Voice Controlled Wheelchair

PROJECT REPORT

Submitted by

Danish jalil
(UET-15F-BSCE-30)
Muhammad Nouman Daud

(UET-15F-BSCE-17)
Raees Khan
(UET-15F-BSCE-22)

BACHELOR OF SCIENCE
IN
COMPUTER ENGINEERING

PROJECT SUPERVISOR
Mr. Mughees Sarwar Awan
(Lecturer, KICSIT)

DR. A. Q. KHAN INSTITUTE OF COMPUTER SCIENCES

AND INFORMATION TECHNOLOGY
KAHUTA
AFFILIATED WITH UET TAXILA
(2019)
 Voice Controlled Wheelchair

PROJECT REPORT

Submitted by
Danish jalil
(UET-15F-BSCE-30)
Muhammad Nouman Daud
(UET-15F-BSCE-17)
Raees Khan
(UET-15F-BSCE-22)

BACHELOR OF SCIENCE
IN
COMPUTER ENGINEERING

PROJECT SUPERVISOR
Mr. Mughees sarwar Awan
(Lecturer, KICSIT)

DR. A. Q. KHAN INSTITUTE OF COMPUTER SCIENCES

AND INFORMATION TECHNOLOGY
KAHUTA
AFFILIATED WITH UET TAXILA
(2019)
In the name of ALLAH ALMIGHTY the most beneficent, the
most merciful
 “To Him belongs the dominion of Heaven and the
Earth, it is He who gives life and death and He has
power over all things”
(Al-Quran)

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 DEDICATION

Devoted to Our families, Our supervisor, Respected teachers,

Friends, Who constantly had been a source of Motivation and

Encouragement for us.

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 DECLARATION

We hereby declare that this project and work, neither as a whole nor as a part has been copied out
from any source. It is further declared that we have conducted this project work and have
accomplished this thesis entirely on the basis of our personal efforts and under sincere guidance
of our supervisor Mr.Mughees Sarwar Awan. If any part of this project is proved to be copied out
from any source or found to be reproduction of the same project, we shall stand by the
consequences. No portion of the work presented in our dissertation has been submitted in support
of any other degree or qualification of this or any other university or institute of learning.

MEMBER’S SIGNATURES

_______________
Danish Jalil
(15f-BSCE-30)
_______________
Muhammad Nouman Daud
(15f-BSCE-17)
_______________
Raees Khan
(15f-BSCE-22)

PROJECT SUPERVISOR’S SIGNATURE

_______________________
Mr. Mughees Sarwar Awan
(Lecturer, KICSIT)

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 FINAL APPROVAL
It is certified that we have examined the thesis titled Voice Controlled Wheelchair submitted by
Danish Jalil (15f-BSCE-30), Muhammad Nouman Daud (15f-BSCE-17) and Raees Khan (15f-
BSCE-22) and found as per standard. We accept the work contained in the report as a confirmation
to the required standard for the partial fulfillment of the degree of Bachelor of Science in Computer
Engineering.

Committee:

External Examiner:
__________________
Dr.Muhammad Asif Khan
Lecturer
UET, Taxila

Project Coordinator:
__________________
Mr. Mughees Sarwar Awan
Lecturer,Electronics

HoD (CE):
__________________
Dr. Salman Iqbal

Director KICSIT:
__________________
Dr. Salman Iqbal

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 COPYRIGHT STATEMENT
Copyright in text of this thesis rests with the authors. Copies (by any process) either in full, or of
extracts, may be made only in accordance with instructions given by the author and lodged in the
Library of KICSIT. Details may be obtained by the Librarian. This page must form part of any
such copies made. Further copies (by any process) of copies made in accordance with such
instructions may not be made without the permission (in writing) of the author.

The ownership of any intellectual property rights which may be described in this thesis is vested
in KICSIT, subject to any prior agreement to the contrary, and may not be made available for use
by third parties without the written permission of the KICSIT, which will prescribe the terms and
conditions of any such agreement.

Further information on the conditions under which disclosures and exploitation may take place is
available from the Library of KICSIT, Kahuta.

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 ACKNOWLEDGEMENTS

Copyright in text of this thesis rests with the authors. Copies (by any process) either in full, or of
extracts, may be made only in accordance with instructions given by the author and lodged in the
Library of KICSIT. Details may be obtained by the Librarian. This page must form part of any
such copies made. Further copies (by any process) of copies made in accordance with such
instructions may not be made without the permission (in writing) of the author.

The ownership of any intellectual property rights which may be described in this thesis is vested
in KICSIT, subject to any prior agreement to the contrary, and may not be made available for use
by third parties without the written permission of the KICSIT, which will prescribe the terms and
conditions of any such agreement.

Further information on the conditions under which disclosures and exploitation may take place is
available from the Library of KICSIT, Kahuta.

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 ABSTRACT

The main idea of this inspiration is to process analog voice signal for controlling electromechanical
system. The theme is implemented for the parallelized persons by voice activated wheelchair
through speech signal processing using Arduino and voice recognition module v3. The voice
controlled wheelchair is extraordinarily planned for deadened people. These people need to get
help from other people around to control the wheelchair and it will create a big problem when
these people would like to travel alone. Therefore, the objective of this work is to design, develop
and construct a voice controlled automatic wheelchair.
The developed wheelchair is able to operate by using the voice commands through the given input
(microphone) which are processed by the V3 voice recognition module. The basic components of
developed wheelchair consists of dc motor, voice recognition module V3 that would be controlled
by the Arduino. When the chair will perform movements as per the signals recognized by the V3
and appropriate command for movement is send to the H-bridge for motor movement. The wheel
chair can be moved in four directions, i.e. right, left, forward and backward.
The automatic obstacle detection system is included to stop the wheel movement when an obstacle
comes in the way wheelchair. The obstacle detection is performed using ultrasonic sensors. This
sensor measured the distance between obstacle and wheel chair using acoustic signal. As the object
gets closer than defined threshold, a stop signal is send to the motors. Therefore, the developed
voice controlled wheelchair can provide assistance in movement for people with physical disability
and also offer automatic protection from obstacle collision if the mistake of any voice commands
occurs. Voice controlled wheelchair can be used by disabled person at our homes, railway stations
and airports etc.

