1

Obstacle Detection and Navigation using Adjustable Smart Blind Stick

for People with Visual Impairment

A Study

Presented to the Faculty of the College of Arts, Science, and Technology

DE LA SALLE ARANETA UNIVERSITY

Victoneta Ave., Malabon City, Metro Manila

In partial fulfillment of the requirements for the course of

Practical Research 1

By:

Balderrama, James Elijah R.

De Guzman, Kyla R.

Gresola, Kobe Brianne C.

Manongsong, Justin Philip B.

Teodoro, Juan Paulo M.

Adviser: Ms. Genevieve Galino

August 2020
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Table of Contents

Page

CHAPTER

1 The Problem and a Review of Related Literature 3

Background of the Study 3

Statement of the Problem 5

Significance of the Study 5

Scope and Limitations

Review of Related Literature 7

References 14
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Chapter 1

The Problem and a Review of Related Literature

Background of the Study

Avoidable blindness and visual impairment are massive international public

health issues. It is estimated that as per 2010 estimates, there are 32.4 million people with

blindness and 191 million people with moderate extreme visual impairment (MSVI). As

stated by Rao (2015), approximately 60% of blind people and 57% of those with MSVI

are women. For older adults, the global age-standardized prevalence of blindness and

MSVI is 1.9% and 10.4% respectively. Also, after age change the incidence of blindness

in women is greater than in men around the world. Overall, 84.6% of people with

blindness, and 77.5% of people with MSVI are 50 years of age and older.

According to the Department of Health, in the Philippines, the total number of

bilateral blind individuals in 2017 is 332,150 of whom 33% or about 109.609 was caused

by cataracts, 25% (83.037) by refractive errors (EOR) and 14% (46.501) by glaucoma.

The majority are caused by certain disorders in the eye, such as glaucoma, retinopathy

and maculopathy. In addition to this data, the current number of individuals with bilateral

impaired vision is 2,179,733 of which 43% (937,285) is due to EOR, 34%(741,109) were

due to cataract, and the remaining are due to glaucoma and other eye problems.
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Technologies are growing very rapidly based on Satam (2019), which helps

people get a better and easier life. The smart stick is a tool intended to help the sightless

find their path. Sightless People are suffering from a lack of vision to do their everyday

tasks, from moving down the street to meeting friends or families, or whatever they do

every day. For the blind, the earliest kind of navigation device was in the form of a

walking stick. But the disadvantages of using it are the lack of knowledge, cost and

period of training required. Through the technological advancements, technical

approaches have become possible to create and build that can help a visually impaired

person move freely. According to Dey (2018), various theoretical work on improving

such a smart blind stick has been carried out.

The researchers aim to find a way to build an innovated blind stick for blind and

visually impaired people for better and safe navigation of their surroundings. This blind

stick uses Arduino sensors to detect walls and obstacles along a disabled person’s way.

Though smart blind sticks are expensive, one of the researchers’ aim is to build a unique

blind stick but affordable rather than expensive.

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Statement of the Problem

There are a lot of cases of visual impairment around the world and the researchers

wanted to test how helpful the smart blind stick is. In order to prove its effectivity, the

researchers came up with the following questions:

1. How will the researchers construct an adjustable blind stick with:

a. GPS

b. Sensors

2. Can these test methods test the effectivity of blind stick?

a. Method 1: Usability Testing

b. Method 2: Security Testing

c. Method 3: Accuracy Testing

3. How far from the obstacle can the ultrasonic sensor detect? Can the blind

stick detect an obstacle from:

a. 10 cm?

b. 15 cm?

c. 20 cm?

Significance of the Study

Through this study, the researchers will determine the efficiency of the program

used. Also the discovery of a new innovation that can be used by the visually impaired

people that would greatly help them travel safely. This research will also help the
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community find an innovative blind stick that can also be functional than the normal

blind sticks. In this study, the researchers will enable further knowledge, not only on their

programming skills, but also their projection of the subject matter itself. To the future

researchers, this research may serve as a reference for studies related to blind stick and

Arduino.

