CHAPTER 1.

INTRODUCTION

As we all know the world is changing with a very rapid speed, similarly science and technology
have also gone through enormous changes .In today world nothing is impossible ,today human
being have reached till Mars and still more new discoveries are in progress.

In this modern world we all are busy in our own stuff .As modern we became, the less humanity
is left in our heart.In today’s world no one is bothered for anyone, everyone is busy to achieve
their own comfort . Even they don’t have time forthere own parents and relatives . If this is the
condition of parents and old people then what will be the condition of those people who cannot
hear,who cannot see, who cannot speak? Yes I am talking about special people.(disabled people).

Seeing this condition of such people we the students of mechanical engineering have taken up
small initiative to help disabled people by our project . We have designed a “SMART
WHEELCHAIR” for them. With the help of this they can travel throughout anywhere. As the
name suggest the idea behind the project i.e “SMART” it is controlled by android mobile and
run with the help of battery .

This will help such type of people a lot ,ascomfortability and safety of people is the biggest
concern of us . We have designed planetry wheel in the wheelchair. with it they can easily climb
down the stairs ,the brake system is inbuilt in the application of android mobile with a single
touch the wheelchair will stop ,the right and left turn of the wheelchair can easily be turned with
a single turn ,this wheelchair can be easily be controlled by a single touch in the mobile screen.
This idea was just implemented to help such needy people who were before in seek of people to
help them , but as it is described before that no one is free enough to help anyone they are busy
in there own stuff ,with this idea of smart wheelchair now they will not be depended on anyone
they can freely travel to one place to another .
Different types of smart wheelchair have been developed in the past but the new generations
of wheelchairs are being developed and used which features the use of artificial intelligence
and hence leaves a little to tinker about to the user who uses the wheel chair. The project also
aims to build a similar wheel chair which would have a sort of intelligence and hence helps
the user on his/her movement.

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1.1 STORY BEHIND THE WHEELCAHIR
The idea of smart wheelchair came in our mind when we all were visiting one of the orphanage
in our city ,we all keep visiting such places because we all believe that if we are capable to do
all type of work so we should invest it in the growth of the society ,so as we visited that
orphanage we meet with one old woman she had one of her hand paralyzed and thrown out of
her house by her kids she was in great pain and sorrow .She showed her wish to us that she want
to visit a near by temple as she was too weak that she cant walk properly she need one of the
companion to help her .As ther were few people working in that orphanage and every one was
busy in some or other work ,we took the initiative to take her to the temple we arranged one
wheelchair for her the wheelchair was in worst condition but simply she managed to sit on that
wheelchair,the distance between the orphanage and temple we all kept thinking that how we can
help such people because we all very touched on seeing the miserable condition of that women.
So we all decided to make such a device or machine which would help such type of people so we
all thought of that wheelchair on which we took that old lady to the temple ,we all thought to
bring some modification in the design of wheelchair and thought to develop it in such a way that
it can be easily handled and make it automated , as we came to our college next day we
discussed it with our faculty ,He also appreciated our approach and promised us to help in the
over all work.
Now it was the time for all of us to initiate the work but the biggest issue for us was the design of
the wheelchair .The main point to be kept in mind while designing was the comfort level of the
patient sitting on it ,the balance of the wheelchair was also a biggest concern for us .Then we all
discussed it with our faculties and they helped us and finally we were ready with our own design
and the further proceeding were done exactly on time and we achieved our aim.
1.2 NECCESARITY OF PROJECT
The research and analysis of motorized wheelchairs dates back in time with several
scientists and researchers evaluating the stair climbing mechanism. Ghani investigate the control
of a stair climbing wheelchair used for indoor purposes. This paper evaluates different stair
climbing mechanisms viz crawler type, leg type, hybrid type and wheeled type. The model of a
stair climbing wheelchair based on two wheels is generated using MSC Visual Nastran 4D (VN)
design software. The humanoid model is developed using requisite anthropometric data. Various
forces and torques,The aim of this project is to use wheelchair automatically for moving forward,
backward, Left & Right. The overall framework of this project is to restore autonomy to severely
Disabled people by helping them use independently a power wheelchair. A wheelchair is an
electric wheelchair fitted with acceleration sensors, obstacle sensor and computer to help less
able drivers achieve some independent mobility. By just tilting acceleration sensor wheelchair
can be moved in four directions. The obstacle sensor can help the rider control the wheelchair by
taking over some of the responsibility for steering and avoiding objects until he or she is able to
handle the job. The amount of work that the rider chooses to do and how much control is taken