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 Table of Contents

Declaration.................................................................................................................................................. iv
Final Approval ............................................................................................................................................ v
Copyright Statement .................................................................................................................................. vi
Acknowledgements ................................................................................................................................... vii
Abstract..................................................................................................................................................... viii

CHAPTER 1 INTRODUCTION ......................................................................................................... 1

1.1 Block Diagram …………………………………………………………………………………………3
1.2 Project Background/Overview ................................................................................................................ 3
1.2.1 Using Keypad ………………………………...................................................................................4
1.2.2 Using Voice ………………………………………………………………………………………………………………………………..4

1.3 Problem Description ............................................................................................................................... 4

1.4 Project Objectives ................................................................................................................................... 4
1.5 Project Scope .......................................................................................................................................... 5
1.6 Overview of the report: ........................................................................................................................... 5

CHAPTER 2 LITERATURE REVIEW ............................................................................................. 6

2.1 Manual wheelchair……………………………..……………………………………………………….7
2.2 Powered wheelchair………………………………………………………………………………………………………………………….7

2.2.1 Brain control interface (BCI) ………………………………………………………………………………………………………..8

2.2.2 Joystick Controlled wheelchair …………………………………………………………………………………………………….9

2.3 Drawbacks of powered and electric wheelchair ………………………………………………………………………………10

2.4 Our system ……………………………………………………………………………………………………………………………………..10

2.4.1 User voice ………………………………………………………………………………………………………………………………….10

2.4.2 Keypad ………………………………………………………………………………………………………………………………………10

CHAPTER 3 REQUIREMENTANALYSIS …………………………………………………… . 11

Requirement analysis ……………………………………………………………………………………………………………………………12

3.1 Required System Functionality ………………………………………………………………………………………………………..12

3.2 List of criteria for successful project ………………………………………………………………………………………………..13

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 3.2.1 Performance Metrics ……………………………………………………………………………………………………………….13

3.2.2 Expected Outcomes and system Behaviors ……………………………………………………………………………..13

CHAPTER 4 SYSTEM DESIGN AND IMPLEMENTATION ……………………………………...14

4.1 Existing System ……………………………………………………………………………………………………………………………….15

4.1.1 Wheelchair using joystick …………………………………………………………………………………………………………15

4.1.2 Wheelchair using BCI ………………………………………………………………………………………………………………..16

4.2 Discrepancies of existing system ……………………………………………………………………………………………………..16

4.3 Proposed system …………………………………………………………………………………………………………………………….17

4.3.1 Hardware components ………………………………………………………………………………………………………………18

4.3.2 Software components ……………………………………………………………………………………………………………….18

4.4 System Architecture ………………………………………………………………………………………………………………………..19

4.4.1 Microphone ………………………………………………………………………………………………………………………………19

4.4.2 Voice recognition Module V3 …………………………………………………………………………………………………….19

4.4.3 Arduino Uno R3 …………………………………………………………………………………………………………………………20

4.4.4 BLDC motor ……………………………………………………………………………………………………………………………….21

4.4.5 DC gear Motor …………………………………………………………………………………………………………………………..21

4.4.6 Ultrasonic sensor ……………………………………………………………………………………………………………………….21

4.5 Data Flow Model …………………………………………………………………………………………………………………………….22

4.6 Block Diagram …………………………………………………………………………………………………………………………………22

4.7 Implementation Methodology ………………………………………………………………………………………………………..23

CHAPTER 5 TESTING AND RESULTS …………………………………………………………24

5.1 Tests scenarios ………………………………………………………………………………………………………………………………..25

5.1.1 Keypad ………………………………………………………………………………………………………………………………………25

5.1.2 Voice commands ……………………………………………………………………………………………………………………….25

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5.2 Existing systems ………………………………………………………………………………………………………………………………25

5.3 Testing …………………………………………………………………………………………………………………………………………….26

5.3.1 Recognition Testing ……………………………………………………………………………………………………………………26

5.3.2 Stopping Testing ………………………………………………………………………………………………………………………..26

5.3.3 Running Testing …………………………………………………………………………………………………………………………26

5.4 Functional Testing …………………………………………………………………………………………………………………………..29

5.4.1 Unit Testing ……………………………………………………………………………………………………………………………….29

5.4.2 Integration Testing …………………………………………………………………………………………………………………….29

5.4.3 System Testing …………………………………………………………………………………………………………………………..30

CHAPTER 6 CONCLUSIONS AND FUTURE WORK ……………………………………………...31

6.1 Conclusion ………………………………………………………………………………………………………………………………………32

6.2 Limitations ………………………………………………………………………………………………………………………………………32

6.3 Future Work ……………………………………………………………………………………………………………………………………32

REFERENCES…………………………………………………………………………………………34
References ……………………………………………………………………………………………………………………………………………35

Voice controlled wheelchair xi

List of Figures
FIGURE 1.1 Block Diagram of Proposed system ....................................................................................... 3
FIGURE 2.1 Manual Wheelchair ………………………………………………………………………….7
FIGURE 2.2 Block diagram of BCI system ……………………………………………………………….8

FIGURE 2.3 Joystick Controlled wheelchair………………………………………………………………9

FIGURE 4.1 Wheelchair Controlled by Joystick....................................................................................... .15

FIGURE 4.2 BCI System ............................................................................................................................ 16
FIGURE 4.3 Proposed System ……………………………………………………………………………18

