VOICE CONTROLLED WHEEL CHAIR
Anish Gawande, Pruthvaik Gawali, Sumit Gawai, Rushikesh Gawade, Jaykumar Gavit, Aditya Gavate.
Department Of Engineering, Sciences and Humanities (DESH)
Vishwakarma Institute of Technology, Pune, 411037, Maharashtra,
India
Abstract — This project proposes the
development of a voice-controlled wheelchair
system using Arduino, accompanied by a
mobile application for seamless control. It
addresses the pressing need for accessible
assistive technology, empowering individuals
with mobility impairments. By utilizing voice
commands, users can effortlessly navigate the
wheelchair, eliminating the physical effort
required for manual controls. The Arduino
microcontroller interfaces with the
wheelchair's hardware, including motors,
sensors, and actuators, while the mobile app
serves as a user-friendly interface for issuing
commands. Voice recognition algorithms
integrated into the app ensure accurate
interpretation and execution of voice
commands.
The system offers numerous benefits,
including enhanced mobility, independence,
and reduced cognitive load. Users gain the
ability to navigate their surroundings with
ease, improving their quality of life and
promoting inclusivity. The project's open-
source nature allows for customization and
future development, fostering ongoing
innovation in the field of assistive technology.
In conclusion, the voice-controlled
wheelchair system presented in this project
provides a novel and accessible solution for
individuals with mobility impairments. By
leveraging Arduino and a user-friendly mobile
application, it enables intuitive control,
ultimately enhancing users' independence and
overall well-being. The project contributes to
the advancement of assistive technology and
holds great potential for further improvements
and customization.
I. INTRODUCTION
This project aims to develop a voice-controlled
wheelchair system using Arduino UNO as the central
control unit. The system incorporates various components
such as the L298N motor driver, HC-05 Bluetooth
module, HC-SR04 ultrasonic sensor, DC motor, and a
1000mAh Lipo battery, among others. The Arduino UNO
serves as the brain of the wheelchair, controlling its
movements and functionality.
The motor driver is responsible for controlling the
wheelchair's motors, while the Bluetooth module enables
wireless communication between the wheelchair and a
companion mobile application. The HC-SR04 ultrasonic
sensor is used for obstacle detection, ensuring safe
navigation.
The system's basic structure involves establishing
connections between the Arduino and the different
components. This includes connecting the motor driver to
the Arduino for motor control, linking the Bluetooth
module for communication, and interfacing the ultrasonic
sensor for obstacle detection.
To control the wheelchair, a mobile application is
developed and paired with the Bluetooth module. The
user can issue voice commands through the app, enabling
intuitive control over the wheelchair's movements and
functions.
Overall, this project presents a foundation for building
a voice-controlled wheelchair system, offering increased
accessibility and independence for individuals with
mobility impairments.