2
by the chair is decided by the rider and his or her care. Obstacle in the way can be determined by
wheelchair and wheelchair will stop automatically. The wheelchair can also integrate with Head
movements andcomputers; the pilot can use the same controls to drive the wheelchair and operate
another assistive device, so handicap person who cannot make use of his hands can drive chair by
ideal solution is the use of a sensor. Our project handicap wheelchair basically works on the
principle of acceleration, one acceleration sensor, provides two axes, acceleration sensors whose
output is analogs, varies according to acceleration applied to it, by applying simple formula we
calculate the amount of tilt & output of tilt will decide to move in which direction. These various
types include 3 mobility scooters, track based stair climbers, clustered wheel concept and
caterpillar wheel based devices. A mechanism is proposed which is based on the use of four
wheels. The rear wheels are autonomously driven and front wheels are freewheeling castors. This
proposed concept is numerically modeled and power calculations for linear actuator are made.
Stair ascent and stair descent operations are described along with figures and equations. The
control system and the stair edge sensor system are also investigated. The stepping algorithm is
discussed in detail. The influence of external factors like cost, weight, aesthetics, range of
operation, safety, operational efficiency, comfort are evaluated. The track based stair climber is
also analyzed similarly. Lock on discusses the retro fitting of electric power into manual
wheelchairs.] Manual wheel chair is a wheel chair which doesn’t have any collision protection
and if there is any blind person on wheel chair then there is a possibility of accidents or collision,
such constraints need to solve. We have proposed a modified automated wheel chair with
collision or accident protection using some advance sensor to detect obstacle and some unwanted
interruptions along with vibration indication and chair movement control using MEMS (Micro
Electro Mechanical Sensor) sensor to provide an easier way to operating the wheel chair.

CHAPTER 2. LITERATURE REVIEW

(G. S. Modak & Dr. Manmohan Bhoomkar - 2012) : In this paper (46) the new Design
consisting with the Simple construction and thereby with less cost is proposed whereas the idea
of conjugate profile for the wheels is put forth insecond paper (47). In view of reducing the cost,
they plan to modify the regular chair into staircase climbing chair. The driving mechanism is
basically an epicyclic drive. the key elements in the proposed design are Epicyclic Gear Unit
(EGU) Drive Selection System (DSS) and Rack and Pinion Arrangement (RPA)

(Shanu Sharma, Syed Nadeem Akhtar, J. Ramkumar - 2012) : A stair climbing wheelchair
„VARDAAN‟ (45), recently developed by four students of IIT, Kanpur, is a low cast solution to
the problem, A convertible wheelchair designed to enable independent access for user in
ascending and descending stairs and others obstacles like curbs. The invention is an economical,
safe, user friendly and efficient stair climbing convertible manual wheelchair. It is a simple
machine designed for climbing stairs with mechanical benefit via lever ratchets system and

