Wheel Chair Report

Hand Gesture Controlled Wheel Chair
ABSTRACT
For the people with physical disability , sickness or injury in their legs, wheelchairs are
designed to ease their mobility and to provide them with proper moving technology. This paper
describes an intelligent motorized wheelchair for physically handicapped people using flex sensor
technology.
Such a wheelchair helps physically handicapped people to navigate without the help of
any other individual. It consists of a FLEX SENSOR connected to a microcontroller which drives
the motor in the desired direction of the operator. To drive the wheelchair we use flex commands
like forward, backward, left and right to take it in their respective directions. These directions are
controlled by the command valid through Flex Sensor. FLEX SENSOR produces analog signal
i.e its resistance increases or decreases depending on the direction of bend which is given to the
microcontroller, the microcontroller converts three analog signals into digital using the inbuilt
ADC, therefore different ADC values are obtained with different touch positions. Depending on
the angle and direction of bend corresponding ADC values are calculated by microcontroller and
the motor moves in the desired direction.
The design of wheelchair in a real time system to make a simple hand gesture recognition
method to be used in rehabilitation of people who have mobility issues particularly Spinal Cord
Injury (SCI) and some of the Stroke Patients. The idea is to implement a low cost control device
called Hand Gesture or by using touch sensor for the patients to control the wheelchair and they
can survey themselves for their basic needs and they need not to depend on others to guide those
patients. The system was developed to indicate the directions for the patients to move on
the flat surface and also measure the patient heart beat pulse. If the patient able to use their hand
or finger means by using a Gesture control method or else flex sensor helps to move in a desired
directions.
We also including here a GSM module in the case of emergency and if the patient feels
unsecure . Person will be capable to control the chair in limited space, because this project uses
the IR sensors which are also helpful in avoiding object. In addition, the SMS will be sent to the
family members in the case of emergency by pressing a single switch. In such case ,the chair will
move forward, backward, left, right and will alert the family members whose number are pre-
saved in distress call module.
BVCOE KOLHAPUR Page 1

1.1 INTRODUCTION
A Gesture is a form of non-verbal communication in which visible bodily actions

communicate particular messages, either in place of speech or together and in parallel with
spoken words. Gestures include movement of the hands, face, or other parts of the body. The
movement of gestures can be used to interact with technology, using touch or multi-touch
popularized by the iPhone, physical movement detection and visual motion capture, used in video
game consoles. Gesture recognition is a topic in language technology with the goal of interpreting
human gestures via mathematical algorithms. Gestures can originate from any bodily motion or
state but commonly originate from the face or hand. Current focuses in the field include emotion
recognition from the face and hand gesture recognition.
Gesture recognition can be seen as a way for computers to begin to understand human
body language, thus building a richer bridge between machines and humans than primitive text
user interfaces or even GUIs (graphical user interfaces), which still limit the majority of input to
keyboard and mouse. Gesture recognition enables humans to interface with the machine (HMI)
and interact naturally without any mechanical devices. Using the concept of gesture recognition,
it is possible to point a finger at the computer screen so that the cursor will move accordingly.
This could potentially make conventional input devices such as mouse, keyboards and even
touch-screens redundant
Driving a wheelchair in day to day life is difficult and becomes even more difficult for a
person with physical disability. Some people with arms disability cannot navigate the wheelchair
in the desired direction. Therefore Automatic wheelchair is developed to solve the problem for
navigation and safe movement in the desired direction. Different input methods can be used to
perform task.
In this wheelchair, we are using four Flex Sensor command for the mobility in desired
direction. Flex sensor are resistive sensors that change in resistance depending on the amount of
bent on the sensor. This sensor is used to control the direction of wheelchair i.e. left, right,
forward, backward. Also an IR sensor is used to detect any obstacle that comes in between. A
crystal Oscillator is used to give clock signal and dc motor drivers are used to rotate the dc motor
in the desired orientation.
We also including here a GSM module in the case of emergency and if the patient feels
unsecure . Person will be capable to control the chair in limited space, because this project uses
the IR sensors which are also helpful in avoiding object. In addition, the SMS will be sent to the
family members in the case of emergency by pressing a single switch. In such case ,the chair will
move forward, backward, left, right and will alert the family members whose number are pre-
saved in distress call module.
In this wheel chair we also attached a display for displaying the what are the functions
actually happening with the chair. We also implementing a switch for the acknowledgment . And
a micro controller ATmega 16 is used to control the entire circuit.

2.1 LITERATURE SURVEY
U. Rajkanna and M. Mathankumar introduced “Hand Gesture Based Mobile Robot

Control Using PIC Microcontroller”. In this work, gesture of the user controls the movement of
the mobile robot. The developed system is classified into gesture unit and mobile robot unit.
“Hand Gesture Based Wheelchair Movement Control for Disabled Person Using MEMS”
presented by Prof. Vishal V. Pande, Nikita S.Ubale Darshana P. Masurkar, Nikita R. Ingole,
Pragati P. Mane This paper is to develop a wheel chair control which is useful to the physically
disabled person with his hand movement or his hand gesture recognition using Acceleration
technology The aim of this paper is to implement wheel chair direction control with hand gesture
reorganization.
“Wheel Chair Motion Control Based On Hand Gesture Recognition” presented by
Gowthaman.A1, Ranjith kumar.R1, Varunarajan.MV1, Ganesh Babu.P2 In this paper, the
accelerations of a hand in motion in three perpendicular directions are detected by a MEMS
accelerometer and transmitted to a PC via Bluetooth wireless protocol.
“Accelerometer Based Direction Controlled Wheelchair Using Gesture Technology”
presented by Manisha Devi1, B.Anil Kumar2. This paper presents a model for Gesture controlled
user interface (GCUI), and identifies trends in technology, application and usability. We present
an integrated approach to real time detection, gesture based data glove technique which controls
the wheelchair using hand movements.
“Accelerometer Based Gesture Controlled wheel chair with GPS, GSM navigation”
presented by Nakul k Patel1, Saurabh b Patel1, Mansuri mo. Ammar 1 Keeping in mind, the
problems faced by handicapped people and their co-ordination with their wheel chair, we are
introducing a futuristic and reliable system named "Accelerometer Based Gesture Controlled
wheel chair with GPS, GSM navigation" which can interface gesture with micro controller.
“Hand Gesture Recognition using Microcontroller & Flex Sensor” presented by Prapat
Parab1, Sanika Kinalekar2, Rohit Chavan3, Deep Sharan4, Shubhadha Deshpande5. This paper
presents how to lower the communication barrier between the mute communities with the general
public. It is based on the need of developing an electronic device that can translate sign language
into commands in order to make the communication. A Wireless data gloves is used which is
normal cloth driving gloves fitted with flex sensors along the length of each finger and the thumb.
“Speech and flex sensor controlled wheelchair for physically disabled people” presented
by 1 Shruti Warad,2 Vijayalaxmi Hiremath, 3Preeti Dhandargi, 4 Vishwanath Bharath,
5P.B.Bhagavati. This paper describes an intelligent motorized wheelchair for physically handicap
person using dependent user speech controlled and flexes sensor technology. In this project, to
drive the wheelchair we are using speech commands “forward, backward, maximum, medium,
minimum and stop”. The direction of the wheelchair is controlled by flex sensor application.
“Hand movements based control of an intelligent wheelchair Using Accelerometer,
obstacle avoidance Using Ultrasonic and IR sensors” presented by D.Anjaneyulu*, Mr. B.V.N.R.
Siva Kumar. In this project we used Accelerometer, ultrasonic and infrared sensor systems has
been integrated in this wheelchair. The MEMS sensor is used for senses the angle of the hand, i.e.
according to the tilt of hand it gives voltages to microcontroller.
“Wheelchair for Physically Disabled People with Voice, Ultrasonic and Infrared Sensor
Control” presented by ManuelMazo, Francisco J. Rodriguez, Josi. This paper describes a
wheelchair for physically disabled people developed within the Project. A dependent-user