II. PRE CASE SCENARIO
Assistive technology products, including voice-
controlled wheelchairs, have gained significant
attention in recent years. Several commercial
products are available in the market that offer
various levels of automation and control.
However, the availability and affordability of
voice-controlled wheelchairs still remain limited,
leaving room for further innovation and
development
Existing products in the market often come with
high price tags, making them inaccessible for
many individuals with mobility impairments.
Additionally, some commercially available
options lack customization features and may not
fully meet the specific needs of different users.
This creates a demand for more affordable and
adaptable solutions that can be tailored to
individual requirements.
Moreover, the integration of voice control
technology in assistive devices is an area that still
has room for improvement. While voice
recognition technology has advanced
significantly, there is a need for more user-
friendly and accurate voice command systems.
Many existing products struggle with accurate
interpretation of voice commands, leading to
frustrations for users.
The Need for Our Project:
The proposed project fills a crucial gap in the
market by offering a voice-controlled wheelchair
system that is affordable, customizable, and user-
friendly. By utilizing open-source hardware and
software, the project allows for flexibility and
adaptability, making it accessible to a broader
user base.
Our project also addresses the need for accurate
and reliable voice command interpretation. By
integrating voice recognition algorithms into the
mobile application, we aim to enhance the
accuracy of interpreting and executing voice
commands, providing a more seamless user
experience.
Furthermore, our project offers a platform for
ongoing research and development. The open-
source nature of the project encourages
collaboration and innovation, allowing others to
build upon the existing design and contribute to
the advancement of assistive technology.
Also the market for powered wheel chair is huge, and it is
constantly growing day by day as shown in Figure 1.1
(Figure 1.1)
The market for powered wheelchairs is experiencing
significant growth due to several factors. An aging
population, increasing prevalence of mobility
impairments, and rising awareness about the importance of
accessibility have contributed to the expanding market.
Additionally, advancements in technology and design have
led to the development of more innovative and user-
friendly powered wheelchairs. Manufacturers are focusing
on enhancing features such as improved maneuverability,
longer battery life, and customizable options to meet
individual needs. The demand for powered wheelchairs is
expected to continue to rise as the global population ages
and the importance of inclusivity becomes increasingly
recognized.
III. METHODOLOGY/EXPERIMENTAL
A. Methodology followed
The methodology of the voice-controlled wheelchair
project involves a systematic approach to design, develop,
and implement the system using Arduino and various
components. The following steps outline the key stages of
the project:
1) Requirement Analysis: The first step is to identify
the specific needs and requirements of individuals
with mobility impairments. This includes
understanding the desired wheelchair movements,
control options, and safety features.
2) Component Selection: Based on the identified
requirements, suitable components are selected,
such as Arduino UNO, motor driver (L298N),
Bluetooth module (HC-05), ultrasonic sensor (HC-
SR04), and others. The selection is made
considering factors such as compatibility,
functionality, and cost-effectiveness.
3) System Design: A comprehensive system design is
created, illustrating the connections between
components, power supply arrangements, and the
overall structure of the wheelchair. The design
 takes into account the integration of voice
recognition algorithms, motor control,
obstacle detection, and user interface
elements.
4) Hardware Implementation: The chosen
components are physically connected and
integrated with the Arduino UNO using
jumper wires, breadboards, and other
necessary accessories. Careful attention is
given to proper wiring, ensuring accurate
connections and power supply
arrangements.
5) Software Development: The Arduino code
is developed to enable communication
between the different components,
interpret voice commands, control the
motors, and interact with the Bluetooth
module and ultrasonic sensor. The code is
optimized for efficiency, accuracy, and
reliability.
6) Mobile Application Development: A
companion mobile application
developed, providing a user-friendly
interface for issuing voice commands,
customizing control settings, and
monitoring the wheelchair's status. The
app is designed to communicate with the
Arduino via Bluetooth.
7) Testing and Refinement: The integrated
system undergoes rigorous testing to
ensure its functionality, reliability, and
user-friendliness. Various test scenarios
are performed to validate the accuracy of
voice command interpretation, motor
control, obstacle detection, and overall
system performance. Feedback from
potential users is also gathered for further
refinement.
8) Documentation and Dissemination: A
detailed documentation of the project,
including schematics, code, and user
guidelines, is prepared to facilitate
replication and future development. The
project findings, methodologies, and
outcomes are shared through reports,
presentations, and online platforms to
contribute to the field of assistive
technology.
By following this methodology, the voice-
controlled wheelchair project aims to create an
accessible and user-friendly system that enhances
the mobility and independence of individuals with
mobility impairments.
Figure 1.2
(Figure 1.2)
is
B. Connections and working
In the voice-controlled wheelchair project, the various
components are connected to Arduino UNO to enable
seamless control and operation. This can aptly be seen
in figure 1.2Here is an overview of the connections and
how the project works:
1) Motor Driver (L298N) to Arduino: The motor
driver is connected to Arduino using jumper wires.
IN1 and IN2 pins are connected to digital pins 8
and 9, respectively, while IN3 and IN4 are
connected to digital pins 10 and 11. The +12V pin
of the motor driver is connected to the positive lead
of the LiPo battery, and GND is connected to the
negative lead. The +5V pin of the motor driver is
connected to VIN (Arduino) for power supply.
2) Bluetooth Module (HC-05) to Arduino: The
Bluetooth module is connected to Arduino using
jumper wires. The +5V pin of the Bluetooth
module is connected to the +5V pin of Arduino,
while GND is connected to GND. The RX pin of
Arduino is connected to the TX pin of the
Bluetooth module, and the TX pin of Arduino is
connected to the RX pin of the Bluetooth module.
3) Ultrasonic Sensor (HC-SR04) to Arduino: Two
ultrasonic sensors are used in this project for
obstacle detection. Each sensor is connected to
Arduino using jumper wires. The trig pins of both
sensors are connected to digital pins 12 and 7,
while the echo pins are connected to digital pins 13
 and 6. VCC is connected to the 5V pin of
Arduino, and GND is connected to GND.
4) Other Connections: The LED light is
connected to digital pin 5 of Arduino, the
buzzer is connected to digital pin 4, and
the push button is connected to digital pin
3. Additionally, a switch is connected to
control the power supply of the entire
system.
The project works as follows: The user issues
voice commands through the companion mobile
application. The app communicates with Arduino
via Bluetooth, sending the voice commands to the
Arduino. The voice recognition algorithms
integrated into the Arduino code accurately
interpret the voice commands. Based on the
interpreted commands, the Arduino controls the
motor driver to move the wheelchair in the
desired direction, such as forward, backward,
turning, or stopping.
Simultaneously, the ultrasonic sensors detect any
obstacles in the path of the wheelchair. If an
obstacle is detected, the Arduino triggers
appropriate actions, such as stopping the
wheelchair or emitting warning signals through
the buzzer and LED light. The push button and
switch allow additional functionalities, such as
emergency stop or system power control.
The Arduino code and integrated components
work together to ensure precise and efficient
control of the wheelchair, providing a user-
friendly and intuitive means of navigation for
individuals with mobility impairments.
I In conclusion, the voice-controlled wheelchair project
(Figure 1.3)
We can aptly see the basic structure of the project in
Figure 1.3
IV. FUTURE SCOPE
The future scope of this project is quite extensive and
can be expanded to include more advanced features and
capabilities. Some possible areas of future development
include:
1) Integration of Machine Learning: Implementing
machine learning algorithms can improve the voice
recognition accuracy and enable the wheelchair to
learn and adapt to individual user preferences.
2) Gesture Control: Adding gesture recognition
technology can provide an alternative control
method, allowing users to navigate the wheelchair
through hand gestures or body movements.
3) Smart Home Integration: Integrating the
wheelchair with smart home systems can enable
seamless interaction with IoT devices, allowing
users to control lights, appliances, and other devices
using voice commands.
4) Cloud Connectivity: Connecting the wheelchair to
the cloud can facilitate remote monitoring, data
analysis, and software updates, enhancing the
functionality and performance of the system.
5) Advanced Obstacle Avoidance: Developing
advanced obstacle detection and avoidance
mechanisms, such as using AI-based computer
vision algorithms, can further enhance the
wheelchair's ability to navigate complex
environments and avoid collisions.
Overall, the future scope of this project is quite
promising, and by leveraging the latest AI and machine
learning technologies, we can develop a powerful tool that
can help farmers optimize their operations and reduce
risks
CONCLUSION
utilizing Arduino demonstrates the potential to
revolutionize the field of assistive technology. By
combining voice commands, Arduino programming, and
various components, the project offers a practical and
affordable solution for individuals with mobility
impairments. The project's emphasis on customization and
user-friendliness addresses the unique needs and
preferences of wheelchair users, promoting independence
and enhancing their quality of life.
Furthermore, the open-source nature of the project
encourages collaboration, allowing for continuous
improvement and innovation in the field. As technology
advances and new components become available, the
 project can be expanded and enhanced to
incorporate the latest developments.