3
braking system. A "Y" shaped wheel is designed for better grip and optimum braking for
climbing up and down. An attempt is being made to fabricate and demonstrate a stair climbing
manual wheel chair. In operation of that wheel chair is purely manual. So, substantial driving
force is needed to operate the chair. Considering the health and weakness of the elderly people, it
may not be useful all the time
(R.Moreles, V. Feliu, A. Gonzalez, P. Pintado - 2006) : They are proposing new prototype of
the design along with the validation, In this paper describes the mechanical devices, the
movements and the associated kinematic models of a novel wheelchair prototype capable of
climbing staircases. The key feature of the mechanical design is the use of two decoupled
mechanisms in each axle, one used to negotiate steps, and the other to position the axle with
respect to the chair to accommodate the overall slope. This decoupling makes possible many
different climbing strategies, the overall mechanism being extraordinarily versatile from a
control point of view. Kinematic models have been developed for the different mechanical
configurations that appear during all the ascend/descend processes. These models are required to
control the actuators of the wheelchair in such a way that its centre of mass is able to follow
arbitrary spatial trajectories. This is very important as one has to design very smooth spatial
trajectories, keeping a near null inclination of the seat all the time in order to guarantee the
comfort of the passenger, usually a handicapped or injured person.
(Murray Lawn- 2001) : The designs proposed by Murray Lawn (40-42) are better acceptable
but yet to be converted in actual products. The purpose of this research is toward increasing the
autonomy of persons reliant on mobility assistive devices, and to reduce the load on care
workers in providing such mobility. At the time of writing the gap between areas accessible to
mobility disabled persons and fully mobile persons is great. The gap is largely on account of the
presence of stairs but includes entry to secondary forms of transportation such as vans and the
entry to such as traditional Japanese homes. The focus of this thesis has been the proposal of a
semi-autonomous practical stair-climbing wheelchair employing track based technology and the
proposal of a wheel cluster based high single step and stair-climbing mechanism that overcomes
a number of shortcomings of stair-climbing mechanisms available at the time of writing.
(P. Wellman, V. Krovi, V. Kumar and W. Harwin- 1995) : An alternative design for a
wheelchair (38, 39) for locomotion on uneven terrain tries to combines the advantages of legged
locomotion (versatility, adaptability) with wheeled locomotion (reliability, superior stability).
This hybrid (39) wheelchair has two powered rear wheels, two front castors, and two legs.The
powered wheels are used to navigate on a flat surface as in a conventional wheelchair, while the
legs and wheels are used to traverse uneven terrain. The controller uses foot force information to
coordinate the actuators of the legs and wheels so that the tendency to slip is minimized.The
hybrid system is more attractive than a walking chair because it relies on wheeled locomotion
that is established to be reliable and safe. The legs are used as crutches and only when they are
needed. However, unlike a legged system, the hybrid chair cannot locomote without wheels. The
reduced complexity, lower cost and improved reliability and safety is at the expense of some loss

4
in mobility.The disadvantage of employing a fundamentally different method for locomotion is
that the user may feel conspicuous using such a chair, it is necessary to make any design more
“unrobot- like”.
(University of Illinois Chicago- 1987): One approach to improving the mobility of a
wheelchair by an order of magnitude involves the use of legs instead of wheels as locomotion
elements. A four legged chair developed by the University of Illinois at Chicago and the
Veterans Administration Hines Rehabilitation Research and Development Center based on
research in quadruped walking (36, 37) was developed in 1987. In a legged system, stability
must be maintained actively. Because of the complexity of the system, reliability is a natural
concern. Further, for stability, at least three support legs must be on the ground and a vertical line
through the centre of gravity must pass within the polygon formed by the support points. This
implies that at least four legs are required to make a legged system walk with one leg is moved
forward while three others support the chair.There are several inherent disadvantages in the
concept of a legged chair. The legs are responsible for keeping the rider in a stable posture.
There is a natural concern of safety that arises here.
D. R. Browning, J. Trimble, S-M. Song, R. Priemer and C-D. Zhang, Legged mobility, a
wheelchair alternative. http://bucky.aa.uic.edu:80/DVL/drew/leggs.html, 1988.
S-M. Song and K. J. Waldron, Geometric design of a walking machine for optimal mobility,
ASME Journal of Mechanisms, Transmissionso and Automation in Design, 109(1), 1987.
C-D Zhang and S-M. Song, Gaits and geometry of a walking chair for the disabled. Journal of
Terramechanics, 26(314): 211-233, 1989.
] P. Wellman, V. Krovi, V. Kumar and W. Harwin, Design of a wheelchair with legs for people
with motor disabilities. IEEE Transactions on Rehabilitation Engineering, 3(4): 343-353, 1995.
V. Krovi and V. Kumar, Modeling and control of a hybrid mobility system, Submitted to ASME
Journal of Mechanical Design, 1997.
M.J. Lawn, T. Sakai, M. Kuroiwa, T. Ishimatsu, “Development and practical application of a
stairclimbing wheelchair in Nagasaki”, Int. Journal of Human-friendly Welfare Robotic Systems,
pp. 33-39, 2001.
Murray John LAWN, “Study of stair-climbing assistive mechanisms for the disabled”,
Dissertation submitted to the faculty of Mechanical Systems Engineering For the Degree of
Doctor of Philosophy, Graduate School of Marine Science and Engineering, Nagasaki
University, Japan, December 2002.
M.J. Lawn, and T. Ishimatsu, "Modeling of a stair-climbing wheelchair mechanism with high
single step capability," IEEE Transactions on Neural Systems and Rehabilitation Engineering,
vol. 11, No. 3, pp. 323-332, Sept. 2003.