recognition voice system and ultrasonic and infrared sensor systems has been integrated in this
wheelchair.
“Wheel-Chair Control Using Accelerometer Based Gesture Technology” presented by
Sandeep, Supriya. This work presents a novel approach to gesture recognition system using
accelerometer MEMS sensor in addition with ultrasonic obstacle detection. This methods based
on joystick and camera based vision where camera is always tracking the movement of different
body parts like face, eye etc.
“Accelerometer Based Hand Gesture Controlled Wheelchair” presented by Diksha Goyal
and Dr. S.P.S saini. In this system, presents a gesture based wheelchair which controls the
wheelchair using hand movements. The system is divided into two main units: MEMS Sensor
and wheelchair control. The MEMS sensor, which is connected to hand, is an 3-axis
accelerometer with digital output (I2C) that provides hand gesture detection, converts it into the
6- bit digital values and gives it to the PIC controller.

3.1 PROPOSED WORK
3.1.1 Block Diagram & Explanation:
A) Transmitter :
Flex sensors
RF module
Signal Transmitter
Conditioning Arduino nano
Circuit
Battery
Figure 3.1.1: Block Diagram of Transmitter
The main block diagram of the proposed system is as shown in the fig.(3.1.1,3.1.2). The
block diagram has two parts that are transmitter and receiver. Transmitter mainly consist of flex
sensors, signal conditional circuit, arduino nano, battery and the RF modules transmitter.
At the transmitter the flex sensors are used that are work on the principle of the strain
gauge as the flex sensor gets bend the resistance in it changes which passes the analog signal to
the arduino nano. When the flex sensor gets bend the area increases which causes to increase in
resistance. There are four flex sensors. Each sensor has a particular direction. The directions are
forward, backward, left, right for four fingers. Then there is a signal conditioning circuit. In
electronics, signal conditioning means manipulating an analog signal in such a way that it meets
the requirements of the next stage for further processing. Most common use is in analog-to-digital
converters. Then this analog signal is given to the arduino nano.
The arduino nano is used here for the analog to digital conversion and also for the
transmitting purpose. The output from signal conditioning circuit is the input for arduino nano. In

the arduino nano there is a inbuilt analog-to-digital convertor, which is a comparator type. By that
the analog signal is converted in the digital. That digital signal is required for the wireless
transmission. And then the digital signal is transmitted through the RF modules transmitter.
Which has the transmission frequency of 433 MHz. The 9V battery is used for the power supply
required for the transmitter circuit.
B) Receiver :
RF module
Receiver GSM Module
IR
Microcontroller
sensors
(ATmega16)
Motor Driver Motor1
Manual Switch
Motor Driver Motor2
Buzzer
LED
Figure 3.1.2: Block Diagram of Receiver
Then the receiver block diagram as shown in the fig.(3.1.2). the digital transmitted signal
is received by the RF modules receiver. It also have the receiving frequency of 433 MHz. The
main component of the receiver block diagram is the microcontroller. Here we have used the
Atmega16 microcontroller to control all the functions of the system. The received signal is given
to it. As per the received signal from transmitter, controller rotates the motors in particular
direction. The motors need the current which higher than the supplied from the microcontroller.
So, for that we have used the LM293D motor driver, which amplifies the current. The voltage

regulator also provided for the voltage required for the controller. The IC74125 is also used for
the connection purpose. As we are connecting the different modules to the controller the
reception pins are less for Atmega16. So by that connector IC we can connect the RF module as
well as the GSM.
For obstacle detection there are IR sensors at receiver side. As the obstacle detected the
digital output is obtained which is given to the controller. By that the controller turns on the
buzzer and gives the indication to the patient.
The GSM module is used here for the emergency case. Whenever the patient feels
insecure or if he falls from the chair even if requires something from the relatives he just have to
press the button. By which the SMS’s are send to the relatives by the GSM module. The GSM
module used here is the SIM800L.
There is a 16*2 LCD display also, by that display all the functions going on to perform
are displayed. Such as any movement given by the flex sensor that is displayed on the display.
Also the GSM status is displayed. And if any obstacle is detected that is also displayed. Buzzer is
used for the indication purpose.
The motors used here are the DC geared motors. This motors are having the 60 rpm
torque. And are of 12v operating voltage. For the receiver side power supply there is a battery of
12v and 8A . On which the all systems works.

3.2 CIRCUIT DIAGRAM:

3.3 COMPONENT DETAILS
3.3 COMPONENTS USED:
 AT MEGA16A
 FLEX SENSOR
 DC MOTOR
 L293D MOTOR DRIVER
 BATTERY
 LCD
 BUZZER
 LED
 SWITCH
 RF MODULE
 BUFFER IC 74125
 GSM MODULE
 IR SENSORS
 ARDUINO NANO

3.3.1 ATMEGA16A:
Fig 3.3.1 ATmega16A
PIN DISCRIPTION:
VCC : Digital supply voltage.
GND: Ground
PORTA (PA7-PA0):-
Port A serves as the analog inputs to the A/D converter. Port A also serves as an 8bit bidirectional
I/O port, if the A/ Converter is not used. Port pin can provide internal pull-up resistors. The port
A output buffers have symmetrical drive characteristics with both high sink and source capability.
When pins PA0 to PA7 are used as inputs and are externally pulled low,

they will source current if the internal pull-up resistors are activated. The port A pins are tri-
stated when a reset condition becomes active, even if the clock is not running.
PORTB (PB7-PB0):-
Port B is a bi-directional I/O port with internal pull-up resistors. The Port B output buffers have
symmetrical drive characteristics with both high sink and source capability. As inputs, port B
pins that are externally pulled low will source current if the pill up resistors are activated. The
port B pins are tristated when a reset condition becomes active, even if the clock is not running.
PORTC(PC7-PC0):-
Port C is an 8 bit bi-directional I/O port with internal pull up resistors. The port C output buffers
have symmetrical drive characteristic with both high sink and source capability. As inputs, pot C
pins that re externally pulled low will source current if the pull up resistors are activated. The
port C pins are tristated when a reset condition becomes active, even if the clock is not running.
If the JTAG interface is enabled, the pull up resistors on pins PC5(TDI),PC3(TMS),PC2(TCK)

will be activated even if a reset occurs.
PORTD(PD7-PD0):-
Port D is an 8 bit bi-directional I/O port with internal pull up resistors. The port C output buffers
have symmetrical drive characteristic with both high sink and source capability. As inputs, port D
pins that re externally pulled low will source current if the pull up resistors are activated. The
port B pins are tristated when a reset condition becomes active, even if the clock is not running.
RESET : Reset input.