With the growing demand for accessible solutions,

the voice-controlled wheelchair project holds
significant relevance. It provides an affordable
alternative to expensive commercial products and
offers customization options that cater to
individual requirements. By increasing mobility
and control, the project contributes to fostering
inclusivity and autonomy for individuals with
mobility challenges.

As the field of assistive technology continues to

evolve, the voice-controlled wheelchair project
stands as a testament to the potential of Arduino-
based systems to create practical and impactful
solutions for individuals with disabilities.
Through further research, development, and
collaboration, this project can pave the way for
advancements in assistive technology, improving
the lives of countless individuals around the
world.
ACKNOWLEDGMENT
We would like to acknowledge and
thank our supervisor - Vaishali Rajput
for all the guidance and advice that she
provided throughout the project. We are
also grateful to DESH (Department of
Engineering Sciences and Humanities)
VIT,PUNE, for providing us with their
support throughout the project.

REFERENCES
[1] "Design and Implementation of a Voice-
Controlled Intelligent Wheelchair
System" by Yu-Ting Pai, et al.
[2] ""Development of an Intelligent
Wheelchair System with Voice
Recognition" by S. B. Warkad, et al..
[3] "Voice Controlled Wheelchair Using
Arduino" by A. Ahmadi, et al
[4] "Gesture Recognition-Based Wheelchair
Control Using Arduino" by S. S. Dharani,
et al..
[5] "Arduino-Based Smart Wheelchair for
Assisting People with Disabilities" by C.
V. Sonawane, et al.