
4.TRANSMITTER MODULE.
5.RECEIVER MODULE TUNED TO 315 MHZ.
6.DECODER.
7.MOTOR DRIVING CIRCUIT.
 EXPLANATION OF COMPONENTS IN
DETAIL
1.COMPUTER.
• Computer terminal serves the main purpose of
accepting real time video from source (webcam\
stored video) .
• Processes it to generate motor actuation
signals.
• Sampling real time video at a considerably
higher rate and generate a series of images.
• Processed to determine the eye movements
using image processing.
• Corresponding actuation signals are released
through the parallel port.
 EXPLANATION OF COMPONENTS IN
DETAIL
2.ISOLATOR
• Additional stage used for isolation of transmitter circuitry
and computer port. . We use MCT2E opto-isolator.
3.ENCODER.
• Main purpose of encoder IC is to synchronize the
movement of receiver . encoder used here is HT12E .
4.TRANSMITTER MODULE.
• ASK technique of modulation is used .
• Carrier frequency chosen is 315MHz.
• RF module is used.
• ¼ wave antenna (17 cm) is used to radiate signals.
 EXPLANATION OF COMPONENTS IN
DETAIL

5.RECEIVER MODULE.
• The receiver, tuned to 315 MHz, is basically an ASK
demodulator .
• It gives digital data stream at its output, which is further
decoded.
6.DECODER.
• Converts the serial data stream into parallel data. HT12D
decoder IC is used .
7.MOTOR DRIVERS.
• Decoded data is used for controlling the operation of the
motors.
• Used to switch the motors to move in clockwise or
anticlockwise direction.
OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS DETAILED BLOCK DIAGRAM
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC Wireless
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES

OPTO ISOLATOR
OPTO ISOLATOR

ENCODER
ENCODER

TRANSMITTER MODULE
TRANSMITTER MODULE

RECEIVER MODULE
RECEIVER MODULE

DECODER
DECODER

MOTOR DRIVING CIRCUIT

MOTOR DRIVING CIRCUIT

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OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS DETAILED BLOCK DIAGRAM
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC Wired
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES

OPTO ISOLATOR
OPTO ISOLATOR

MOTOR DRIVING CIRCUIT

MOTOR DRIVING CIRCUIT

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OBJECTIVE

CIRCUIT DIAGRAM
INTRODUCTION
PROPOSED SYSTEM

(MOTOR DRIVE CIRCUIT)

VARIOUS EYE TRACKING
MECHANISMS
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES

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OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS ALGORITHM
DETAILED BLOCK
DIAGRAM
CIRCUITS STEP 1: Start
SOFTWARE LOGIC
WHEEL MECHANISM STEP 2: Reset the system’s initial values.
FUTURE SCOPE
REFERENCES STEP 3: Set the counter value to zero.

STEP 4: Take Real Time Video from Source (Camera or Webcam or stored video).

STEP 5: Convert Real Time Video into frames.

STEP 6: Store the frames in form of matrix.

STEP 7: Prepare the digital negative of the matrix.

STEP 8: Determine the quadrant in which pupil lies.

STEP 9: Is there any change in direction? If YES go to STEP 3, else go to next step.

STEP 10: Increment counter value by 1.

STEP 11: Is counter value greater than threshold value? If NO go to STEP 4, if YES determine
the direction of movement.

STEP 12: Generate activation signals for the relay motor driving circuit. Go to STEP 4 and
continue.
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OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
Start
FLOWCHART
MECHANISMS Reset Initial values
DETAILED BLOCK
DIAGRAM Set Counter value to zero
CIRCUITS
SOFTWARE LOGIC Take Real Time Video from source
WHEEL MECHANISM
Divide the video into frames
FUTURE SCOPE
REFERENCES
Store the frames in form of matrix

Determine the quadrant

Yes
Any change in direction?

No
Increment Counter value by 1

Is counter value greater than No

threshold ?

Determine direction Yes

Generate activation signals

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OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS
OUTOUT OF MATLAB
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES

Eye Image Negative

POSITION: CENTER

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OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS
DETAILED BLOCK
Wheel Mechanism
DIAGRAM
CIRCUITS
SOFTWARE LOGIC
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES FORWARD MOVEMENT

ANTI CLOCKWISE
CLOCKWISE
OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING
MECHANISMS
DETAILED BLOCK
Wheel Mechanism
DIAGRAM
CIRCUITS

LEFT MOVEMENT
SOFTWARE LOGIC
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES

ANTI ANTI
CLOCKWISE CLOCKWISE

CLOCKWISE RIGHT MOVEMENT CLOCKWISE

OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM
VARIOUS EYE TRACKING FUTURE SCOPE
MECHANISMS
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC • Faster processing
WHEEL MECHANISM
FUTURE SCOPE
REFERENCES
• Lens controlled

• Brain Controlled

• Multi-Application Auto Mobility System .

• Impact on bollywood.sanjay leela bhansali is

making a movie in which he uses a wheel chair
controlled by the patients heart beat.

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OBJECTIVE
INTRODUCTION
PROPOSED SYSTEM

REFERENCES
VARIOUS EYE TRACKING
MECHANISMS
DETAILED BLOCK
DIAGRAM
CIRCUITS
SOFTWARE LOGIC
FUTURE SCOPE [1] A. Haro, M. Flicker and I. Essa, “Detection and tracking eyes by
REFERENCES using their physiological properties, dynamics and appearance,”
Proceedings of IEEE CVPR 2002.
[2] P. Smith, M. Shah, N. Lobo, “Monitoring head/eye motion for driver
alertness using one camera,” Proceedings of the International
Conference on Pattern Recognition, 2000.
[3] C. Morimoto, Eye Tracking, 2003,
http://www.ime.usp.br/~hitoshi/framerate/node2.html
[4] Robert J.K. Jacob. "Eye Movement-Based Human-Computer
Interaction Techniques: Toward Non-Command Interfaces". Human-
Computer Interaction Lab. Naval Research Laboratory. Washington,
D.C.
[5] Reference Manual, Intel Image Processing Library, Document
663791-005, Intel Corporation, 2000,
http://www.cs.nott.ac.uk/~jzg/nottsvision/ipldoc.pdf
[6] www.matlabcentral.com

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 A PIECE OF ADVISE TO THE VIEWERS

• Please respect and help people who are

disabled
• According to our group they are not disabled but
differently abled and far more superior than all of
us .
• They are people with a golden and a strong
heart.
• This project we have made from our heart and
our brain has assisted us.
• This project is close to our heart.
 FAMOUS ACHIEVERS

• STEPHEN HAWKING
• Dr. SURESH ADVANI
• CHRISTOPHER REEVES
• FRANKLIN D. ROOSEVELT

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 THANK YOU

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