XTAL1 : Input to the inverting oscillator amplifier and input to the internal clock operating
Circuit.
XTAL2 : output from the inverting oscillator amplifier.
AVCC : AVCC is the supply voltage pin for port A and A/D conveter.
AREF : AREF is analog reference pin for the A/D converter.
Features:
 High-performance, Low-power Atmel AVR 8-bit Microcontroller

 Advanced RISC Architecture
• 131 Powerful Instructions – Most Single-clock Cycle Execution
• 32 x 8 General Purpose Working Registers
• Fully Static Operation
• Up to 16MIPS Throughput at 16MHz
• On-chip 2-cycle Multiplier
 High Endurance Non-volatile Memory segments
• 16KBytes of In-System Self-programmable Flash program memory
• 512Bytes EEPROM
• 1KByte Internal SRAM
• Write/Erase Cycles: 10,000 Flash/100,000 EEPROM
• Data retention: 20 years at 85°C/100 years at 25°C
 Optional Boot Code Section with Independent Lock Bits
• In-System Programming by On-chip Boot Program
 True Read-While-Write Operation
• Programming Lock for Software Security
 JTAG (IEEE std. 1149.1 Compliant) Interface
• Boundary-scan Capabilities According to the JTAG Standard
• Extensive On-chip Debug Support
• Programming of Flash, EEPROM, Fuses, and Lock Bits through the JTAG Interface

Peripheral Features:
 Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes

 One 16-bit Timer/Counter with Separate Prescaler, Compare Mode, and
 Capture Mode
• Real Time Counter with Separate Oscillator
• Four PWM Channels
• 8-channel, 10-bit ADC
 8 Single-ended Channels
 7 Differential Channels in TQFP Package Only
 Differential Channels with Programmable Gain at 1x, 10x, or 200x

• Byte-oriented Two-wire Serial Interface
• Programmable Serial USART
• Master/Slave SPI Serial Interface
• Programmable Watchdog Timer with Separate On-chip Oscillator
• On-chip Analog Comparator
3.3.2 FLEX SENSOR:
Fig 3.3.2 Flex Sensor

The impedance buffer in the is a single sided operational amplifier, used with these
sensors because the low bias current of the op amp reduces errer due to source impedance of the
flex sensor as voltage divider. Suggested op amps are the LM358 or LM324.
Adjustable Buffer - a potentiometer can be added to the circuit to adjust the sensitivity range.
Variable Deflection Threshold Switch - an op amp is used and outputs either high or low
depending on the voltage of the inverting input. In this way you can use the flex sensor as aswitch
without going through a microcontroller.
Resistance to Voltage Converter - use the sensor as the input of a resistance to voltage converter
using a dual sided supply op-amp. A negative reference voltage will give a positive output.
Should be used in situations when you want output at a low degree of bending.
Features:
 Angle Displacement Measurement

 Bends and Flexes physically with motion device
 Height: 0.43mm (0.017")
 Temperature Range: -35°C to +80°C
 Flat Resistance: 10K Ohms
 Resistance Tolerance: ±30%

 Bend Resistance Range: 60K to 110K Ohms
 Power Rating : 0.50 Watts continuous. 1 Watt Peak
3.3.3 DC MOTOR:
Fig 3.3.3 DC motor

Geared motors for robotics applications. Very easy to use and available in standard size.
Nut and threads on shaft to easily connect and internal threaded shaft for easily connecting it to
wheel.
Features:
 60RPM 12V DC motors with Gearbox
 6mm shaft diameter with internal hole 125gm weight
 Same size motor available in various rpm 2kgcm torque
 No load current = 60 mA(Max), Load current = 300 mA(Max)
3.3.4 L293D MOTOR DRIVER:
Fig 3.3.4 L293D motor driver
The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to
provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is
designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V.
Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar
stepping motors, as well as other high-current/high-voltage loads in positive-supply applications.

All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a
Darlington transistor sink and a pseudo-Darlington source.
Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4
enabled by 3,4EN. When an enable input is high, the associated drivers are enabled and their
outputs are active and in phase with their inputs. When the enable input is low, those drivers are
disabled and their outputs are off and in the high-impedance state. With the proper data inputs,
each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor
applications. On the L293, external high-speed output clamp diodes should be used for inductive
transient suppression. A VCC1 terminal, separate from VCC2, is provided for the logic inputs to
minimize device power dissipation. The L293and L293D are characterized for operation from
0°C to 70°C.
Features:
 Featuring Unitrode L293 and L293D
 Products Now From Texas Instruments
 Wide Supply-Voltage Range: 4.5 V to 36 V
 Separate Input-Logic Supply
 Internal ESD Protection
 Thermal Shutdown
 High-Noise-Immunity Inputs
 Output Current 1 A Per Channel (600 mA for L293D)
 Peak Output Current 2 A Per Channel (1.2 A for L293D)
3.3.5 LCD:
Fig 3.3.5 LCD

The LCD unit receives character codes (8 bits percharacter) from a microprocessor or
microcomputer, latches the codes to its display data RAM (80-byte DD RAM for storing 80
characters), transforms each character code into a 5 ×7 dot-matrix character pattern, and displays
the characters on its LCD screen. The LCD unit incorporates a character generator ROM which
produces 160 different 5 ×7 dot-matrix character patterns. The unit also provides a character
generator RAM (64 bytes) through which the user may define up to eight additional 5 ×7 dot-
matrix character patterns, as required by the application.
To display a character, positional data is sent via the data bus from the microprocessor to
the LCD unit, where it is written into the instruction register. A character code is then sent and
written into the data register. The LCD unit displays the correspond-ing character pattern in the
specified position. The LCD unit can either increment or decrement the display position
automatically after each character entry, so that only successive characters codes need to be
entered to display a continuous character string.
Features:
 80x8 bits(80 characters)

 160 different 5x7 dot matrix character patterns
 Display data RAM
 Built in oscillator
3.3.6 BUZZER:
Fig 3.3.6 Buzzer

A buzzer or beeper is an audio signaling device, which may be mechanical,

electromechanical, or piezoelectric. Typical uses of buzzers and beepers include alarm devices,
timers and confirmation of user input such as a mouse click or keystroke. Buzzer is an integrated
structure of electronic transducers, DC power supply, widely used in computers, printers, copiers,
alarms, electronic toys, automotive electronic equipment, telephones, timers and other electronic
products for sound devices. Active buzzer 5V Rated power can be directly connected to a
continuous sound, this section dedicated sensor expansion module and the board in combination,
can complete a simple circuit design, to "plug and play."
The PS series are high-performance buzzers that employ unimorph piezoelectric elements
and are designed for easy incorporation into various circuits.They feature extremely low power
consumption in comparison toelectromagnetic units. Because these buzzers are designed for
external excitation, the same part can serve as both a musical tone oscillator and a buzzer.They
can be used with automated inserters. Moisture-resistant models are also available. The lead wire
type(PS1550L40N) with both-sided adhesive tape installed easily is prepared.
Features:
 On-board passive buzzer
 On-board 8550 triode drive
 Can control with single-chip microcontroller IO directly
 Working voltage: 5V
 Board size: 22 (mm) x12 (mm)
3.3.7 LED:
Fig 3.3.7 LED

A light emitting diode (LED) is a device which converts electrical energy to light energy.
LEDs are preferred light sources for short distance (local area) optical fiber network because they
are inexpensive, robust and have long life (the long life of an LED is primarily due to its being
a cold device, i.e. its operating temperature being much lower than that of, say, an incandescent
lamp), can be modulated (i.e. switched on and off) at high speeds (this property of an LED is also
due to its being a cold device as it does not have to overcome thermal inertia), couple enough
output power over a small area to couple to fibers (though the output spectrum is wider than other
sources such as laser diodes).
An LED is essentially a p-n junction diode. It may be recalled that a p- type

semiconductor is made by doping an intrinsic semiconductor with acceptor impurities while an n-
type is made by doping with donor impurities. Ionization of carriers from the localized levels near
the bottom of the conduction band provides electron carriers in the conduction band. Similarly,
excitation of electrons from near the top of valence band leave holes in the valence band. As the
concentration of holes is higher on the p-side, holes diffuse towards right and enter the n-side
combining with the majority carriers, viz. electrons. The n- side gets depleted of electrons and
develop net positive charge. In a like manner, electrons diffusing to the left create negative
charges. Thus the region near junction develop an electric field which stop further diffusion of
charges. This region, which is free of carriers, is called depletion region or space charge layer.
3.3.8 SWITCH BUTTON :
Fig 3.3.8 Switch button