5
R.Moreles, V. Feliu, A. Gonzalez, P. Pintado, “Kinematic Model of a New Staircase Climbing
Wheelchair and its Experimental Validation”, The International Journal of Robotics Research,
Sept 2006, Vol.25, No 9, pp 825-841.
Shanu Sharma, Syed Nadeem Akhtar, J. Ramkumar, “VARDAAN: A Convertible Manual Stair
Climbing Wheelchair” Winners: Gandhian Young Technological Innovation Awards 2012,
Winners: Social innovations Award
G. S. Modak, Dr. Manmohan Bhoomkar, New Low-Cost Design of „Staircase Climbing
Wheelchair, International Journal of Engineering Research & Technology (IJERT),1(5), 2012.
]. S. Modak, Dr. Manmohan Bhoomkar, Innovative Design of Staircase Climbing Wheelchair,
International Journal of Engineering Research & Technology (IJERT), 2 (2), 2013.

CHAPTER 3. PROBLEM FORMULETION OR DISCRIPTION

1. Studies have concluded that the independent mobility or movement which is included
powered wheel chair, manual wheelchair and walker access the benefit to all the disabled
human beings .Independent mobility increases vocational and educational opportunities,
reduces dependence on other  members, and promotes feelings of selfreliance and
independability.
2. Independent mobility plays a vital role in building the foundation for much early learning
for young people. The lack of exploration and control often results into a cycle of
deprivation and lack of motivation that leads to learned helplessness. For aged people,
independent movement is an important aspect of selfesteem and plays a vital role in
“aging in place.” Mobility difficulties led to the problem of activities of daily living
(ADL) and instrumental ADL disabilities because of the need to move to accomplish
many of these activities.
3. The impaired mobility often results in reduced opportunities to have socialized policies,
which leads to social isolation, and many mental problems. While the needs of many
individuals with disabilities can be satisfied with traditional manual or self-automated
wheelchairs, a segment of the disabled community finds it difficult or impossible to use
wheelchairs independently.
4. The disabled population includes people with low vision, visual field reduction,
spasticity, tremors, or cognitive deficits. These individuals dependent on other people for
mobility  to push them in a manually handled wheelchair. To accommodate this
population, several researchers have used technologies originally developed for power
wheelchairs have been designed of different ways, such as assuring collision free travel,