Scope and Limitations

The researchers will focus on the creation of the product using these materials:

adjustable blind stick with GPS, Arduino Nano, and security vibration sensors. Other

than these materials will not be involved in the methodology of the study. In relation to

this, Arduino and vibration motor will be programmed and tested afterwards. The

creation and testing of the program will be done using Arduino IDE (Integrated

Development Environment). The researchers will not have to conduct an analysis about

programming and will just focus on the program needed to run the sensor. Blind people

will only be the focus of the researchers, not including the people who are deaf, mute,

and amputated.
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Review of Related Literature

Blindness

According to Lupón et al (2020), the global population with vision loss is

estimated at nearly 1.3 billion individuals, but 80% of vision-threatening disorders can be

prevented, if adequate care (spectacles, contact lenses, or medical or surgical care) is

available. If the medication is not available or is ineffective, VI can lead to various rates

of impairment and have a negative effect on other everyday activities, reducing or

restricting opportunities for social involvement. The coexistence with other impairments

or disabilities (e.g., deafness, mental disability, locomotive disability) may further hinder

personal growth.

Based on Flaxman, et.al. (2020), as the population increases and ages, the number

of people affected by the common causes of vision loss has risen significantly. Cataract

(reversible with surgery) and refractive error (reversible with spectacle correction)

preventable vision loss tend to cause most cases of blindness and mild to extreme vision

impairment in adults 50 years of age and older. To tackle avoidable vision loss, a

significant scale-up of the eye care system is required to cope with the growing numbers.

As reported by Naidoo, et al. (2016), 6.8 million people were blind in 2010, and

101.2 million vision impaired as a result of URE with, figures from 1990 (6.3 million
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were blind and 88.0 million vision impaired). Since 2010, uncorrected refractive error

remains the leading cause of vision loss and the world's second-largest cause of

blindness, affecting a total of 108 million people or 1 in 90 persons. URE was the most

common cause for MSVI, and the second most common cause of blindness. Our data

again emphasizes that globally one of the simplest, most effective and most cost-effective

ways to improve the burden of vision loss would be to provide access to affordable,

adequate spectacles with the appropriate human resources to correct refractive errors.

Blind Stick

Canes have already existed throughout history, serving as mobility tools and

travelling aids for the people who are blind and visually impaired. Visual impairment

refers not just to a total blindness, but to a more common problem of partial or low vision

(Mandru, et al., 2020).

Blindness or visual impairment is a condition that affects many people around the

world. The usage of the blind navigation system is very less and is not efficient. The

blind traveler is dependent on other guide like white cane, information given by the

people, trained dogs, etc. Many virtually impaired people use walking sticks or guide

dogs to move from place to place. A guide dog is trained for guiding its users to avoid the

accidents from objects and barriers over a fixed path or in a fixed area. When a visually

impaired person uses a walking stick, he waves his stick and finds the obstacle by striking

the obstacles in his way (Kher, 2015).

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Based on Nowshin et al. (2020), blind stick is a special device used by visually

disabled people for centuries. But in recent times Electronic Travel Aids (ETAs) with

sensors and sound systems are designed for improved navigation of blind people.

GPS

According to Hulukati (2020) and Salihi (2020), the wider the field of the blind,

the easier it would be for them to carry out the exercises. This study aims to develop a

tool that allows visually impaired people to detect obstacles. Because of its small size,

this tool was developed with Arduino nano so it would not interact with their activities

and power usage against the speed of low execution of commands. This device is also

developed using a proximity sensor (SRF-04), and GPS Tracking is a remote tracking

system that uses GPS satellites as a determinant of vehicle / asset position in the form of

coordinates to travel quickly and precisely. The device is developed in accordance with

the needs of the blind so that they feel secure and relaxed, so that it is configured with

sensor sensation and location in the required configuration based on the results of testing

for the proper function of the blind vision aid if objects are identified by the proximity

sensor.

As mentioned by Sri (2020), an ultrasonic sensor, Moisture sensor, LDR, RF434,

Smoke Sensor has been developed and successfully implemented to detect and avoid

hazards and navigate a visually impaired navigation system. The ultrasonic sensor is used

to identify walls, and the moisture sensor detects rainy days of water. LDR is used for
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day or night detection. Smoke sensors are used for the detection of flames. The location

of the forgotten stick is identified by RF434. Through using GSM and GPS we can track

the position of the person.