A push-button (also spelled pushbutton) or simply button is a simple switch mechanism

for controlling some aspect of a machine or a process. Buttons are typically made out of hard
material, usually plastic or metal. The surface is usually flat or shaped to accommodate the
human finger or hand, so as to be easily depressed or pushed. Buttons are most often biased
switches, although many un-biased buttons (due to their physical nature) still require a spring to
return to their un-pushed state. Terms for the "pushing" of a button
include pressing, depressing, mashing, slapping, hitting and punching.
The "push-button" has been utilized in calculators, push-button telephones, kitchen

appliances, and various other mechanical and electronic devices, home and commercial.
In industrial and commercial applications, push buttons can be connected together by a

mechanical linkage so that the act of pushing one button causes the other button to be released. In
this way, a stop button can "force" a start button to be released. This method of linkage is used in
simple manual operations in which the machine or process has no electrical circuits for control.
Red pushbuttons can also have large heads (called mushroom heads) for easy operation
and to facilitate the stopping of a machine. These pushbuttons are called emergency stop buttons
and for increased safety are mandated by the electrical code in many jurisdictions. This large
mushroom shape can also be found in buttons for use with operators who need to wear gloves for
their work and could not actuate a regular flush-mounted push button.
As an aid for operators and users in industrial or commercial applications, a pilot light is
commonly added to draw the attention of the user and to provide feedback if the button is pushed.
Typically this light is included into the center of the pushbutton and a lens replaces the
pushbutton hard center disk. The source of the energy to illuminate the light is not directly tied to
the contacts on the back of the pushbutton but to the action the pushbutton controls. In this way a
start button when pushed will cause the process or machine operation to be started and a
secondary contact designed into the operation or process will close to turn on the pilot light and
signify the action of pushing the button caused the resultant process or action to start.
To avoid an operator from pushing the wrong button in error, pushbuttons are often color-
coded to associate them with their function. Commonly used colors are red for stopping the
machine or process and green for starting the machine or process.
In popular culture, the phrase "the button" (sometimes capitalized) refers to a (usually fictional)
button that a military or government leader could press to launch nuclear weapons.

3.3.9 RF MODULE :
Fig 3.3.9 RF Module
An RF module (radio frequency module) is a (usually) small electronic device used to

transmit and/or receive radio signals between two devices. In an embedded system it is often
desirable to communicate with another device wirelessly. This wireless communication may be
accomplished through optical communication or through radio frequency (RF) communication.
For many applications the medium of choice is RF since it does not require line of sight.
RF communications incorporate a transmitter and a receiver. They are of various types and
ranges. Some can transmit up to 500 feet. RF modules are widely used in electronic design owing
to the difficulty of designing radio circuitry. Good electronic radio design is notoriously complex
because of the sensitivity of radio circuits and the accuracy of components and layouts required
to achieve operation on a specific frequency.
In addition, reliable RF communication circuit requires careful monitoring of the

manufacturing process to ensure that the RF performance is not adversely affected. Finally, radio
circuits are usually subject to limits on radiated emissions, and require Conformance testing and
certification by a standardization organization such as ETSI or the U.S. Federal Communications
Commission (FCC). For these reasons, design engineers will often design a circuit for an
application which requires radio communication and then "drop in" a pre-made radio module
rather than attempt a discrete design, saving time and money on development.
RF modules are most often used in medium and low volume products for consumer applications
such as garage door openers, wireless alarm or monitoring systems, industrial remote controls,
smart sensor applications, and wireless home automation systems. They are sometimes used to

replace older infra red communication designs as they have the advantage of not requiring line-
of-sight operation.
Several carrier frequencies are commonly used in commercially available RF modules, including
those in the industrial, scientific and medical (ISM) radio bands such as 433.92 MHz, 915 MHz,
and 2400 MHz. These frequencies are used because of national and international regulations
governing the used of radio for communication. Short Range Devices may also use frequencies
available for unlicensed such as 315 MHz and 868 MHz.
Transmitter modules
An RF transmitter module is a small PCB sub-assembly capable of transmitting a radio wave

and modulating that wave to carry data. Transmitter modules are usually implemented alongside
a micro controller which will provide data to the module which can be transmitted. RF
transmitters are usually subject to regulatory requirements which dictate the maximum
allowable transmitter power output, harmonics, and band edge requirements.
Receiver modules
An RF receiver module receives the modulated RF signal, and demodulates it. There are two
types of RF receiver modules: superheterodyne receivers and super-regenerative receivers. Super-
regenerative modules are usually low cost and low power designs using a series of amplifiers to
extract modulated data from a carrier wave. Super-regenerative modules are generally imprecise
as their frequency of operation varies considerably with temperature and power supply voltage.
Superheterodyne receivers have a performance advantage over super-regenerative; they offer
increased accuracy and stability over a large voltage and temperature range. This stability comes
from a fixed crystal design which in the past tended to mean a comparatively more expensive
product. However, advances in receiver chip design now mean that currently there is little price
difference between superheterodyne and super-regenerative receiver modules.
Transceiver modules
An RF transceiver module incorporates both a transmitter and receiver. The circuit is typically
designed for half-duplex operation, although full-duplex modules are available, typically at a
higher cost due to the added complexity.

3.3.10 BUFFER IC 74125 :
Fig 3.3.10 IC 74125
This device contains four independent gates each of which performs a non-inverting
buffer function. The outputs have the 3-STATE feature. When enabled, the outputs exhibit the
low impedance characteristics of a standard LS output with additional drive capability to permit
the driving of bus lines without external resistors. When disabled, both the output transistors are
turned off presenting a high-impedance state to the bus line. Thus the output will act neither as a
significant load nor as a driver. To minimize the possibility that two outputs will attempt to take a
common bus to opposite logic levels, the disable time is shorter than the enable time of the
outputs.
3.3.11 GSM MODULE :
Fig 3.3.11 SIM800L module
SIM800L is a quad-band GSM/GPRS module, that works on frequencies GSM850MHz,

EGSM900MHz, DCS1800MHz and PCS1900MHz. SIM800L features GPRS multi-slot class 12/
class 10 (optional) and supports the GPRS coding schemes CS-1, CS-2, CS-3 and CS-4

With a tiny configuration of 15.8*17.8*2.4mm, SIM800L can meet almost all the space
requirements in user applications, such as smart phone, PDA and other mobile devices.
SIM800L has 88pin pads of LGA packaging, and provides all hardware interfaces between
the module and customers’ boards.
 Support 5*5*2 keypads
 One full modem serial port, user can configure two serial ports
 One USB, the USB interfaces can debug, download software
 Audio channel which includes two microphone input; a receiver output and a speaker
output
 Programmable general purpose input and output.
 A SIM card interface
 Support FM
 Support one PWM
The power supply range of SIM800L is from 3.4V to 4.4V.Recommended voltage is