6
 aiding the performance of specific tasks (e.g., passing through doorways), and
autonomously transporting the user between locations.
5. The idea of using voice based technology for controlling the motion of the wheels of
wheelchair is to prove that this project stands one step ahead of other average projects.  
6. The use of this new technology in conjunction with a mechanical system in order to
simplify everyday life would spark interest in the developing modern society. Many
people with disabilities do not have the dexterity necessary to control a joystick on an
electrical wheelchair.
7. A smart wheelchair may be regarded as a teleoperated robot, the main difference being
that the human operator is on the robot and not far from the robot. So, like a teleoperated
robot, it may be controlled with various control modes
8. In a manual mode the pilot has the complete control of the mobility task with the help of
an adapted human-machine interface sensor. It's the usual way and also the best way to
control a powered wheelchair if the person has the physical possibilities to do it. On the
opposite side on an automation level ladder, with an automatic control mode the user
only intervenes to specify the goal to reach. This mode seems to be very attractive for
people with severe motor disabilities but it has two major drawbacks. First, from a
technical point of view, it's very difficult in a real environment to guarantee reliability
and safety with such a control mode. The second drawback is that many potential users of
such a system don't want to use automatic modes for psychological reasons: they want to
keep the whole control of the motion.  Two intermediate control modes may also be
considered: traded control and shared control.
9. In a traded control mode, manual and automatic modes are switches along the path. The
decision to switch may be done either by the machine or by the human operator. In a
smart wheelchair context we find this case during a manual motion when the wheelchair
switches on a local autonomous motion like “obstacle avoidance” for example.
10. In a shared control mode the human and the machine share various degrees of freedom or
various aspects of the mobility task.
11. Such a situation appears for example when the human pilot gives the direction of the
motion and the machine finds the best free way in this direction. Shared and traded
modes are not automatic modes but they have the same psychological drawbacks because
the human pilot doesn’t keep the whole control of his vehicle; many potential users may
be afraid in that situation. The medical entourage of the person with disability, as well as
the industrialists concerned, may also be reticent, for safety reasons, to delegate to the
machine a part of the motion decision. For these reasons we are developing a new control
mode that we call “assisted control mode”. It’s a manual control aided with haptic
information.
12. The principle is the following: the telemetric sensors of the smart wheelchair give
information about the proximity of the obstacles, then we apply a force feedback on the
joystick in the “best” free direction. It’s important to note that in any case this method
doesn’t forbid a motion decided by the person; it was only makes it more difficult when

7
 the wheelchair is close from obstacles. So our purpose is to develop and implement a
force feedback joystick onto a smart wheelchair with a view to assessing the real value of
such a control mode for people with severe motor disabilities. With this method the
psychological drawbacks and the safety problems of autonomous motions disappear but
we have to demonstrate that it improves the driving performance compared to a classical
manual control.

 TECHNOLOGY
As with any product, the selection of materials for wheeled mobility products impacts
both the manufacturer and the enduser. Materials impact characteristics such as
durability, strength, cost, appearance, design and manufacturing flexibility, and weight.
Although there have been significant improvements in materials for wheeled mobility,
excellent improvement opportunities still exist.  Some of the areas that could benefit from
new technologies include:
 Frames — Strength-to-weight ratio, reduced manufacturing steps, finish characteristics.
 Tires and Wheels —Improved wear without compromising ride and traction, non-
conductive, non-marking, durable.
 Seating Materials — Comfort, durability, appearance, ease of cleaning, fire retardant
qualities.

 Need
 Materialss have been the basis of major evolution in wheelchair products.  Newer chairs
benefit from specialty designs originally intended for sports activities — racing,
basketball, etc.  Specifically, the development of lighter-weight products based on
advanced materials has been one of the biggest breakthroughs in wheelchair technology.
High-performance materials have enabled designs offering comparable strength with
greatly reduced weight and thus smaller and more maneuverable products, a direct
benefit to users. Most of the users who have benefited from reduced weight materials
have been in manual chairs, where the frame is a major portion of the mass.  For power
wheelchairs, unfortunately the frame is often a small part of the total mass, which is
dominated by components like batteries.  In many cases, costs have been reduced when
materials have enabled new manufacturing methods and reduced material, machining,
and assembly costs.  Reduced costs translate into benefits not only for manufacturers but
also endusers and third-party reimbursers.  One example of this is the use of injection-
molding processes for power scooter bodies that greatly reduces not only weight but also
assembly time and thus manufacturing costs.
 Today, even with the excellent material improvements over previous product generations,
there are still significant needs for materials.  Some of the newer, lighter chairs have not