FIGURE 4.4 System Architecture ………………………………………………………………………..19

FIGURE 4.5 Voice Recognition Module …………………………………………………………………20

FIGURE 4.6 Arduino UNO R3 …………………………………………………………………………...20

FIGURE 4.7 Ultrasonic Sensor …………………………………………………………………………...21

FIGURE 4.8 Flowchart of Proposed system ……………………………………………………………...22

FIGURE 4.9 Block Diagram ……………………………………………………………………………...22

FIGURE 4.10 Circuit Diagram …………………………………………………………………………...23

FIGURE 5.1 Simple switching to voice module ………………………………………………………….27

FIGURE 5.2 Training to voice Module …………………………………………………………………..28

FIGURE 5.3 Loading voice to Arduino Uno R3 …………………………………………………………28

FIGURE 5.4 After successful training and loading to voice module …………………………………….28

FIGURE 5.5 Integration Testing ………………………………………………………………………….29

FIGURE 5.6 System Testing ……………………………………………………………………………..30

Voice controlled wheelchair xii

Voice controlled wheelchair xiii
 Chapter 1

INTRODUCTION

Voice controlled wheelchair 1

Chapter 1 Introduction

Chapter 1

INTRODUCTION
The basic aim of making the project Voice control wheelchair is to make disable citizen a useful
person of the society. The voice controlled wheelchair project works such that Voice recognition
module V3 gets a voice signal from the user and procedure it to control the wheelchair. A voice
recognition module V3 is utilized for the recognition of speech sound which is received and
converted by the Arduino microcontroller which thus moves the wheelchair. An ultrasonic sensor
(SR-04) is utilized for obstacle detection, where an object is recognized, wheelchair is going to
stop at that point.

There are two basic modes of our project. First one through the user’s voice and second one is
through the Keypad. In the voice mode, we use a voice recognition module V3 that is connected
with Arduino Uno and H-bridge module L298N that is used to control the movement of motors in
a specified direction. In the second mode, we control the wheelchair using keypad and by pressing
the specified button, the wheelchair will move in that direction.

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Chapter 1 Introduction

1.1 BLOCK DIAGRAM

Figure 1.1 Block Diagram of Proposed system

1.2 Project Background/Overview

A definitive motivation behind making Voice control wheelchair is that Voice recognition module
receives voice signals from the user using Microphone and procedures it to control the wheelchair.
The voice recognition module V3 is utilized for the recognition of sound signals which are received
and converted into binary code by the Arduino microcontroller which thus moves the wheelchair.
An ultrasonic sensor (SR-04) is used for obstacle detection. So when an obstacle is detected
wheelchair is going to stop.

We made our project by using a recognition module that is connected with Arduino and H-bridge
module L298N that is used to control the movement of motors in particular directions.

We can also control this wheelchair by using keypad buttons or by pressing the specified button
of the wheelchair to move in the particular direction.

We divided our project into several steps to meet our final product:

Voice controlled wheelchair 3

Chapter 1 Introduction

 The initial step was acquiring of hardware which incorporate obtaining of voice
recognition module V3, Motorized Wheelchair, H-connect Modules for development of
engines, Arduino Microcontroller, ultrasonic sensors (SR-04), Motor Drivers and the
various fundamental segments.
 The second step was to control the movement of wheelchair utilizing keypad or buttons.
 The third step was interfacing voice recognition module V3 with Arduino Uno.
 The fourth step was taking voice signal using Microphone to control the movement of
wheelchair.
 The last step was to interface ultrasonic sensors (SR-04) with Arduino Uno for obstacle
Coming in front of wheelchair and to stop it.

1.2.1 Using Keypad

Through keypad, wheelchair can be controlled into the particular direction. Keypad has four
particular direction; i.e. forward, reverse, left, right and stop. Using keypad the direction of motors
are control which in turns gives a direction to the wheelchair.

1.2.2 Using Voice

Wheelchair is controlled using a voice recognition module V3. The input signal is given to the
voice recognition module V3 using microphone which converts the analog signal into binary and
then the signals are transmitted to Arduino Uno which in turn moves motor in direction given by
user.

1.3 Problem Description

To design a wheelchair controlled by voice and Keypad. There are lot of people which are
paralyzed and don’t move their hand or their body part to control the movement of wheelchair so
they just speak so we will develop a wheelchair that is control by human voice. When someone
need to move some disable person, especially on airports, railway station or any other place ,he
faces a lot of problem. So to compensate this problem, we will built a wheelchair that is controlled
by voice commands and keypad buttons.

1.4 Project Objectives

The objective of our project is move a wheelchair through human voice and keypad buttons. The
needs of many individuals with disabilities can be satisfied with this wheelchair. In this project our
main focus is on the acquisition and analysis of speech signal so that it can be used as an input to
drive a motor which in turn drives the subject’s wheelchair.
We will develop a fully functional electronically controlled wheelchair which is robust at usage,
simple, responsive and error immune. We intend to make it as affordable so that it can be used by
everyone suffering from this disability.

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Chapter 1 Introduction

1.5 Project Scope

 Wheelchair will be used in hospital, for handicapped peoples.
 For an elderly or physical challenged person to move inside the home without any
difficulty.
 At bus stop, and railway station.
 We can use it in any place but the surface is free from obstacles.

1.6 Overview of the report

This project is composed of six chapters, each of which comprised of some work in it. Let us
summarize them one by one.
 In chapter one, we are defining the problems and just defining it in this chapter.
 In chapter two, Literature review of previous work done on the wheelchairs and their scope
are discussed.
 In chapter three, requirements related to the wheelchair are discussed.
 In chapter four, study of the existing systems, proposed system, system architecture and
implementation methodology. Voice controlled wheelchair with two modes, through
keypad and voice are discussed. Their simulations and algorithms are discussed in detail.
 In chapter five, we built test cases for each and every component of both software and
hardware and tested them for different condition.
 In chapter six, references from where we studied are given.