4.0V.The transmitting burst will cause voltage drop and the power supply must be able to
provide sufficient current up to 2A. For the VBAT input, a bypass capacitor (low ESR) such
as a 100 µF is strongly recommended.
Table 11.1: SIM800L key features
Feature Implementation
Power supply 3.4V ~4.4V
Power saving typical power consumption in sleep mode is 0.7mA (AT+CFUN=0 )
Frequency bands  Quad-band: GSM 850, EGSM 900, DCS 1800, PCS 1900. SIM800L can
search the 4 frequency bands automatically. The frequency bands can also be
set by AT command “AT+CBAND”. For details, please refer to document [1].
 Compliant to GSM Phase 2/2+
 Class 4 (2W) at GSM 850 and EGSM 900
Transmitting power
 Class 1 (1W) at DCS 1800 and PCS 1900
GPRS connectivity  GPRS multi-slot class 12（default）

 GPRS multi-slot class 1~12 (option)
Temperature range  Normal operation: -40°C ~ +85°C
 Storage temperature -45°C ~ +90°C

Data GPRS  GPRS data downlink transfer: max. 85.6 kbps

 GPRS data uplink transfer: max. 85.6 kbps
 Coding scheme: CS-1, CS-2, CS-3 and CS-4
 PAP protocol for PPP connect
 Integrate the TCP/IP protocol.
 Support Packet Broadcast Control Channel (PBCCH)
 CSD transmission rates：2.4，4.8，9.6，14.4 kbps
CSD  Support CSD transmission
USSD  Unstructured Supplementary Services Data (USSD) support
 MT, MO, CB, Text and PDU mode
SMS
 SMS storage: SIM card
SIM interface Support SIM card: 1.8V, 3V
External antenna Antenna pad
Speech codec modes:
 Half Rate (ETS 06.20)
 Full Rate (ETS 06.10)
Audio features  Enhanced Full Rate (ETS 06.50 / 06.60 / 06.80)
 Adaptive multi rate (AMR)
 Echo Cancellation
 Noise Suppression
Serial port:
 Full modem interface with status and control lines, unbalanced, asynchronous.
 1200bps to 115200bps.
 Can be used for AT commands or data stream.
 Support RTS/CTS hardware handshake and software ON/OFF flow control.
Serial port and
debug port  Multiplex ability according to GSM 07.10 Multiplexer Protocol.
 Autobauding supports baud rate from 1200 bps to 57600bps.
 upgrading firmware
Debug port:
 USB_DM and USB_DP
 Can be used for debugging and upgrading firmware.
Phonebook management Support phonebook types: SM, FD, LD, RC, ON, MC.
SIM application toolkit GSM 11.14 Release 99
Real time clock Support RTC
Timing functions Use AT command set
Size:15.8*17.8*2.4mm
Physical characteristics
Weight:1.35g
Firmware upgrade Main serial port or USB port.

3.3.12 IR SENSORS :
Fig 3.3.12 IR SENSOR

The IR Sensor-Single is a general purpose proximity sensor. Here we use it for collision
detection. The module consist of a IR emitter and IR receiver pair. The high precision IR receiver
always detects an IR signal.
The module consists of 358 comparator IC. The output of sensor is high whenever it IR
frequency and low otherwise. The on-board LED indicator helps user to check status of the
sensor without using any additional hardware. The power consumption of this module is low. It
gives a digital output.
The figure to the right is a top view of the IR Sensor module. The following table gives its
pin description.
Pin No. Connection Description
Output Digital Output

1 (High or Low)
2 VCC Connected to
circuit supply
3 GROUND Connected to
circuit ground
Table 2. : Three state of IR sensor

The sensitivity of the IR Sensor is tuned using the potentiometer. The potentiometer is
tunable in both the directions. Initially tune the potentiometer in clockwise direction such that the
Indicator LED starts glowing. Once that is achieved, turn the potentiometer just enough in anti-
clockwise direction to turn off the Indicator LED. At this point the sensitivity of the receiver is
maximum. Thus, its sensing distance is maximum at this point. If the sensing distance (i.e.,
Sensitivity) of the receiver is needed to be reduced, then one can tune the potentiometer in the
anti-clockwise direction from this point.
Further, if the orientation of both Tx and Rx LED’s is parallel to each other, such that
both are facing outwards, then their sensitivity is maximum. If they are moved away from each
other, such that they are inclined to each other at their soldered end, then their sensitivity reduces.
Tuned sensitivity of the sensors is limited to the surroundings. Once tuned for a particular
surrounding, they will work perfectly until the IR illumination conditions of that region nearly
constant. For example, if the potentiometer is tuned inside room/building for maximum
sensitivity and then taken out in open sunlight, its will require retuning, since sun’s rays also
contain Infrared (IR) frequencies, thus acting as a IR source (transmitter). This will disturb the
receiver’s sensing capacity. Hence it needs to be retuned to work perfectly in the new
surroundings.
The output of IR receiver goes low when it receives IR signal. Hence the output pin is
normally low because, though the IR LED is continuously transmitting, due to no obstacle,
nothing is reflected back to the IR receiver. The indication LED is off. When an obstacle is
encountered, the output of IR receiver goes low, IR signal is reflected from the obstacle surface.
This drives the output of the comparator low. This output is connected to the cathode of the LED,
which then turns ON.

3.3.13 ARDUINO NANO :
Fig 3.3.13 Arduino Nano
The Arduino Nano is a small, complete, and breadboard-friendly board based on the
ATmega328 (Arduino Nano 3.0) or ATmega168 (Arduino Nano 2.x). It has more or less the
same functionality of the Arduino Duemilanove, but in a different package. It lacks only a DC
power jack, and works with a Mini-B USB cable instead of a standard one. The Nano was
designed and is being produced by Gravitech.
The Arduino Nano can be powered via the Mini-B USB connection, 6-20V unregulated
external power supply (pin 30), or 5V regulated external power supply (pin 27). The power
source is automatically selected to the highest voltage source.
The FTDI FT232RL chip on the Nano is only powered if the board is being powered over
USB. As a result, when running on external (non-USB) power, the 3.3V output (which is
supplied by the FTDI chip) is not available and the RX and TX LEDs will flicker if digital pins 0
or 1 are high.
The ATmega168 has 16 KB of flash memory for storing code (of which 2 KB is used for
the bootloader); the ATmega328 has 32 KB, (also with 2 KB used for the bootloader). The
ATmega168 has 1 KB of SRAM and 512 bytes of EEPROM (which can be read and written with
the EEPROM library); the ATmega328 has 2 KB of SRAM and 1 KB of EEPROM.
The Arduino Nano has a number of facilities for communicating with a computer, another
Arduino, or other microcontrollers. The ATmega168 and ATmega328 provide UART TTL (5V)
serial communication, which is available on digital pins 0 (RX) and 1 (TX). An FTDI FT232RL

on the board channels this serial communication over USB and the FTDI drivers (included with
the Arduino software) provide a virtual com port to software on the computer. The Arduino
software includes a serial monitor which allows simple textual data to be sent to and from the
Arduino board. The RX and TX LEDs on the board will flash when data is being transmitted via
the FTDI chip and USB connection to the computer (but not for serial communication on pins 0
and 1).
A SoftwareSerial library allows for serial communication on any of the Nano's digital pins.
The ATmega168 and ATmega328 also support I2C (TWI) and SPI communication. The
Arduino software includes a Wire library to simplify use of the I2C bus; see the documentation
for details. To use the SPI communication, please see the ATmega168 or ATmega328 datasheet.