8
 maintained previous levels of durability required for long-term use. In addition to
improvements in the frame, both manual and power chairs stand to benefit from better
materials for wheels, tires, and seating. Increased chair and component life translates to
reduced costs for endusers, third-party reimbusers, and manufacturers, especially if parts
fail within a product’s warrant period.  Material cost has often been a direct trade-off with
certain performance improvements.  For example, the use of composite materials may
require hand lay-up or other expensive fabrication processes. These higher costs may
translate into significantly higher retail sale prices, or more frequently result in selection
of a cheaper, lower-performance material. During the stakeholders’ forum, we will be
discussing these types of trade-offs related to materials.
 BASIS FOR DISCUSSION
The following problems have been identified from literature and communication with
experts, endusers, and manufacturers.  The goal of the forum discussions is to select a
priority, high-impact problem and to begin to develop a problem statement that specifies
the requirements for a commercially viable solution.  The problem statement will be used
to solicit solutions from technology producers.  Please come prepared to discuss these
topics and to choose the most important.  It would greatly benefit discussions if
manufacturers come prepared to discuss non-competitive issues regarding materials and
related manufacturing methods that are limiting manufacturing and design improvements.

 Frames
1. Statement-
There is a need for frame materials that reduce weight, increase aesthetics, enable novel
designs including modular components, maintain durability, fit manufacturing
requirements, and do not increase cost.  
2. Current-
Most chairs today are made of tubular aluminum or alloy steel.  Some frame designs have
incorporated advanced materials such as plastics, titanium, composites, and alloys like
chrome-moly; however, the majority of chairs do not use these high-performance
materials due to the high cost.  A good example of how advanced materials and
manufacturing methods can reduce cost is the reduced assembly and associated costs
resulting from the use of injection molding to create a unibody for power scooters.
3. Issues-
Material improvements can enable frame designers to reduce weight and cost while
increasing durability, functionality and aesthetics of the chair.  This can be achieved by
using materials that offer a greater strength-to-weight ratio, improved processing
characteristics, and better mechanical performance; however, incorporating high-
performance materials, such as titanium, results in increased cost.  Also, the strength and
durability of a frame design is not strictly dictated by material strength; fatigue strength is
strongly influenced by tubing dimensions and shape, welding characteristics, and other

9
 assembly-related design aspects. Modular design may provide the solution. There are
several advantages associated with modular design, the biggest one being the ease of
replacement and repair. Modularity may provide for easy transportation and handling of
chairs, especially light weight chairs. Modularity may not address some of the issues
relating to product customization and specific end user needs. One expert reported that up
to 50 % of chairs are customized. Also, to ensure the safety of the wheelchair users when
they are travelling in public or private transportation, caster assemblies and frames should
be strong enough to withstand the shocks which they are subjected to during a crash.