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Chapter 1 Introduction

Chapter 2

LITERATURE REVIEW

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Chapter 2 Literature Review

Chapter 2

LITERATURE REVIEW
We studied various research papers, books and from internet and found various types of
wheelchairs in the market giving some benefits to the users. But at the same time, there are certain
drawbacks which will be discussed in this report. There are two types of wheelchairs, one is
manual and second is powered wheelchair.

2.1 Manual wheelchair

A self-propelled manual wheelchair incorporates a frame, seat, two footplates and four wheels. It
has two caster wheels at the front and two large wheels at the back. The larger rear wheels usually
have push-rims of slightly small diameter. These wheels are used to move the chair without
requiring them to grasp the wheel. Manual wheelchairs generally have brakes that are fixed on the
rear tyres. Manual wheelchairs often have two push handles at the upper rear of the frame to allow
for manual propulsion by the second person.

Figure 2.1 Manual wheelchair

2.2 Powered Wheelchair

An electric-powered wheelchair, commonly called a “power chair” is a wheelchair which
additionally incorporates batteries and electric motors into frame and that is controlled by the user
via a small joystick mounted on the arms. For the users who cannot manage a manual joystick,
head switches and chin-operated joysticks and other specialist controls may allow independent
operation of the wheelchair. Here are few examples of powered wheelchair which we studied
through research papers.

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Chapter 2 Literature Review

2.2.1 Brain Control Interface (BCI)

In the most recent years, we discovered BCI system to perceive mind waves for the movement
of wheelchair. An authoritative explanation behind a quick personality PC interface mind (BCI)
is that to allow an individual with genuine motor in-abilities to have reasonable command over
the wheelchair. It controls the movement of a motorized wheelchair using brain waves.

Figure 2.2 Block diagram of BCI System

EEG is an electro-physiological monitoring method to record electrical activity of the brain. It is

typically non-invasive, with the electrodes placed along the scalp. EEG measures voltage
fluctuations resulting from ionic current within the neurons of the brain. The brain signals are
classified based on their frequency EEG signal acquisition is done with the help of a specially
designed noninvasive bio sensor.

The acquisition part consists of Nuerosky mindwave, Arduino and Bluetooth HC-05 module. The
mindwave device is used to capture the raw signal from the brain and transmit to HC-05 module
over Bluetooth link. This Bluetooth device transfers these incoming raw EEG data into Arduino
board at a baud rate of 57600. Inside the Arduino board the raw signal is classified into eye blink
values and attention values. The eye blink value varies continuously as the eye blink strength
varies. The separate eye blink strength and attention value is serially transmitted to the raspberry
pi via USB at a baud rate of 57600.

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Chapter 2 Literature Review

In the Raspberry pi processing part shown above, the eye blink and attention values are splitted
and stored in separate memory locations. After classification, these signals are checked to meet
the predefined conditions which is already defined in the instructions .Once conditions gets
matched, the Raspberry pi 3 module gives commands to the motor driver. The motor driver unit is
connected to 24 dc supply and 2 gear motors.

Depending upon the commands given the motor driver, motor rotates in 3 different directions say
left, right and forward. In order to ensure the safety during wheelchair movement, a camera is fixed
at the front side of the wheelchair. The camera continuously captures video and transmits the video
signal into the Raspberry pi module .Using advanced image processing techniques head movement
and drowsiness of the person is detected. Ultrasonic sensors are given at the front, left, right and
down of the wheelchair, which avoids the collision of the wheelchair with other objects.

2.2.2 Joystick Controlled wheelchair

A joystick control wheelchair is very important for the physically challenged people. They cannot
move anywhere like a normal person. For this reason they always depend on the other people. But
the joystick control wheelchair can remove this problem and help them to move anywhere. The
movement of wheelchair can be control manually by the joystick. The command is implemented
by using joystick and then the command is sent to the Arduino board where the controller
ATMega328p will process the command. After processing the controller sends the command in
the form of digital signal to the motor driving IC and the motor driving IC control the movement
of wheelchair.

Figure 2.3 Joystick controlled wheelchair

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Chapter 2 Literature Review

2.3 Drawbacks of Powered and electric wheelchairs

There are certain reasons due to which these wheelchairs could not give a friendly environment to
the different users. Following are the reasons:
 The number one reason that an individual who could not like to purchase a power
wheelchair is due to financial reasons.
 They may not be suitable in the noisy environment like railway stations and airports etc.
 Like in BCI system the brain pulses varies from person to person, so there is possibility of
the error.
 One the major drawback is that if the system fails during execution time there must be a
backup system to response.
 Wheelchair must reduce manpower in order to facilitate the user.

2.4 Our system

After all these studies above, we tried to make such a wheelchair which should be error immune,
least price and with a backup response in case of failure.
We made a wheelchair named “voice controlled wheelchair” which consists of two basic modes.
First one is through voice mode and the second is through Keypad. We will discuss it one by one.

2.4.1 User Voice

In the Second mode, user will give a command through the microphone. These analog voice is
converted into binary, processed by the voice recognition module V3 and send it to the Arduino.
Arduino board will receive the voice and according to the given commands will rotate the motors.
Ultrasonic sensor (SR-04) are used to check obstacles in front of the wheelchair and give
commands to the Arduino which will operates motors or not.

2.4.2 Keypad

In this mode, we will use a keypad to give input to the Arduino Uno. On pressing a specified
button, Arduino Uno will send commands to the motor drivers which in turn will rotate the motor
in a particular direction. Ultrasonic sensor (SR-04) are used to check obstacles in front of the
wheelchair and give commands to the Arduino which will operates motors or not.

