VOICE CONTROLLED WHEELCHAIR

Group Members

Sana fayyaz UW-BSc-11-EE-18

Waheed Gandapur UW-BSc-11-EE-62

Adeela Arshad UW-BSc-11-EE-78

Wajahat Hussain UW-BSc-11-EE-80

Junaid Khattak UW-BSc-11-EE-94

Supervisor

Mr. Haris Masood

Department of Electrical Engineering

WAH ENGINEERING COLLEGE
WAH CANTT – PAKISTAN
2015
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FINAL REPORT

NUMBER OF
PROJECT ID 05
MEMBERS

TITLE VOICE CONTROLLED WHEELCHAIR

Electrical
SUPERVISOR NAME M. Haris Masood
Department

MEMBER NAME REG. NO. EMAIL ADDRESS

Sana Fayyaz UW-BSc-11-EE-018 Sanafayaz18@gmail.com

Waheed Gandapur UW-BSc-11-EE-062 Waheedgandapur2@gmail.com

Adeela Arshad UW-BSc-11-EE-078 Adi145@gmail.com

Wajahat Hussain UW-BSc-11-EE-080 s.ahil@kimo.com

Junaid Khattak UW-BSc-11-EE-094 akaashktk@gmail.com

CHECKLIST:

Number of pages attached with this form

I/We have enclosed the soft-copy of this document along-with the

YES / NO
codes and scripts created by ourselves

My/Our supervisor has attested the attached document YES / NO

I/We confirm to state that this project is free from any type of
YES / NO
plagiarism and misuse of copyrighted material

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STUDENT’S SIGNATURES INTERNAL SUPERVISOR

_________________________________________________
__________________________
_________________________________________________ EXTERNAL SUPERVISOR

_________________________________________________
__________________________
_________________________________________________

____________________________

Note 1: This paper must be signed by your internal supervisor and external
supervisor.
Note 2: The hard copy of this report must be submitted to your supervisor and
electrical engineering department, Wah Engineering

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DECLARATION

“No portion of the work referred to in the dissertation has been submitted in support of an

Application for another degree or qualification of this or any other university/institute or

other institution of learning”.

MEMBERS’ SIGNATURE

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Table of Contents

DECLARATION .......................................................................................................................................... 5

ACKNOWLEDGEMENT .......................................................................................................................... 10

ABSTRACT ................................................................................................................................................ 11

Chapter 1 ..................................................................................................................................................... 12

INTRODUCTION ...................................................................................................................................... 12

1.1 PROJECT.......................................................................................................................................... 12

1.2 BACKGROUND .............................................................................................................................. 12

1.3 OBJECTIVE ..................................................................................................................................... 13

1.4 SCOPE .............................................................................................................................................. 13

Chapter 2 ..................................................................................................................................................... 14

LITERATURE REVIEW ........................................................................................................................... 14

2.1 HISTORY OF VOICE RECOGNITION .......................................................................................... 14

2.2VOICE RECOGNITION ................................................................................................................... 14

2.2.1 VOICE RECOGNITION MODULE ......................................................................................... 14

2.2.2 SPECIFICATIONS .................................................................................................................... 15

2.2.3 MEMORY.................................................................................................................................. 15

2.3 HISTORY OF WHEELCHAIR ........................................................................................................ 15

Chapter 3 ..................................................................................................................................................... 16

BLOCK DIAGRAM ................................................................................................................................... 16

3.1 VOICE RECOGNITION MODULE: ............................................................................................... 16

3.2 COMPLETE WORKING WITH BLOCK DIAGRAM ................................................................... 17

Chapter 4 ..................................................................................................................................................... 18

HARDWARE DESCRIPTION................................................................................................................... 18

4.1 Hardware Section .................................................................................................................................. 18

4.1.1 Wheelchair ................................................................................................................................. 18

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4.1.2Microphone ................................................................................................................................. 19

4.1.3 VOICE RECOGNITION MODULE ............................................................................................. 20

4.1.4 Motors ............................................................................................................................................ 21

4.1.5 POWER.......................................................................................................................................... 22

4.1.6 POWER PINS ................................................................................................................................ 22

4.1.7 Battery ............................................................................................................................................ 22

Chapter 5 ..................................................................................................................................................... 24

SOFTWARE ............................................................................................................................................... 24

5.1 VOICE RECOGNITION .................................................................................................................. 24

5.1.1 VOICE RECOGNITION MODULE ............................................................................................. 24

5.1.2 SPECIFICATIONS .................................................................................................................... 24

5.1.3 RECORDING ............................................................................................................................ 24

5.2 ARDUINO UNO .............................................................................................................................. 25

5.2.1 OVERVIEW .............................................................................................................................. 25

5.2.2 DIAGRAM ................................................................................................................................ 26

5.2.3 SPECIFICATION ...................................................................................................................... 26

HARDWARE IMPLEMENTATION ......................................................................................................... 28

Appendix ..................................................................................................... Error! Bookmark not defined.