3.4 FLOW CHART:

START
Initialize sensors and modules
Read Flex sensors
Read obstacle sensors
Read RF module
If received
data is
correct?
Turn on buzzer
Send data through GSM
Rotate motors
Show status on display
Transmit data to microcontroller

4. MANUFACTURING
4.1 INTRODUCTION:
You can easily make your own high-quality PCBs (printed circuit boards), from a laser-
printer or copier printout of the desired copper pattern, using an ordinary clothes iron, and, most-
importantly, the correct paper type. You can have finished boards in less than an hour, including
printing, preparing the copper board, transferring the pattern, removing the paper, etching, and
drilling. You can also use this method to print the component markings onto the non-copper side
of a single-sided PCB. And the cost is very low.
There are many methods that can be used to make a PCB. Most of the traditional methods
involve applying a "mask" over the desired portions of the copper, and using an acid or etchant
that can't easily penetrate the mask material to remove the unwanted copper from the remainder
of the surface, although direct mechanical milling-away of the unwanted copper is also
sometimes used.
Most commercial printed circuit boards seem to be made with a screen-printing process,
for the mask. There are now available screen-printing materials that use a laser printout and a
photo-sensitive screen material, that allow anyone to make a screen-printing screen, at home,
with no special chemicals and no special lights .
Another popular method, which also works with laser printouts, is photographic in nature:
A transparent positive or negative image of the mask is created, usually photographically, and is
used to expose, with a special light, a PCB coated with a photo-sensitive etchant-resistant
material. That seems to be the preferred method, for getting the best quality, finest traces, most
repeatability, etc, at home, or in a low-volume, prototype-oriented situation. However, for many
applications, and for the lowest budgets, the method described below can give results that are at
least almost as good, for many applications, for less money and maybe more quickly.
The reason that this toner transfer method works is that the toner in most laser printers and
copiers is composed mainly of plastic. And the etching chemicals that are used will eat copper
but will not eat plastic.

4.2 PCB MANUFACTURING STEPS:
4.2.1 Steps to PCB design using Orcad.

1. Design circuit using schematic entry package (Capture).
2. Generate netlist for PCB package.
3. Import netlist into PCB package (LayoutPlus).
4. Place components, route signals.
5. Generate machining (Gerber) files for PCB plant.
This document is a 'quick start', describing some of the most commonly used operations
for PCB design using Orcad. For more details see on-line help and also the pdf manuals which
are usually in Program Files\Orcad\Document. These pdf files seem generally much more
comprehensive than the on-line help.
4.2.2 Schematic Design
• Use Capture to enter your design. Multiple schematic pages for same design can be used.
• Tip: label nets you may want to locate at the pcb stage – net names are carried through to the
pcb design process.
• Select project in project window (as opposed to schematic window), select Design Rule Check
for Tools menu. Correct any errors in design.
• Select project in project window, select Create Netlist from Tools menu. Choose Layout tab (to
generate Layout compatible netlist), generate netlist. Choose units (English or metric) compatible
with what you will use in your pcb design.
4.2.3 PCB Layout
• Run Layout Plus. Choose File/New.

• Select a “technology file” appropriate for your design. These are in Program
Files\Orcad\Layout_Plus\data and set defaults for things like track spacing, hole sizes etc. Some
examples:
1BET_ANY.TCH – allows single track between pins on standard DIP;

2BET_SMT.TCH – for surface mount and mixed smt/through hole designs, 2 tracks between
pins of standard DIP;
3BET_THR.TCH – through hole boards, up to 3 tracks between pins. You're best using
1bet_any.tch if at all possible, since this is the least demanding pcb technology.
• Choose your netlist file (.mnl extension). If the units (English/metric) are not the same you
won't be able to load it. Just go back to Capture and generate the netlist again with the right units.
• If some of your components chosen from the Orcad Capture libraries did nothave PCB
footprints associated with them you will get “Cannot find footprint for...” messages. If this
happens, choose “link existing footprint to component”. Browse footprint libraries to find the
required footprint (preview of footprint shown on screen). You can often guess footprints from
names. Examples: TM = through hole mounted (as opposed to surface mount)
BCON100T = block connector, 0.1” pitch, through hole BLKCON.100/VH/TM1SQ/W.100/3 =
block connector, 0.1” pitch, vertical (as opposed to right angle), through hole, pin 1 square pad,
width 0.1”, 3 pins. Library DIP100T = dual in line packages, through hole, 0.1” between pins.
If you can't find the right footprint then you'll need to make your own. See “Creating a new
Footprint” at the end of this document.
4.2.4 Draw Board Outline
• Click obstacle toolbar button.

• Somewhere in design, right click, select new.
• Right click again, select properties.
• Select: board outline, width = 50 (or as required), layer = global layer, OK.
• Left click to place one corner of board, then right click on successive corners. Draw a board the
required size. Right click, select finish when done (only need to do 3 corners, finish will complete
the outline). Notice that the dimensions are shown on status bar at bottom of screen as you draw
the board – can be helpful for creating particular board size. (You can do all this later, after
you've placed and routed everything if you prefer.)

4.2.5 Choose layers
• Use spreadsheet toolbar button to see the Layers spreadsheet.

• Enable only the layers you want for routing, set other layers to unused (double click on the
spreadsheet entry, select unused routing). For a single sided board you probably want only the
“bottom” layer, for double sided you probably want “top” and “bottom”, for a 4 layer board you
probably want these plus power and ground plane layers. Tip: you can select multiple
layers using click with ctrl key, then right click, select properties, then set/clear unused routing to
simultaneously enable or disable several layers.
4.2.6 Place Components
• Select “component” tool from toolbar, click on required component and drag it where you
want. Right click to see some options, including rotate.
• Auto/place board will attempt to place components automatically for you within board outline.
You may want to move components manually as well.
4.2.7 Track Thickness
• To change, select “nets” spreadsheet, double click on required net to set its properties. Net
names are inherited from your schematic diagram – explicitly naming nets helps you identify
them in the PCB design. For a simple through hole board you probably want about 20mil tracks.
For surface mount boards you probably want 10 or 12 mil tracks. Our pcb plant will make 5 mil
tracks if you really need them, but there's an increased risk of part of the track being lost in the
etching process. 10 or 12 mil can be reliably made. You may want to make power and ground
tracks thicker.
4.2.8 Routing
• Automatic routing is ok, but you can manually route as well (use toolbar buttons).
• Make sure you've set the track thicknesses as you want before routing

• You may want to route power and ground first, especially if it's a 1 or 2 layer board. Use the
nets spreadsheet to enable/disable those nets you want to route at any one time. Tip: select
Routing Enabled column, right click, disable to disable all nets, then enable the ones you want.
• You may want to give priority to critical nets (those that need shortest paths), to optimally route
those. Priority can be selected from the “nets” spreadsheet for each net.
• To automatically route, select Tools, auto, route board. To put everything back to the rat's nest
net, tools/auto/unroute board.
• You can auto route just one component by selecting autoroute/component then click on a pin on
that component.
• After an autoroute/board is completed, orcad thinks it's finished, and if you run it again (eg to
route some more signals that were disabled the first time) it says all sweeps done or disabled and
won't run again. To run auto route again you have to remove "done" from all autoroute passes.
Click the spreadsheet toolbar button and select strategy/route pass. Select the whole "enable"
colum, right click, select properties. Remove the "done" tick and click OK. Close the spreadsheet
and you can now run the autorouter again.
4.2.9 Copper Pour
• Copper pour fills selected unused board area with copper. This allows creation of large ground
(and/or power) areas which improves noise properties. Also reduces amount of copper that needs
to be etched off the board by manufacturing process.
• Tip: don't do this until you've finished placement and routing.
• Select required layer (eg TOP or BOTTOM).
• Select obstacle tool (toolbar button), right click in design, select new.
Right click again, select properties
• Select copper pour, net = GND (or as required), OK. (This example would connect copper pour
to the GND net.)
• Draw (by left click and drag) the outline for the copper fill.
• Repeat as required for other copper pour areas and/or layers.
• If you want to delete it, select it by using obstacle tool then ctrl left click on the pour. Then
press the delete key.