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 Chapter 3

REQUIREMENTS ANALYSIS

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Chapter 3 Requirement Analysis

Chapter 3

REQUIREMENT ANALYSIS
Wheelchair users experience numerous circumstances that influence the steadiness and related
execution of their wheelchair. Strength is influenced by user’s attributes and capacities, natural
highlights and conditions, and wheelchair alteration and extras. Wheelchair prescribers need viable
devices and strategies to give quantitative assessment and expectation of the conduct of the user’s
wheelchair framework in an assortment of static and dynamic circumstances.

Such data is imperative to direct effective administration of related dangers and alter seats in like
manner. This task includes a user focused methodology for structure and assessment of a cell based
wheelchair dependability appraisal framework (Wheel-SAS). Here, the present techniques for
evaluating strength are depicted, and their inadequacies are clarified. The user focused plan
approach is connected to the advancement of the related Wheel-SAS equipment and programming
is depicted.

Future work including semi-organized meetings and an online study with wheelchair prescribers
and related human services experts for inferring user necessities and a plan determination for a
heap cell framework for estimating dynamic wheelchair dependability are natural.

3.1 Required system functionality

The reason for this report is to build up a wheelchair which will move according to the user's
directions. This framework receives a voice command given by the wheelchair user. The
framework is completely free as the user do not need any other individual to assist him with
moving the wheelchair.

There are fundamentally five directions, in which order is given by the user to move wheelchair.
The voice command of the user is received in microphone in the initial step. When it is received,
it is transferred to the Arduino where the directions are changed over into its comparable guidelines
which drive the framework. This framework comprises of two noteworthy modules specifically
Voice recognition module and keypad module.

The voice recognition is done through voice recognition module. The production of this module is
coordinated to Arduino which utilizes a motor driver IC to drive the motors. The voice controlled
wheelchair works utilizing microphone, voice recognition module, Arduino and motors. The
microphone will be put according to the client's solace. The production is as voice flag and is
exchanged to the voice recognition module which goes about as an interface among microphone
and Arduino. The Arduino at that point get the production from voice recognition module
accordingly changing over it into parallel code.

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Chapter 3 Requirement Analysis

There are five distinct guidelines that can be given to the motors, they are forward, backward, left,
right and stop. The movement of wheelchair depends just upon these five directions. The
wheelchair reacts to the voice order from its user to play out any movement’s capacities. The
essential movement capacities incorporate forward course, left and right turns and stop.

3.2 List of criteria that define a successful project

3.2.1 Performance metrics

Wheelchair remedy includes choosing and reconfiguring the wheelchair to advance it for explicit
user qualities considering capacity and conduct. Execution of the wheelchair incorporates
following:
 Its static and dynamic strength.
 Moving opposition.
 Drive effectiveness.
 Downhill turning properly.
 Turning and mobility.

There is a level to be accomplished between the danger of tipping and the user's versatility
objectives. It is critical to achieve a parity all together not to bargain, or substitute strength for
execution. So as to protect the user before they are issued with their wheelchair, it is workable for
the prescriber to survey the solidness in a simple manner. Makers and providers will likewise test
the soundness of wheelchairs in specific circumstances.

3.2.2 Expected outcomes and system behavior

To control the wheelchair using voice, a user inputs a direction and confirmation order to the
microphone. Microphone voice is received at the voice recognition module V3, it then transfers
the voice to the Arduino Uno which in turn drives the motor drivers for a particular direction. In
our framework, the control flow and output for both modes will be as follow:

 User inputs a voice through a microphone which is received at the voice recognition
module V3.
 V3 module sends this voice to the Arduino Uno for the rotation of motor drivers which in
turn will drive motor.
 Forward direction: Both the motors move in forward direction.

 Backward Direction: Both motors move in backward direction.

 Right direction: Right side wheel in in backward and left one in forward direction.

 Left Direction: Left side wheel in backward and right one in forward direction.

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Chapter 3 Requirement Analysis

Chapter 4

SYSTEM DESIGN AND

IMPLEMENTATION

Voice controlled wheelchair 14

Chapter 4 System Design and Implementation

Chapter 4

SYSTEM DESIGN AND IMPLEMENTATION

4.1 Existing System

Existing Systems are used for describing something that exists now and work is done on that
specifically while during the time it might be changed or replaced. Different wheelchairs with
various functionalities are discussed as:

4.1.1 Wheelchair using Joystick

A joystick manage wheelchair may be very essential for the physically challenged human beings.
They can't circulate everywhere like a normal individual. For this motive they always depend on
the alternative human beings. But the joystick manipulate wheelchair can eliminated this trouble
and help them to move everywhere. The movement of wheelchair may be manipulate manually by
way of the joystick. The command is implemented through the usage of joystick and then the
command is dispatched to the Arduino board where the controller ATMega328p will system the
command. After processing the controller ship the command within the shape of digital signal to
the motor driving IC and the motor driving IC control the motion of wheelchair

Figure 4.1 Wheelchair controlled by joystick

Voice controlled wheelchair 15

Chapter 4 System Design and Implementation

4.1.2 Wheelchair using BCI

The design of BCI system for the wheelchair for physically disabled humans is mentioned below.
The layout of the proposed system is based totally on receiving, processing, and classification of
the electroencephalographic (EEG) alerts after which performing the manipulate of the wheelchair.
The number of experimental measurements of mind pastime has been executed the usage of human
manage commands of the wheelchair. Based at the intellectual hobby of the consumer and the
manipulate commands of the wheelchair, the layout of class machine primarily based on fuzzy
neural networks (FNN) is taken into consideration. The design of FNN based totally algorithm is
used for mind-actuated manage. The education statistics is used to layout the machine after which
test facts is applied to degree the overall performance of the control machine. The manage of the
wheelchair is achieved under actual conditions the use of direction and velocity manage
instructions of the wheelchair. The technique used in the paper permits decreasing the opportunity
of misclassification and enhancing the control accuracy of the wheelchair.