Data Sheets.............................................................................................. Error! Bookmark not defined.

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List of Figures
Figure 1 : Block diagram ............................................................................................................................ 16
Figure 2 : VRM Block diagram .................................................................................................................. 17
Figure 3: Wheel Chair ................................................................................................................................. 19
Figure 4: Microphone ................................................................................................................................. 20
Figure 5 : VRM ........................................................................................................................................... 21
Figure 6 : Motor .......................................................................................................................................... 21
Figure 7 : Battery ........................................................................................................................................ 23
Figure 8 : UNO ........................................................................................................................................... 26

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List of Tables
Table 1 : Arduino specifications .............................................................................................................. 26

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ACKNOWLEDGEMENT

All grace to Almighty Allah who has given His men the instinct to think and power to
create.
We would like to express our gratitude to all those who gave us the possibility to complete this
project. We want to thank the Department of Electrical of Wah Engineering College for giving
us permission to commence this project. We are deeply indebted to our supervisor Mr. Haris
Masood whose help, stimulating suggestions and encouragement helped us in all the time of
research and doing this project. We attribute the level of our Bachelor’s degree to his
encouragement and effort and without him this project would not have been completed.

Especially, we would like to give special thanks to our parents whose patient love enabled us to
complete this work.

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ABSTRACT

This project represents the idea about the voice controlled wheel chair by using speech
recognition module that will allow certain people to live a life with less dependence on others.
Basic idea is to facilitate the movement of people who are disabled or elderly people who are not
able to move well. The system is designed to control a wheelchair using the voice of consumer.
The result of Speech recognition technology is a key which may provide a new way of human
interaction with machines or tools. In this project, interface is designed therefore to develop the
program for recognizes a voice in turn controls the movement of wheelchairs. This project uses
Atmel microcontroller circuit and Direct Current Motor to create the movement of wheelchair.
Anyone can use this wheel chair by getting training and by recording his voice in the voice
recognition module in only 5 minutes. This wheelchair can be used anywhere by the needy one
in any field.

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Chapter 1

INTRODUCTION

Controlling appliances is the main part in automation. In future, voice recognition technique will
be the method for controlling appliances, computer etc. Voice recognition is a standalone and
very less expansive technique that may be used to control wheel chair.

1.1 PROJECT
The project titled “Voice controlled wheel chair” is planned considering a sole purpose of
improving the handling of wheel chair. This project will also help the disable person to operate
wheelchair using voice only. Voice recognition will reduce physical activity and therefore will
help the older persons to operate it easily. Voice recognition module having microphone receives
analog signal and then it is converted in to digital signal. It also compares with its primarily
stored voices through training session and then sends corresponding signal. Which further
operate through microcontroller that makes decision according to receiving signals on its input
and it will give directions to the motors for the movement of wheelchair .The main purpose of
this project to help those people who are paralyzed or those elders that cannot move. The
purpose of this project is also to remove the dependency of paralyzed people to others. The
benefit and purpose of this project will be shown through its results and analysis. This project is
very cost effective.

1.2 BACKGROUND
In the age of advancement, physically challenged people require a change of life style to a great
extent. In recent time, many guidance systems are available for changing the structure of wheel
chair to make it easier to use. Voice controlled wheelchair is highly competitive in replacing old

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traditional systems such as tactile screen and joystick wheelchairs which have limited use and
have some drawbacks.

1.3 OBJECTIVE
The primary objective is to design a low price, lowpowered, trustworthy and non-invasive
manual wheelchairbased on human voice so that a disabled person can use it easily. To facilitate
the peoples with severe disabilities that is unable to move their body parts, are able to move
wheelchair in any direction independently. By using sound commands the operation of
motorized wheelchair is controlled. With little training on how to use, many paralyzed persons
can benefit from it.

1.4 SCOPE
It can be enhanced by finding a way to charge the battery with the help of solar panel or by the
motion of wheelchair. In future home appliance control circuit can interfaced along with wheel
chair control. Further modifications can lead to interfaced obstacle avoidance sensors. Health
Monitoring & Rain Alarm system can also be interfaced with this technique.