4.2.10 Set Datum(Origin)

• From Tool menu select dimension/move datum.
• Left click at the bottom LH corner of your board to set the origin. (Exactplacing doesn't matter.)
4.2.11 Generate Machining Files
• The machining files required to manufacture the PCB are generated by the “post processor”.
From options menu choose “Post Processing”. In the spreadsheet, select the layers you need to
manufacture. You need at least the routing layers you have used (eg top, bottom) and the drill
information.
• Choose Auto/Post Process to generate the files. The files generated by the post processor are the
only ones needed for the PCB plant to make the board.
 Tips :
Use the colour toolbar button, click on a colour box and press the – key to toggle its
visibility. With copper pour in place it can be hard to see what you've got.
Silk Screen - to see it, you need to add it to the colours table. Use Colours tool, right click, new.
Select layer SST (silk screen top), rule = default, OK. Use manual place (auto place doesn't
optimise placement for noise considerations).
When placing, set critical nets (eg op amp inputs) to a distinctive colour (via nets
spreadsheet) so you can easily see them to optimise placement. Place connectors first – they need
to be in a convenient place (eg near the edge). Some components have multiple parts within one
package. Place an additional part in the schematic, choosing, for example, the B part. The
“annotate design” tool will combine them into one package (same component identifier). Don't
forget to connect unused inputs to appropriate places (eg power, ground) in the schematic,
particularly for digital circuits. You can go back and change your schematic. Then, when you
generate the netlist again, be sure to select the box “Run ECO to Layout”. The PCB will be
appropriately changed .
To select an obstacle (eg board outline or copper pour) select the obstacle tool (toolbar
button). Hold ctrl key down and left click on obstacle to select it (becomes highlighted – usually
white). Or, click on corner of obstacle and drag as required. Or, select obstacle by drawing a box
(with obstacle tool selected) which includes some part of the object. Make sure you do a save
fairly often.

You can save to a different file name if you want, then you have a partial pcb design you
can go back to if you change your mind how to do things. Do a save before trying anything
daring. Then if it doesn't work out you can just exit without saving and start again with your
previously saved design. Beware: the "undo" option is only occasionally helpful. The on-line
manuals are ok, but more detailed information is in the pdf files contained in the Orcad Family
folder
4.2.12 Creating a New Foot Print
An easy way to create a new footprint is to find an existing one that's similar, edit it and save it
with a new name.
• Start Layout+ and choose tools/library manager.
• The list of libraries is displayed in the top part of the window. Click on one you think may be
useful.
• The list of footprints in that library is now shown in the bottom window. If you click on a
footprint it is displayed in the window on the right.
• Browse to a footprint that's close to what you want. (eg Right number of pins but wrong width,
or vice versa.)
• To move a pin, choose pin tool, click on pin, move cursor to where you want it. (You can also
use the arrow keys.) The coordinates and distance moved are shown in the status bar at the
bottom.
• Another, possibly easier way to move a pin to the right place is to edit its properties in the
footprints spreadsheet. You can just type in the required x,y coordinate of the pin here. You can
also take a copy of a pin (ctrl C) if you need to add pins.
• To move text use the text tool, click on the text and drag it to where you want.
• To change the place outline and detail, select them using the obstacle tool and either delete
(delete key) or drag to where you want. If you delete and redraw, make sure it's the right obstacle
type (right click, properties). The place outline shows the board space taken – other footprints
can't be placed within this outline.
• When you want to save, do a “save as” (don't overwrite the original libraryobject). Then you
have the option to create a new library. I'd recommend this – make a library in your own design
folder and keep this with the rest of your design files.

4.3 FABRICATION PROCESS
Fig 4.3 Drilling
The materials required for PCB fabrication are copper clad sheet, paint, drilling machine and
ferric chloride solution. Steps involved in making a PCB:
 Preparing the layout of the track: The track layout of the electronic circuit may be drawn on a
white paper. The layout should be made in such a way that paths are in each routes. This
enables PCB to be more compact and economical.
 Transferring the layout to the copper: The layout made on white paper should be redrawn on
the copper clad using paint or nail varnish.
 Etching: Ferric chloride solution is popularly used etching solution. The ferric chloride
powder is made into a solution using water and kept in a plastic tray. Immerse the marked
copper clad in this for two hours. Due to reaction, the solution will become weak.The copper
in the unmarked area will be etched out. Take out the etched sheet from the tray and dry.
 Drilling: The holes are made using a drilling machine, for component insertion.
4.3.1 SOLDERING
Soldering is the process of joining two or more similar or dissimilar metals by melting
another metal having low melting point. The materials used for soldering practice are solder, flux,
knife, soldering iron, nose pliers.

Soldering procedure:
 Make a layout of the connections of the components in the circuit. Plug in the chord of the
soldering iron into the mains to get it heated up.
 Check the components by using the multimeter. Then clean the component leads using a
blade or knife. Apply a little flux on the leads. Take a little solder on the soldering iron and
apply the molten solder on the leads.
 Mount the components on the PCB by bending the leads of the components using nose plier
or tweezer.
 Apply flux on the joints and solder the joints. Soldering must be done in minimum time to
avoid dry soldering and heating up of the components.
 Wash the residues using water and brush.
4.4 TESTING
After soldering the components on to the PCB, the boards are thoroughly cleaned for
removing any residual flux and wire leads. All the components are checked for their values and
proper orientation if applicable. Before ICs are inserted into the sockets, power is applied to the
board and voltages are measured at the IC power points. Other DC voltages are also checked if
possible. Then power is removed from the board, and ICs are inserted into the sockets, checking
the proper orientation. Power is again applied to the board expected voltages and signals are
monitored.
The supply voltages are monitored and verified. Working is tested by aiming the IR beam
from the transmitter to the IR module of the receiver and observing the lighting of the LEDs in
the receiver

4.5 PCB LAYOUT :
Fig.4.5 PCB Layout
5. EXPERIMENTATION RESULT AND DISCUSSION
5.1 SIMULATION RESULTS :

Fig. 5.1.1 Simulation in Proteus version 8.3
Fig. 5.1.2 Simulation of all switch in off condition

Fig. 5.1.3 Simulation in Forward direction
Fig. 5.1.4 Simulation in Backward direction

Fig. 5.1.5 Simulation in Left direction
Fig. 5.1.6 Simulation in Right direction

Above simulation results shows the movement of the wheelchair in various

directions. This simulation is done in the software of PROTEUS version 8.3. The simulation
gives the advantage to make the proposed system. Fig. 5.1.1 gives the result of proposed work
system with the microcontroller and switches as the flex sensors. It also includes two motor
which are run in particular direction.
Fig. 5.1.2 shows neither any condition nor any switches are in working, pair of
motor is in off state. Fig 5.1.3 shows the direction of the wheelchair is in forward direction. At
particular switch the movement of the wheelchair is in respective direction likewise backward,
left, right as shown in figure 5.1.4, 5.1.5, 5.1.6.
For forward movement, their both motor are rotate in clockwise direction.
Similarly, for backward movement they both are rotate in anticlockwise direction. For left
direction, left motor from the pair is rotate in anticlockwise and another in clockwise direction.
But for the right direction, left motor is rotate in clockwise direction and another is in
anticlockwise direction; Exactly opposite of the left directional movement.