Figure 4.2 BCI System

4.2 Discrepancies of existing system

Some of the drawbacks of the preceding digital wheelchair are as:

Cost of obtaining them: If energy wheelchairs have been reasonably-priced, each disabled
character will very own it. But there are still masses of disabled and elder people with limited
motion as they can't afford a energy wheelchair.

Maintenance and repairs are necessary to make certain premier capability of the device. What this
indicates is, it demobilizes you whilst you take it for protection and upkeep.

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Chapter 4 System Design and Implementation

Although electricity wheelchairs do have a few hazards, many of them may be changed into
advantages with extra cash or extra capabilities. Typically a electricity wheelchair will no longer
fold up or come aside. Most people who need to travel might not have a van or larger car to store
the power wheelchair; therefore they will have to make other plans. You may also need to buy a
further guide wheelchair for journeys. Another alternative could be to spend extra cash on a power
wheelchair and purchase one which folds user will disassemble fairly effortlessly. The fold up
power wheelchairs is to be had in maximum stores; but, they could cost quite a chunk extra than
traditional power wheelchair.

Even seeing that energy wheelchairs have elevated in recognition, there are nevertheless many
disabled, injured, or elderly those who are unable to buy a electricity wheelchair. The primary
motive why an man or woman who would like to purchase a power wheelchair cannot is due to
monetary reasons. Before purchasing a electricity wheelchair or absolutely ruling one out, it's far
important to talk with insurance or Medicare representatives. Many individuals are not privy to
the truth that if a wheelchair is counseled with the aid of a medical doctor, it may be completely
or partial covered.

4.3 Proposed System

This project works on voice instructions given through the wheelchair person. The system is fully
impartial because the consumer do not want another person to help him to move the wheelchair.
There are essentially five instructions, which command is given by the person, thus the wheelchair
will move.

The voice instructions of the consumer is diagnosed inside the first step. Once it is identified, the
instructions are converted into its equivalent commands which force the system. This device
consists of fundamental modules namely Voice recognition module and motor riding module. The
voice recognition is carried out thru voice popularity module. The output of this module is directed
to Arduino which makes use of a motor driver IC to pressure the vehicles.

The voice controlled wheelchair works the usage of unilateral mic, voice popularity module,
Arduino and automobiles. First entry to the project is the unilateral mic. It’s successful to take
person’s voice instructions and now not hassle approximately different noises. The mic might be
positioned as per the person’s consolation. The output is in the form of voice signals and is
transferred to the voice recognition module which acts as an interface between mic and Arduino.
The Arduino then acquire the output from voice recognition module as a consequence converting
it into binary code.

The project is unable to recognize any language apart from binary code. Thus, the generated voice
command is converted into gadget understandable shape. This system makes use of the Arduino
uno R3. It is attached with cars to power the wheelchair anywhere. Motors are answerable for the
movement of wheelchair. Hence, motors gets enter from the Arduino and relying upon the training
type, motors moves thus. This gadget uses two vehicles connected with motor motive force. There
are five unique instructions that may be given to the cars, they're forward, backward, left, proper
and stop. The movement of wheelchair depends simplest upon those 5 commands. The wheelchair
responds to the voice command from its consumer to perform any motion’s functions. The

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Chapter 4 System Design and Implementation

fundamental motion functions consist of ahead path, left and proper turns and stop. In order to
understand the spoken words, the voice popularity processor need to study with the word spoken
out by using the person who is going to function the wheelchair.

Figure 4.3 Proposed System

The components used in the project are as follows:

4.3.1 Hardware components

 Arduino UNO
 Dc brushless Motors
 BLDC motor driver
 Voice recognition module V3
 Microphone
 Keypad
 Switches
 Battery
 Connectors and wires

4.3.2 Software components

 Arduino IDE
 Proteus

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Chapter 4 System Design and Implementation

4.4 System Architecture

Figure 4.4 System Architecture

4.4.1 Microphone
It is used to convert the voice signal in to electric signal. Output of the MIC is given to the voice
recognition Module.

4.4.2 Voice recognition Module

This product is a speaker-dependent voice reputation module. It helps as much as eighty voice
instructions in all. Max 7 voice commands should work on the same time. Any sound could be
educated as command. Users need to educate the module first earlier than let it recognizing any
voice command. This board has 2 controlling approaches: Serial Port (full characteristic), General
Input Pins (part of feature). General Output Pins at the board should generate several styles of
waves even as corresponding voice command became identified.

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Chapter 4 System Design and Implementation

Figure 4.5 Voice Recognition module

4.4.3 Arduino Uno R3

The Arduino Uno R3 acts as an intermediate agent between the voice recognition module and the
motors to force the wheelchair. It is a microcontroller board primarily based at the ATmega328P.
It has 14 digital enter/output pins, 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a
electricity jack, an ICSP header and a reset button. It includes the entirety needed to guide the
microcontroller. It receives the enter given to the voice popularity module and converts into the
layout widely wide-spread through the vehicles and for this reason the automobiles works in
keeping with the command given. The Arduino desires to be interfaced to the motors in addition
to the voice control module.