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Chapter 2

LITERATURE REVIEW

2.1 HISTORY OF VOICE RECOGNITION

The bell labs researchers were working on the voice recognition. Bell laboratories were first
major achievement in 1952. The successful recognition numbers were 0 to 9, spoken over the
telephone. In 1970, Carnegie Mellon University developed the harpy system. Harpy system is
capable of recognizing the voice over 50 computers needed for harpy system to perform the
action. It can recognize the continuous voice. The process of developing voice recognition goes
through many years, and had a major result the arrival of the Google voice search app for
IPhone. Similarly, Google added the voice search app on Android phones in 2010. It is called the
personalized recognition

2.2VOICE RECOGNITION
2.2.1 VOICE RECOGNITION MODULE
The voice recognition can identify your voice. It has serial port interface through which it
receives configuration commands. Voice recognition module can store three groups of voice
instruction with 5 pieces of instructions in one group. Record the voice instructions group by
group. After that, user loads one group by serial command before it could recognize the 5 voice
instructions within that group. If someone needs to implement instructions in other groups, it can
be imported from the group first. Voice recognition module is speaker independent. If any other
person speaks the voice instruction instead of the user, it may not identify the instruction.

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2.2.2 SPECIFICATIONS

▪ Voltages: 4.5 to 5.5V

▪ Current:<40mA

▪ Digital interface: 5V TTL level URAT interface

▪ Recognition accuracy: 94% (under ideal environment)

2.2.3MEMORY

The AT mega2560 has 256 KB of flash memory for storing code (Of which 8 KB is used for the
boot loader), 8 KM SRAM and 4 KB of EEPROM.

2.3 HISTORY OF WHEELCHAIR

First wheelchair record was found in China. In 1930s, American engineer Everest designed a
lightweight folding chair which is commercially most successful. After this an automated
joystick controlled wheelchair was developed. Further advancement in joystick wheelchair leads
to voice controlled wheelchair which operates with human voice further operated through
microcontroller that makes decision according to receiving signals on its input and gives
directions to the motors for the movement of wheelchair .The main purpose of this project to
help those people who are paralyzed or those elders who cannot move. Other benefit of this
project is also to remove the dependency of paralyzed people to others.

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Chapter 3

BLOCK DIAGRAM

This section of report is focused on the description of block diagram of the project. The block
diagrams explain the task that has to be implemented and are compulsory part of the project.

Driver Circuit 1 Motor 1

VOICE
Microcontroller Battery
RECOGNITION
MIC
MODULE

Driver Circuit 2 Motor 2

Figure 3.1 : Block diagram

3.1 VOICE RECOGNITION MODULE:

Voice recognition is the technology by which sounds, phrases spoken by individuals are
converted into electrical signals and these signals are changed into coding patterns to which
meaning is allocated. This concept can more generally be called as sound recognition or speech
recognition. Human voice is mainly focused here, because we most naturally and most
frequently use our voices to communicate our thoughts to others in our immediate environments.
The user would possibly gain the greatest feeling of immersion to use their voice as the most
common form of communication. The principle used in voice recognition is show in figure.

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Voice
commands

MIC Signal Acoustic Trained

model
Output
analyzer Data

Figure 3.1 : VRM Block diagram

Database of speech data is built from multiple speech samples, then those samples of all the
necessary speech data can be recorded and stored. The first element that is required for voice
recognition is the collection of speech data. The signal analyzer passes the data from the speech
sample to the acoustic model for identification. Samples of possible speech data is passed into
language models. These possibilities are compared with previous results from the trained model.
The speech data with the highest probability of a match is selected as being the correct data and
given as output.

3.2 COMPLETE WORKING WITH BLOCK DIAGRAM

An input voice is directly given to the microphone, which converts the voice command into
electrical signal. Voice recognition module will give signals to the microcontroller. Voice
recognition module will be operated by giving 5 commands in this project. These commands
contain address locations on microcontroller. When the program executes, it controls the
movement of rotation of the motors. The motors used are DC motors. 12 Volts battery is used for
the motor to provide a sufficient power to the motor. We are using a battery charger for charging
the battery. This is the basic working principle of the ‘voice controlled wheel chair.

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Chapter 4

HARDWARE DESCRIPTION

4.1 Hardware Section

Hardware section consists of following parts:

• Wheelchair
• Microphone
• Voice recognition module
• Arduino Board
• Motors
• Power
• Power pins
• Battery

4.1.1 Wheelchair
We are using an electric wheel chair so that manual power can be removed in future. In this
wheelchair two batteries (12V each) and two motors (650 each) are used. Motor drivers are used
to control the speed and direction of motors. Microcontroller is used to send signals to the drivers
and a charger for charging the batteries.