5.2 FINAL SETUP:
Fig 5.2.1 Proposed Work System

Fig 5.2.2 Displaying Status of the system
Fig 5.2.3 Transmitter of System

Fig 5.1.1 shows proposed work system , a wheel chair with the receiver of the
system. It includes the two dc motor connected at back leg of chair. And two IR sensors located
at front and back side of the chair. The medicine box is used to detect the medicine of the patient
with the help of the IR sensor. If the medicine box is empty, then used GSM will send the
particular massage to relatives.
Fig 5.1.2 shows the status of the wheel chair. It shows the movement of the wheelchair in
various directions. And the current status of the wheelchair whether the GSM module is working
or not, and also SMS sent message will displayed on LCD.
Fig 5.1.3 shows the transmitter part of the system . The glove is used to fitting the
flex sensors , which helps in taking gesture of the patient. The transmitting part contains the
Arduino Nano which helps to take the conversion of analog input into digital. The RF module
transmitter is used to transmit the serial data .
5.3 MERITS
 Patient can independently drive the wheelchair.

 In emergency condition, by pressing the switch he/she can inform his/her relatives.
 Because of IR sensor, obstacle can detect by the chair and instantly stop the movement.
 All the movements and GSM status ,also the obstacle detection is displayed on LCD
display.
 Included medicine box will help when, it goes empty at that situation also the SMS’s are
sent to the relatives.
 RF module helps patient to call the wheelchair in the range of 30 meters area.
 GSM module helps patient to send the emergency SMS’s and other information to the
relatives.
 It is easy to handle all the system in few times.
 The emergency breaks will helps in failure of the proposed system.
5.4 DEMERITS
 Patient have to bend only one finger at a time, if he/she mistakenly bend two or more
fingers the motors will not rotate.
 Patient have to practice for the proper and quick movement.

 If sunlight incidents on the IR sensors it will not work properly.

 If the wheelchair of such type will made in real then there is a weight limit for the person
to be sit. And according to the weight the wheel chair should have to design.
5.5 APPLICATION
 Handicapped people by legs.

 Hospitals
 For accidental patients.
5.5 FUTURE SCOPE
The future scope of the system is when we modify this system at next level. By
manufacture it in real the handicapped peoples will use it more reliably and efficiently. The
commercial production of this system will reduce the total cost. We can also do the further
modification in wheelchair as required by the patient. The handicapped peoples will be
independent by using this wheelchair.

CONCLUSION
The Hand gesture controlled wheelchair is fully automated. The automation is done
through the microcontroller and the sensors and drivers. The handicapped patients will be
independent by using this wheelchair. The GSM module used in the
chair gives patient more reliability. It is wireless so there is mobility. The person who wear the
glove can operate the chair in 30M distance.
REFERENCES
[1] International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395 -0056
Volume: 03 Issue: 04 | Apr-2016 www.irjet.net p-ISSN: 2395-0072
“ A hand gesture based wheelchair for physically handicapped person with emergency alert
system” Prof. Chitte p.p. , Miss: Khemnar S.B. ,Miss: Kanawade A.A. , Miss:Wakale S.B.
[2] International Journal of Research In Science & Engineering e-ISSN: 2394-8299
Volume: 3 Issue: 6 Nov-Dec 2017 p-ISSN: 2394-8280
“ A hand gesture based wheelchair for physically handicapped person with emergency alert
system” Prof. Chitte p.p. , Miss: Khemnar S.B. ,Miss: Kanawade A.A. , Miss:Wakale S.B.
[3] ISSN: 2277-9655 [Yuvaraju* et al., 6(5): May, 2017] Impact Factor: 4.116
IC™ Value: 3.00 CODEN: IJESS7
FLEX SENSOR BASED GESTURE CONTROL WHEELCHAIR FOR STROKE AND
SCI PATIENTS ,Presented by :- Yuvaraju.M, Priyanka R
[4] SPEECH AND FLEX SENSOR CONTROLLED WHEELCHAIR FOR PHYSICALLY
DISABLED PEOPLE,Presented by:- 1)SHRUTI WARAD,2)VIJAYALAXMI HIREMATH,
3)PREETI DHANDARGI,4)VISHWANATH BHARATH, 5)P.B.BHAGAVATI.
[5] Javajji Veeraish, “Accelerometer based Gesture Recognition for Wheelchair Direction
control using ZIGBEE protocol.” International Journal of Technical Exploration and learning
(IJTEL) Vol.2, Issue 2 (April 2013).
[6] www.electronicsforu.com
[7] www.wikipedia.com
[8] www.elprocus.com

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Hand Gesture Controlled Wheel Chair

BVCOE KOLHAPUR Page 1

A Gesture is a form of non-verbal communication in which visible bodily actions

BVCOE KOLHAPUR Page 2

2.1 LITERATURE SURVEY

U. Rajkanna and M. Mathankumar introduced “Hand Gesture Based Mobile Robot

BVCOE KOLHAPUR Page 3

BVCOE KOLHAPUR Page 4

3.1 PROPOSED WORK

3.1.1 Block Diagram & Explanation:

Figure 3.1.1: Block Diagram of Transmitter

BVCOE KOLHAPUR Page 5

Receiver GSM Module

Motor Driver Motor2

Figure 3.1.2: Block Diagram of Receiver

BVCOE KOLHAPUR Page 6

BVCOE KOLHAPUR Page 7

3.2 CIRCUIT DIAGRAM:

BVCOE KOLHAPUR Page 8

3.3 COMPONENT DETAILS

3.3 COMPONENTS USED:

BVCOE KOLHAPUR Page 9

Fig 3.3.1 ATmega16A

VCC : Digital supply voltage.

BVCOE KOLHAPUR Page 10

If the JTAG interface is enabled, the pull up resistors on pins PC5(TDI),PC3(TMS),PC2(TCK)

RESET : Reset input.

BVCOE KOLHAPUR Page 11

XTAL2 : output from the inverting oscillator amplifier.

AREF : AREF is analog reference pin for the A/D converter.

 High-performance, Low-power Atmel AVR 8-bit Microcontroller

BVCOE KOLHAPUR Page 12

 Two 8-bit Timer/Counters with Separate Prescalers and Compare Modes

 Differential Channels with Programmable Gain at 1x, 10x, or 200x

3.3.2 FLEX SENSOR:

Fig 3.3.2 Flex Sensor

BVCOE KOLHAPUR Page 13

 Angle Displacement Measurement

 Resistance Tolerance: ±30%

Fig 3.3.3 DC motor

BVCOE KOLHAPUR Page 14

3.3.4 L293D MOTOR DRIVER:

Fig 3.3.4 L293D motor driver

BVCOE KOLHAPUR Page 15

Fig 3.3.5 LCD

BVCOE KOLHAPUR Page 16

 80x8 bits(80 characters)

Fig 3.3.6 Buzzer

BVCOE KOLHAPUR Page 17

A buzzer or beeper is an audio signaling device, which may be mechanical,

Fig 3.3.7 LED

BVCOE KOLHAPUR Page 18

An LED is essentially a p-n junction diode. It may be recalled that a p- type

3.3.8 SWITCH BUTTON :

Fig 3.3.8 Switch button

BVCOE KOLHAPUR Page 19

A push-button (also spelled pushbutton) or simply button is a simple switch mechanism

The "push-button" has been utilized in calculators, push-button telephones, kitchen

In industrial and commercial applications, push buttons can be connected together by a

BVCOE KOLHAPUR Page 20

Fig 3.3.9 RF Module

An RF module (radio frequency module) is a (usually) small electronic device used to

In addition, reliable RF communication circuit requires careful monitoring of the

BVCOE KOLHAPUR Page 21