The idea was created because we know there is no blind person program to help

them feel safe as they travel without guardians outside. When the blind life is challenging

and stressful, they cannot see an object in front of them and often they can even get hit by

a human body. To order to reduce the challenges that blind people face, this Smart Stick

is intended. This stick is inserted into the sensor and is sensed in front of any object or

individual. However, since they can't see the route, the propensity to blind people is very

strong. Thus, we use GPS to watch where they are going and this stick will tell the keeper

if they go to somewhere (Rosman, 2018).

Ultrasonic Sensor and Micro Vibration Motor

In the study conducted by Nada (2015), it was stated that, Guide Cane uses

ultrasonic sensors or laser sensors to detect obstacles in front of blind by transmitting the

wave and reception of reflected waves. It produces either an audio or vibration in

response to detected obstacles to warn blind. In addition to this, some solutions are

already available in the market such as: UltraCanne, Isonic, and Teletact and others.

These products help blind people by collecting information through sensors and then

transmitting recommendations through vibration or sound message to the user.

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Ultrasonic sensors generate high frequency sound waves in the ultrasonic range

by converting electrical signals to sound signals and evaluate the echo to determine

distance to an object (Pawaskar, 2018). In relation to this, in the study of Anwar (2017), it

was stated that, a vibrator motor is included to enhance the overall feedback for the

person who receives the warning against obstacles closeness in different formats of

vibrations.

Ultrasonic sensors generate high frequency sound waves in the ultrasonic range

by converting electrical signals to sound signals and evaluate the echo to determine

distance to an object (Pawaskar, 2018). In relation to this, in the study of (Anwar, 2017) it

was stated that, a vibrator motor is included to enhance the overall feedback for the

person who receives the warning against obstacles closeness in different formats of

vibrations. Moreover, (Agarwal, 2015) mentioned that Vibration motor is the type of DC

vibration motors used in mobile phones. It requires a voltage supply of 1.3v to 3v with

current around 125 mA. This type of motors can be programed to control the speed of it

by using the PWM (Pulse Width Modulation) method. The speed of the motor is

13500 rpm and the diameters of the motor are 4 mm to 10 mm and the length is 2mm

to 15 mm.

Arduino Sensors

According to Louis (2016), Arduino is an open source microcontroller. It can be

programmed, reprogrammed and erased without any difficulty. In 2005, the Arduino
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platform was introduced and made to provide an affordable and easy way for hobbyists,

pupils, and of course, professionals to build gadgets that can interact with its surrounding

by the use of sensors and actuators. It is an open source computing platform based on

simple microcontroller boards, built to construct and program electronic gadgets. It can

also act as a mini computer, like other microcontrollers that take inputs and control

outputs for a different electronics devices. With the help of various Arduino shields, it

can receive and send information over the internet. Arduino also uses the Arduino

development board and software to develop the code which is known as the Arduino IDE

(Integrated Development Environment). Along with the 8-bit Atmel AVR

microcontroller's manufactured by Atmel or a 32-bit Atmel ARM, Arduino can be

programmed using the C or C++ language in Arduino IDE. People associated with

gadgets, devices, and electronics are studying and learning more the role of Arduino.

Another thing that it can do is to burn (upload) a new code to the board through a USB

cable to upload. The Arduino IDE provides a simplified integrated platform which can

run on regular personal computers and allows users to write programs for Arduino using

C or C++.

Arduino Nano

The study conducted by Rakesh (2019) says that the Arduino Nano has several

communication facilities with a computer, another Arduino, or other microcontrollers.

The ATmega328 offers serial connectivity from UART TTL (5V), which is accessible on
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digital pins 0 (RX) and 1 (TX). An FTDI FT232RL on the board channels this serial

communication over USB, and the FTDI drivers (including the Arduino software)

provide software on the device with a virtual com port. The Arduino program provides a

serial monitor enabling to transmit simple text information to and from the Arduino

board. The board's RX and TX LEDs will flash while data is being transmitted to the

device through the FTDI chip and USB link (but not for serial communication on pins 0

and 1). A Software Serial library enables serial communication on each of the digital pins

in the Nano.