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Figure 4.1: Wheel Chair

4.1.2 Microphone
A MIC is used as an input which is directly connected to the Voice recognition module. There
are three types of microphones which are dynamic, condenser and ribbon. Ribbon type is used
which have high sensitivity and efficiency .The signal from microphone is fed into the voice
recognition module. It receives an voice signal in analog form and transmits it in electrical
signal. Voice Recognition Module converts it in binary form which further compares the voice
with stored voices stored in it.

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Figure 2.2: Microphone

4.1.3 VOICE RECOGNITION MODULE

The voice recognition module is used for recognizing the voice. It is configured through serial
port interface.Voice recognition module can store 15 samples of voice instructions. These 15
sample of voices are divided into 3 groups (5 in each group) . It records the voice commands in
groups. After storing the voices, we can load one group by ‘LOAD’ command. Efficiency is
affected if more than one group is loaded at a time. Human voice is mainly focused because
naturally and more frequently human use their voices to convey our thoughts to others in our
environments.

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Figure 4.3 : Voice Recognition Module

4.1.4 Motors
There are two motors used in project. The power of motors is 1300 watts (650 each). The motors
are controlled by the motor drivers.

Figure 4.4 : Motor

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4.1.5 POWER

The Arduino UNO can be powered via the USB connection or with an external Power supply.
The power source selected automatically. External (non USB) Power can come either from AC
to DC adapter or battery. The adapter can be connected by plugging 2.1mm center positive plug
into the board’s power jack. Lead from a battery can be inserted in the ground and V in pin
headers of the power connector. The board can operate on the external supply of 6 to 20 volts. If
supply is less than 7Volts. However, the 5volts pin supply less than five volts and the board may
be unstable. If using more than 12V, the voltage regulator may overheat and damage the board.
The recommended range is 7 to 12 volts.

4.1.6 POWER PINS

• Vin: The input voltage to the Arduino UNO board when it is using external power supply (as
opposed to 5 volts from USB connection or other regulated power source)
• 5V: The regulated power supply used to power microcontroller and other components on the
board. This come either from VIN via an on-board regulator, or be supply by either USB or
another regulated 5V supply.
• 3V3: A 3V3 volt supply generated by on-board regulator. Max current drawn is 50mA.

4.1.7 Battery
There are two batteries used in project. One battery is 12 volts and other battery have same volts.
So there are total 24 volts required to operate the wheelchair. The charger is used for the battery
charging.

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Figure 4.5 : Battery

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Chapter 5

SOFTWARE

5.1VOICE RECOGNITION
5.1.1 VOICE RECOGNITION MODULE
The voice recognition can recognize your voice. ConfigurationCommandsreceived through serial
port interface.15 pieces of voice instruction can be stored by voice recognition module. These
pieces are divided into 3 groups, with 5 in one group. It records the voice instructions group by
group. After that, we should import one group by serial command before it could recognize the5
voice instructions within that group. If want to implement instructions in other groups, we should
import the group first. Voice recognition module is speaker independent. If your friend speaks
the voice instruction instead of you, it may not identify the instruction.

5.1.2 SPECIFICATIONS

▪ Voltages: 4.5 to 5.5V

▪ Current:<40mA

▪ Digital interface: 5V TTL level URAT interface

▪ Recognition accuracy: 99% (under ideal environment)

5.1.3RECORDING

Before using VRM, we have to record voice instructions. Maximum length of each voice
instruction is 1300ms, which ensures that most words can be recorded. Once you start, the
recording process cannot stop until you finish all the 5 voice instructions i.e. recording of one

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group. When you start recording, the previous data of that group will be deleted. During
recordingprocess, this module doesn’t reply to any other serial commands.

5.2 ARDUINO UNO

5.2.1 OVERVIEW

The Arduino UNO R3 is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz crystal
oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains
everything needed to support the microcontroller; simply connect it to a computer with a USB
cable or Power it with AC-to-DC adapter or battery to get started. UNO differs from all
preceding boards because it does not use the FTDI USB-to-serial driver chip.
Additional features coming with the REV3 version are:

• ATmega16U2 instead of 8U2 as USB-to-Serial converter.

• 1.0 pin out: added SDA and SCL pins for TWI communication placed near to the AREF
pin and two other new pins placed near to the RESET pin, the IOREF that allow the shields to
adapt to the voltage provided from the board and the second one is a not connected pin that is
reserved for future purposes.
• Stronger RESET circuit.

"Uno" means "One" in Italian and is named to mark the upcoming release of Arduino 1.0. The
Uno and version 1.0 will be the reference versions of Arduino, moving forward. The Uno is the
latest in a series of USB Arduinoboards, and the reference model for the Arduino platform.