 Tires/Wheels
1. Statement-
There is a need for improved tire wear without compromising ride and traction.  Tires
must be functional on varied surfaces — sand, rugs, snow, and smooth and rough
surfaces — and must be non-marking. Tires should allow discharge of static electricity to
prevent shocks to the user and damage to the electronics associated with power chairs. At
the same time, tires and wheels should be light and inexpensive. In a 1994 study related
to power wheelchairs, users reported that tires were the second most frequent repair
behind batteries. Wheels have yearly maintenance problems 24% of the time. Although
significant research has had a positive impact on manual wheelchair tires, little
advancement has occurred with power chairs tires.  This problem stems from the varied
wheel diameter and the design and performance parameters associated with power chairs.
Also, power wheelchairs introduce much larger stresses on the wheels and tires than
manual chairs due their heavier loads.
2. Current-
Common materials used include rubber, urethane, polyurethane, composite nylons, and
kevlar-reinforced thin tubes.  Research is in process on solid polyurethane foam tires,
which combine the best features of the pneumatic (comfort, low rolling resistance) and
solid tires (low maintenance).  These materials have a microcellular structure that reduces
weight while maintaining wear and rider comfort.  One problem with the new solid tire
designs is the tendency for the tire to become unseated from the rim. Radial tires, semi-
pneumatic designs, and inserts are also being researched.
3. Issues-
In the area of tire and wheel performance, the main issues are reliability and durability
without losing comfort and safety. Pneumatic tires provide great comfort but are a
potential inhibitor of independent living, due to flat tire etc. The goal is to achieve the
comfort level offered by pneumatic tires along with the reliability and durability offered
by solid tires. Increase in durability will also provide economic relief to the enduser. At
present, power wheel chair tires cost almost $100. This is a big expenditure considering
that present tires have a short life span and are therefore replaced quite frequently. It
There is a need to innovate or use materials and design that can bring down the cost of

10
 the tire, increase the durability of the tire while maintaining reliability and comfort level.
And most importantly, tires should be non-marking. Black tires meet most of the
requirements of an ideal tire but suffer from the big disadvantage that they are marking
and are therefore not used in the industry.

 Seating
1. Statement-
Seating materials and components have a significant impact on cost and customer
satisfaction. Pressure sores is a very big problem for wheelchair users. The chair needs to
fit the user well even when there are changes with clothing, physique, or age. Seating
materials must withstand daily use in varied weather and climate and thus must be
durable.  Customer preference regarding aesthetics and comfort also are important
variables. A well-designed suspension can contribute a lot towards the designing of a
comfortable seating system.  Cushions can reduce shocks considerably.  Upholstery must
allow for air circulation and  provide user comfort, yet it also must be able to be wiped
clean or laundered easily for hygienic and aesthetic reasons.  Fire retardance is essential
for users who smoke or are around smokers; seating material must not ignite.  Ride
quality and durability are tightly linked to selection of seating materials and design of
seating systems.
2. Current Problem- Seatingg comes in many forms: sling-type, armchair, plastic bucket,
automotive-type, and custom.  The materials used for these seating systems vary greatly,
including wood, leather, plastics, textiles, foams, and gels.  Simple seats can be made
from plastic molding with no cushioning or upholstery; whereas others, like the
automotive-type, may incorporate a sophisticated design with subforms, multiple types of
cushioning materials, and upholstery.  Air permeable fabrics based on a pore size that
does not permit liquid to pass have best solved the conflicting needs for comfort —
relating to breathability of a seating material — and for waterproof characteristics.

1. Issues-
To accommodate the various requirements of the enduser, seating system needs to be
adjustable/adaptable. Modular seating can lead itself to adaptive seating. Seating is most
comfortable when there is a zero shear force for back upholstery and head rest. Sensors
and actuators could be used on the seating system to achieve this zero shear force target.
Similarly there is a need for an improved suspension system which can improve the ride
quality. An active suspension system can reduce vibration a lot but due to the cost factor
is suitable for niche market only. A suspension system that is variable — capable of
being soft for mobility comfort and hard for enduser transfer — may have benefit to the
end user.