433MHz Transmitter and Receiver

As stated by Sharma, et al. (2018), an intelligent stick is planned and applied to

allow blind people to walk freely. Pothole detection and avoidance systems are applied

by placing the ultrasonic sensor at a 30-degree angle on the correct blind stick to

determine whether there is a hole or staircase in front of the blind at a distance of around

30 cm to deter a human from falling and, as a result, certain losses can be incurred. We

have used a wireless remote consisting of RF modules (transmitter and receiver) to be

installed, and if a person loses stick or forgets it somewhere, he can press a remote switch

consisting of transmitter component, and as a result alarm with vibrations would turn on,

allowing the user to know where the stick is located. The stick is implemented using a

single-wheel blinding cane, the Arduino microcontroller with three RF ultrasonic sensors.

Also, two buzzers and two vibration motors are used on the stick to fit when difficulties

arise.
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Multi-Functional Blind Stick for Visually Impaired People

They claimed in the study conducted by (Kuntha, 2020), (Tuniki, 2020), and

(Sairam, 2020) that multiple sensors could be used to detect irregularities such as

barriers, staircases, and wet terrains respectively. A simple, sophisticated and inexpensive

smart blind stick with numerous IoT sensors and modules is the concept discussed here.

This solution also provides the means to send a message to the people concerned about

the user's whereabouts. In addition to the above, a software program is developed to help

the Blind 's associates control the setup of the stick ex: add or erase phone numbers to

which warning messages will be sent.

References

Anwar, A. and Aljahdali, S. (2017). A Smart Stick for Assisting Blind People.
IOSR Journal of Computer Engineering (IOSR-JCE). e-ISSN: 2278-
0661,p-ISSN: 2278-8727, Volume 19, Issue 3, Ver. II (May.-June. 2017),
PP 86-90

Department of Health. (2017). PUBLIC TOLD: PROTECT YOUR EYES FROM

BLINDNESS – DOH PRESS RELEASE/06 AUGUST 2017.

Dey, N., Paul, A., Ghosh, P., C. Mukherjee, R. De and S. Dey. (2018). Ultrasonic
Sensor Based Smart Blind Stick. International Conference on Current
Trends towards Converging Technologies (ICCTCT). Coimbatore. pp. 1-
4, doi: 10.1109/ICCTCT.2018.8551067.

Flaxman, S. et al (2017). Global causes of blindness and distance vision

impairment 1990–2020: a systematic review and meta-analysis. Volume 5, Issue
12, Pages e1221-e1234. https://doi.org/10.1016/S2214-109X(17)30393-5

Hulukati, S. and Salihi, I. (2019). Designing the blind stick using the SRF-04
distance sensor based on GPS tracker and navigation. I OP Conference
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October 2019, Malang, Indonesia

Louis, L. (2016). WORKING PRINCIPLE OF ARDUINO AND USING IT

AS A TOOL FOR STUDY AND RESEARCH. International Journal of
Control, Automation, Communication and Systems (IJCACS), Vol.1,
No.2, April 2016.

Lupón, M., Cardona, G., and Armayones, M. (2020). Public knowledge of low
vision and blindness, and readability of on-topic online information.
https://doi.org/10.1016/j.optom.2020.06.005

Mandru et al. (2007). Development of a Mechatronic Blind Stick. Fascicle of

Management and Technological Engineering 2007, vol.7, pp.797-802

Nada, A. Mashali, S., Fakhr, M., and Seddik, A. (2015). Effective Fast Response
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Pawaskar, P., Chougule, D., and Mali, A. (2018). Smart Cane for Blind Person
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Volume-8, Issue-3, pp. 235-240. doi.org/10.31033/ijemr.8.3.31

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Satam et al. (2019). Design and Implement A Smart Blind Stick. Journal of
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Sri, V., Sireesha, C., Kamakshi, K., Durga, M., Sandhya, T. (2020).
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