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5.2.2DIAGRAM

Figure 5.1: UNO

5.2.3SPECIFICATION

Table 1 : Arduino specifications

Operating Voltage 5V
Input Voltage (limit) 6-20V
Input Voltage (recommended) 7-12V
Digital I/O Pins 14
Microcontroller ATmega328
Analog Input Pins 6
PWM Digital I/O Pins 6
DC Current for 3.3V Pin 50 mA
DC Current per I/O Pin 40 mA
Clock Speed 16 MHz
Flash Memory 32 KB
EEPROM 1 KB
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Flash Memory for Boot loader 0.5 KB

SRAM 2 KB
Weight 25g
Length 68.6 mm
Width 53.4 mm

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Chapter 6

HARDWARE IMPLEMENTATION

Wheelchair movement is basically controlled by the drivers and H-Bridges are used in the
drivers. 2 H-Bridges are used for controlling the motors. H-bridges are known as sine wave
bridges. The efficiency of VRM is not 100% that’s why we used Joy Stick to stop the wheel
chair on emergency basis. In VRM, there must be a delay of 5 ms after each command because
the MOSFET used in the bridges are not capable of a sudden change and the H-Bridges may be
damaged. If there comes a situation where the opposite directions of both the H-bridges are ON,
the MOSFET burns. VRM is furtherly interfaced with the Microcontroller. Microcontroller gives
instructions to the drivers and movement is accordingly done by the wheel chair.
The Max Voltage given to the motor driver is 12V. Using display panel we are verifying that
which command is picked by controller & is running which is directly interfaced with joystick
and voice recognition module.

VRM is selected on the basis of efficiency and number of users. Efficency is important factor
because for operating H-bridges properly, we have to give some delay for commands. VRM is
trained before using. CMOS software used for this purpose through which in indexes we store
command voices with signature to identify the group then loaded with simple load command.in
our project joystick and voice recognition module both having same functions the difference is in
accuracy. for the selection of mic vrm recommended mic is used to work efficiently.
For power supply of Arduino board there are three methods
1)12dc adopter 2)USB cable 3) VCC and GND pins
Vcc and Gnd pins used to make chair moveable which further regulated through 7805.

Fig 6.1

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Chapter 7

RESULTS AND DISCUSSION

The aim of the project was to design a wheelchair which can be controlled by voice to help
paralyzed and disabled persons. This voice controlled wheelchair will reduce physical activity
and therefore will help the older persons to operate it easily. This wheelchair will carry 100kg
weight and covers distance of 20km/hr. It is trained by the user before using it and after storing
his voice, user must use the correct words to use it because it is highly sensitive and may not
work incorrect words are spoken. This project uses Atmel microcontroller circuit and DC Motors
to create the movement of wheelchair. Anyone can use this chair after storing his/her voice. This
wheelchair can be used anywhere by the needy one in any field.

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Chapter 8

REFERENCES

1. Michael Kohanski, Anna Marie Lipski, Justin Tannir, Tony Yeung, "Development of a Voice
Recognition Program", May 2002

2. Martin Petriska, Dušan Považanec, Peter Fuchs, "Speech control for car using the
TMS320C6701 DSP", 10

3. Nefian, A.V, Luhong Liang, Xiaobo Pi, Liu Xiaoxiang, Mao, C. and Murphy K. Microcomput,
"A coupled HMM for audio-visual speech recognition", IEEE Proceedings (ICASSP '02) on
Acoustics, Speech, and Signal Processing, Volume 2, pp. 2013-2016, 2002.

4. Thomas Hain, Asmaa El Hannani, Stuart N. Wrigley, Vincent Wan, "Automatic speech
recognition for scientific purposes - webASR", Department of Computer Science, University of
Sheffield, UK, 2008.

5. Graziano Bertini and Massimo Magrini, "A Prototype Lab Box with DSK'C6711/13 for Rapid
DSP Algorithm Development", White Paper, Inst. of Science and Technology of Information
(ISTI-CNR) National Research Council Pisa, Italy, October 2005.

6. A Speech Recognition Project by David Wagner. Available at:

http://www.cs.dartmouth.edu/~dwagn/aiproj/speech.html

7. Odette Scharenborg, Louis ten Bosch, Lou Boves, "Recognising 'Real-life' Speech with SpeM:A
Speech-based Computational Model of Human Speech Recognition", A

8. Texas Instruments, C6711 DSP Starter Kit. Available at

http://focus.ti.com/docs/toolsw/folders/print/tmds320006711.html

9. Ruei-Xi Chen, Liang-Gee Chen, Lilin Chen, "System design consideration for digital wheelchair
controller", IEEE Transactions on Industrial Electronics, vol.47, no.4, pp.898--907, 2000.

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