Time Trend of Electric

Powered Wheelchair
by Kazi Ehsanul Karim

An automatic wheelchair or electric-powered wheelchair (EPW) is a wheelchair which is driven

by an electric motor rather than manual power. Automatic wheelchair is useful for the person
who is unable to use manual wheelchair or who may need to propel a wheelchair for distances or
over terrain which would be very tiring in a manual wheelchair. People with heart problem or
exhausted condition may also use EPW for maneuvering.

George Klein invented the automatic wheelchair. He worked in the National Research Council of
Canada and assisted injured experts after World War I.
 Figure 1: George Klein and others with his Klein Drive Chair 1953
In 1994, MITRE Corporation published their research on low cost automated wheelchair which
was a theoretical modification of manual wheelchair. [1]

Figure 2: Automatic Wheelchair of MITRE Corporation [1]

Barea and Boquete presented an eye-control method to control automatic wheelchair in 2002. It
is based on electrooculography (EOG). In this system eye movements within the socket affect
the control of wheelchair. [2]
 Figure 3: Automatic Wheelchair based on electrooculography (EOG) [2]
In 2002, Felzer brought forward muscle control of automatic wheelchair based on EMG
(electromyogram) signal. It was also introduced as “Hands free” control. In this system the driver
of wheelchair generates myographic signals in muscles. [3]

Figure 4: Automatic Wheelchair based on EMG [3]

In 2004, an EPW which was assembled with laptop and different kinds of sensors. It was
controlled by joystick. High sensitivity of this EPW still confined it in laboratory experiment. [4]
 Figure 5: Automatic Wheelchair of Simpson [4]
In 2005 GRASP laboratory presented their EPW with special control frame work. This control
system is embedded with different sensors, video interfacing system and others. [5]

Figure 6: Automatic Wheelchair of GRASP laboratory [5]

Horn and Kreutner presented a new mode of smart wheelchair, using ultra- sound, and vision
sensors during 2009. [6]
 Figure 7: Automatic Wheelchair of Kreutner [7]
In 2009 Jin Sun Ju showed a system in which EPW is maneuvered through face-inclination and
mouth-shape information. Automatic wheelchair proceeds and stops by determining the shape
of the user’s mouth. [7]

Figure 8: Automatic Wheelchair of Jin Sun Ju [7]

A joystick or head joy stick based control system is showed, in 2009, which is sensitive in
controlling and expensive for common people of developing countries. [8]
 Figure 9: Automatic Wheelchair with joystick control [8]
In 2013, a model of gesture recognition based control system is introduced, which operates
through movement of head. It is not still implemented practically. [9]

Figure 10: Automatic Wheelchair with gesture recognition based control system [9]
A theoretical representation of voice controlling operated controlling system was also expressed
as a hypothesis. [10]

C. Gupta along with his solar power team presented a solar power based automatic wheelchair.
In the control system they emphasized on storage of energy through solar. [11]
 Figure 11: Automatic Wheelchair with solar panel [11]
References:
[1] P. Miller and M. G. Slack, Increasing Access with a Low-Cost Robotic Wheelchair, IEEE
Int. conf., vol. 3, pp. 1663-1667, Sept. 1994.
[2] BAREA, L. BOQUETE, M. MAZO and E. LÓPEZ, Wheelchair Guidance Strategies Using
EOG, Journal of Intelligent and Robotic Systems 34: 279–299, 2002, Kluwer Academic
Publishers.

[3] Felzer and B. Freisleben, HaWCoS: The “Hands-free” Wheelchair Control System, published
in “Assets-2002”.

[4] Simpson, E. LoPresti, et. al., The Smart Wheelchair Component System, Volume 41,
Number 3B, Pages 429–442 Journal of Rehabilitation Research & Development, May/June
2004.

[5] P. Parikh , V. Grassi Jr., V. Kumar, J.Okamoto Jr., Usability Study of a Control Framework
for an Intelligent Wheelchair, Proceedings of the 2005 IEEE International Conference on
Robotics and Automation Barcelona, Spain, April 2005.

[6] Horn and M. Kreutner, Smart wheelchair perception using odometry, ultrasound sensors, and
camera, Robotica (2009) volume 27, pp. 303–310. © 2008 Cambridge University Press
doi:10.1017/S0263574708004773, Printed in the United Kingdom .

[7] Jin Sun Ju , Y. Shin and Eun Yi Kim, Intelligent Wheelchair (IW) Interface using Face and
Mouth recognition, IUI’09, February 8–11, 2009, Sanibel Island, Florida, USA. Copyright 2009
ACM 978-1-60558-331-0/09/02.
[8] Rofer, C.Mandel, T. Laue, Controlling an Automated Wheelchair via Joystick/Head-Joystick
Supported by Smart Driving Assistance, IEEE 11th International Conference on Rehabilitation
Robotics Kyoto International Conference Center, Japan, June 23-26, 2009.
[9] R. A. Kalantri, D.K. Chitre, Automatic Wheelchair using Gesture Recognition International
Journal of Engineering and Advanced Technology (IJEAT), ISSN: 2249 –8958, Volume-2,
Issue-6, August 2013.
[10] K. Kokate, A. M. Agarkar, Voice Operated Wheel Chair, International Journal of Research
in Engineering and Technology .
[11] C. Gupta, Solar Powered Wheelchair with Retractable Panels , UVA Solar Wheelchair
Competition Report .