Figure 4.6 Arduino Uno

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Chapter 4 System Design and Implementation

4.4.4 BLDC motor

Brushless Dc electric power vehicles (BlDC), additionally called electronically commutated

vehicles (ECMs, EC vehicles) or synchronous vehicles powered with the aid of DC strength thru
an inverter or switching energy deliver, which produces an electric powered modern to derive
each section of the motor via a closed loop controller. The controller presents pulses of modern
to the motor windings that manipulate the speed and torque of the motor. The blessings of a
brushless motor over a brushed motor are the high energy to weight ratio, high velocity, and
digital control. Brushless vehicles discover applications in such locations as laptop peripherals
(disk drives, printers), hand held energy tools, and motors that variety from model aircraft to
motors.
4.4.5 DC Gear motor
DC Gear motor, is also called DC Geared Motor, Geared Dc Motor and gearhead motor or
gearbox motor. It consists of a electric DC motor and a gearbox or gearhead; these gearheads
are used to reduce the DC motor speed, while increase the DC motor torque. Therefore user can
get lower speed and higher torque from gear motor.
4.4.6 Ultrasonic Sensor (Hc-sr04)
As the name suggests, ultrasonic sensors degree distance by the usage of Ultrasonic waves. The
sensor head emits an ultrasonic wave and receives the wave reflected lower back from the goal.
Ultrasonic Sensors measure the gap to the target with the aid of measuring the time among
emission and reception.
An optical sensor has a transmitter and receiver, whereas an ultrasonic sensor makes use of a
single ultrasonic detail for each emission and reception. In reflective model ultrasonic sensor, a
single oscillator emits and receives ultrasonic waves alternately. This permits miniaturization of
the sensors head.

Figure 4.7 Ultrasonic Sensor

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Chapter 4 System Design and Implementation

4.5 Data-Flow Model

Figure 4.8 Flowchart of proposed system

4.6 Block Diagram

Figure 4.9 Block Diagram

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Chapter 4 System Design and Implementation

Figure 4.10 Circuit diagram

4.7 Implementation Methodology

Speech signal is processed with the help of visible simple software and is switch to the Arduino.
Arduino converts these instructions into sure commands that may be diagnosed by using the
automobiles. This controls the motion and route of wheel chair through motor motive force.
Arduino decides the operation of the 2 DC motors depending at the given preparation. Firstly,
Voice module is educated with four commands. After that the voice command is ship by using the
user. The microcontroller is used to check the signal related to this command and examine it with
the saved instructions and plays the venture related to this command. The wheel chair instructions
and motion viable are as given underneath

Forward: Motor 1 FW and Motor 2 RW. 2.

Reverse: Motor 1 RW and Motor 2 FW. Three.
Left: Both automobiles are in FW. 4.
Right: Both automobiles are in RW. 5.
Stop: Both automobiles are stopped.

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Chapter 5 Testing and Results

Chapter 5

TESTING AND RESULTS

Voice controlled wheelchair 24

Chapter 5 Testing and Results

Chapter 5

TESTING AND RESULTS

The main objective of our project is perform the recognition of voice command and control the
movement of wheelchair using these commands .we perform recognition using voice recognition
module v3.This module contain its own controller in which we save the voice commands when
voice commands are saved in it then it is operated by only that person who’s voice is already saved
in v3 module.so using this module we satisfy user requirements.

In Pakistan there are lot of people who paralyzed so by using this idea we can solve problem of
that type of people.

5.1 Tests Scenarios

5.1.1 Keypad
In first phase we control wheelchair using keypad the keypad perform five operations these
operations are performed in specific directions. Forward, backward left, right and stop

5.1.2 Voice Commands

In second phase wheelchair is controlled using voice commands that are given in microphone and
voice recognition module v3 compare sounds with the sound that are already saved in it. When
commands are matched the wheelchair moved in direction that are given in command.

5.2 Existing systems

The present technologies make use of geared motor to move in various direction .These system
are steered using joystick and by hand sometime. These system are equipped with normal braking
system.
 Existing system are not efficient and are not secure as anybody who get access to
wheelchair can use that wheelchair.
 Our system provide efficiency as well as security by using voice recognition module v3
Using this module only that person who train the voice recognition module can get access
to move the wheelchair.

Our system is working exactly according to our expectations and it will satisfy the requirements
of paralyzed persons.we test our system in both modes and our system is working properly.

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Chapter 5 Testing and Results

5.3 Testings
5.3.1 Recognition Testing

To assess acknowledgment execution of voice module v3, we analyze discourse acknowledgment

test with 3 people. Five check directions as forward, invert, right, left and stop. This trial is carried
on in room. There were a few voices of other individuals in the account condition in the boundary.
As the outcomes, we acquired effective acknowledgment rates of 90% of response direction and
97.0% of confirmation order, separately.

5.3.2 Stopping Testing

The activity of this framework executes until the following direction is given. For instance, a
wheelchair goes straight until stop or turn order is input. At that point, we tried the accompanying
two examinations to confirm the task of our framework. The review of these tests are appeared as

Test1. A user inputs stop command to stop in the target position by going straight running.
Test2. A user makes a wheelchair go straight at the time of the stop, immediately he inputs stop
command.
The stopping experiment was carried out with the three persons. Each person was tested five times.
Thus, average value and standard deviation were calculated. Experimental results are shown. As
for ex.1, average error was 11.7cm. However, we found that increasing number of time of the
experiment decreases the error. From two experimental results of ex.2, the braking distance of
about 2m occurred until it actually stopped after stop command was input. This is the reason why
two seconds are necessary for the recognition processing and the display of the result. The running
speed is 1.8km/h, and our system runs 2m in 2 seconds. This distance supposed with the
specifications of the voice controlled wheelchair though it can expect that the braking distance
decreases by making improvement in the performance of the laptop and the low running speed.
Here, the braking distance was about 50cm when button operation is used without using the voice
input.

5.3.3 Running Testing

The following investigation is a running test. This examination was completed with same three
people of past trial. A running spot was in the passageway of grounds, and the width of the hallway
was about 2m, and one snag was put on the lobby of the passage. We set two courses An and B.
The absolute separations obviously A and B were about 16m and 13m, individually. The trial
running time, the quantity of essential response direction and the quantity of short moving response
order are told. Since a bit of moving separation task of the course B is more fundamental than the
course A, there is more contribution of the short moving response order in the course B. Despite
the fact that the individual E is one of the creators and he is control the framework in a rehearsed
activity, each individual is practically running in the meantime.

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Chapter 5 Testing and Results

Some of the testings are:

Figure 5.1 Simple switching to voice Module

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Chapter 5 Testing and Results

Figure 5.2 Training the voice Module

Figure 5.3 Loading voice to Arduino Uno R3

Figure 5.4 After Successful Training and loading to Voice Module

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Chapter 5 Testing and Results

5.4 Functional Testing

5.4.1 Unit Testing

It is a type of a testing in which whole project is divided into fragments and then separately those
parts of fragments are tested.
a). Ultrasonic sensors are separately tested for the avoidance of any obstacle in front of wheelchair.
b). Keypad and voice module are tested in their own zones.

5.4.2 Integration Testing

It is a type of a project in which we checks how the system works as an integrated unit. It checks
when all the modules and units combine together, how they work properly.

Figure 5.5 Integration Testings

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Chapter 5 Testing and Results

5.4.3 System Testing

System testing is done to evaluate the whole system performance according to the end user
requirements, our system gave desired output according to the requirement we declared.
Because proteous does not have the library of the voice module v3 so we did not tested it over
proteous. We tested whole system on the hardware design.

Figure 5.6 system testing

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 Chapter 6

CONCLUSIONS AND FUTURE WORK

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Chapter 6 Conclusions and Future Work

Chapter 6

CONCLUSIONS AND FUTURE WORK

6.1 Conclusion

Our project Voice controlled wheelchair that was created to move mechanized wheelchair utilizing
your voice. The voice control wheelchair is extraordinarily planned for deadened people. The
individuals who experience the ill effects of more prominent level of loss of motion and not ready
to move their hands, legs and every single other piece of body however they can talk. There are
numerous wheelchairs accessible in market which can move by joystick, and material screen yet
these wheelchair required certain chest area portability which is must to move these kinds of
wheelchairs. Subsequently there is a prerequisite for planning a wheelchair that is clever and gives
basic portability. In this remarkable circumstance, a thought has been made to propose a voice
control wheelchair, which use client voice to control the development of wheelchair.

6.2 Limitations

Our voice recognition module have few limitations

 It Support maximum 80 commands only.
 It detect seven commands at a time.
 It require 3 seconds in processing the commands.
Limitations of our wheelchair are:
 No emergency alarm.
 Weight limit.
 Hurdles detection issue.

6.3 Future work:

 Charging of battery using solar energy.
 Weight limitations should be eliminated.
 Emergency alarm should be embedded in this system.

The Intelligent Vehicle for Physically and Mentally Disabled Persons designed in this project has
a lot of advantages, but can also be improved on. Here the vehicle is controlled by two ways, voice
recognition and Keypad. Controlling by EEG signals is a better option for the patients who cannot
adopt methods which are already mentioned. Another proposed method is the controlling of the
vehicle by the control of mind. By this a person can control the motion of the same by just thinking
itself. This vehicle can be modelled in such a way that it can be easily turned into a semi sleeper
mode in order for the patient to feel more comfortable and thereby reduce the continuous one mode
sitting problem. Other already invented methods in wheelchair can also be incorporated with this.
Like step climbing wheelchair and inter communication between devices-which is just an
upcoming project trying to be implemented on road vehicles. The communication aid with these

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Chapter 6 Conclusions and Future Work

wheelchairs will help the deaf and dumb to communicate with each other’s too. These all are the
(much more can be thought of) Future works we can propose regarding this vehicle.

Voice controlled wheelchair 33

 References

REFERENCES

Voice controlled wheelchair 34

 References

References
[1] PROF.R.S.Nipanikar VinayGaikwad, ChetanChoudhari, RamGosavi, Vishal
Harne,2013,“Automatic wheelchair for physically disabled persons”.

[2] S. D. Suryawanshi, J. S. Chitode, S. S. Pethakar,2013,”Voice Operated Intelligent

Wheelchair.”

[3] KharkaBahadurRai ,Jeetendra Thakur, NirmalRai, Volume No.04, Issue No.

06, June 2015 ,” VOICE CONTROLLED WHEEL CHAIR USING ARDUINO,”

[4] Simpson RC, Levine SP, IEEE Trans Neural System Rehabilitation Eng. 2000,
122-125,” Voice control of a powered wheelchair.”

[5] Enigma Energi Owners Handbook, Enigma Energi Powerchair Owners Handbook, Part Code:
Z20949 (Rev G).

[6] Arduino, “ARDUINO UNO REV3”, available on-line at https://store.arduino.cc/usa/arduino-

uno-rev3, 2018.

[7] Nick Bardici, Björn Skarin, "Speech Recognition using Hidden Markov Model", 2006

[8] Huang X., Acero A., Hon H.-W. Prentice-Hall, "Spoken Language Processing: a Guide to

Theory, Algorithm, and System Development", 2001.

[9] Oscar Tosi, “Voice Identification – Theory and Legal Applications”, 1979

[10] Ling Feng, "Speaker Recognition", 2004

[11]. 2009 IEEE 11th International Conference on Rehabilitation Robotics Kyoto International
Conference Center, Japan, June 23-26, 2009

[12]. Vasundhara G. Posugade, Komal K. Shedge, Chaitali S. Tikhe “Touch-Screen Based

Wheelchair System” International Journal of Engineering Research and Applications (IJERA)
ISSN: 2248-9622 Vol. 2, Issue 2, Mar-Apr 2012, pp.1245-1248

Voice controlled wheelchair 35

 References

[13]. A. AnandKumar “BasicFundamentals of Digital Circuits” Second Ed. PHI Learning.

[14]. Neamen“Electronic Circuits – Analysis & Design” McGr

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 Appendix

Voice controlled wheelchair 37