11
CHAPTER 4. METHODOLOGY
In this modern world we all are busy in our own stuff as modern we became the less humanity is
left in our heart.
In today world no one is bothered about anyone everyone is busy to achive there own comfort
even they dont have time for own parents and relatives ,if this is the conmdition of parents and
old people then what will be the condition of those people who cannot speak ,cant hear, cant
see.yes we are talking about the physically changlled people.this will help a lot of people as
comfortability and safty of people.
DETAILS OF DESIGN-

The wheel chair is designed soo to give a comfort zone to physically changleed people ,the
component used in the wheel chair are given below-
Parts-

 Wheels
 Rotating wheel
 Gazzel pin
 Iron rod
 Plannetry pin
 Suspension spring
 Linear actuator

Electical components-

 Battery ()
 Motor ()
 Motor driver()
 Mother board
 Accelerometer
 Relay

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Material used-

 Iron
 Plywood
 Plastic cover

Sensor used-

 Ardino sensor
 Joystick
 Obstacle sensor
 Mems sensor

Working-

The wheelchair is operated by the wifi module installed in the android

mobile .This project elaborates the design and construction of smart electronic
wheel chair with the help of bluetooth module .The circuit work properly to
moves the command given by the user . After design the circuit that enables
phycically disabled to control their wheel using android application in their smart
phones and it has also been tested and validated . The detection of any obstacle is
successfully controlled by the microcontroller. As the person switches on the
circuit and start moving,any obstecle which is expected to lie within arrange of 4
metres will be detected by the ultrasonic sensor . This proposed system
contributes to the self-dependency of differently abled and older people.

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CHAPTER 5. Experimental or Theoretical Analysis

5.1 MICROCONTROLLER
A microcontroller (or MCU for microcontroller unit) is a small computer on a single integrated
circuit. In modern terminology, it is similar to, but less sophisticated than, a system on a chip or
SoC; anSoC may include a microcontroller as one of its components. A microcontroller contains
one or more CPUs (processor cores) along with memory and programmable input/output
peripherals. Program memory in the form of Ferroelectric RAM, NOR flash or OTP ROM is also
often included on chip, as well as a small amount of RAM. Microcontrollers are designed for
embedded applications, in contrast to the microprocessors used in personal computers or other
general purpose applications consisting of various discrete chips.
Microcontrollers are used in automatically controlled products and devices, such as automobile
engine control systems, implantable medical devices, remote controls, office machines,
appliances, power tools, toys and other embedded systems. By reducing the size and cost
compared to a design that uses a separate microprocessor, memory, and input/output devices,
microcontrollers make it economical to digitally control even more devices and processes. Mixed
signal microcontrollers are common, integrating analog components needed to control non-
digital electronic systems.

Some microcontrollers may use four-bit words and operate at frequencies as low as 4 kHz, for
low power consumption (single-digit milliwatts or microwatts). They will generally have the
ability to retain functionality while waiting for an event such as a button press or other interrupt;
power consumption while sleeping (CPU clock and most peripherals off) may be just nanowatts,
making many of them well suited for long lasting battery applications. Other microcontrollers
may serve performance-critical roles, where they may need to act more like a digital signal
processor (DSP), with higher clock speeds and power consumption.
5.2 RELAY
A relay is an electrically operated switch. Many relays use an electromagnet to mechanically
operate a switch, but other operating principles are also used, such as solid-state relays. Relays
are used where it is necessary to control a circuit by a separate low-power signal, or where
several circuits must be controlled by one signal. The first relays were used in long distance
telegraph circuits as amplifiers: they repeated the signal coming in from one circuit and re-
transmitted it on another circuit. Relays were used extensively in telephone exchanges and early
computers to perform logical operations.

14
A type of relay that can handle the high power required to directly control an electric motor or
other loads is called a contactor. Solid-state relays control power circuits with no moving parts,
instead using a semiconductor device to perform switching. Relays with calibrated operating
characteristics and sometimes multiple operating coils are used to protect electrical circuits from
overload or faults; in modern electric power systems these functions are performed by digital
instruments still called "protective relays".

Magnetic latching relays require one pulse of coil power to move their contacts in one direction,
and another, redirected pulse to move them back. Repeated pulses from the same input have no
effect. Magnetic latching relays are useful in applications where interrupted power should not be
able to transition the contacts.

Magnetic latching relays can have either single or dual coils. On a single coil device, the relay
will operate in one direction when power is applied with one polarity, and will reset when the
polarity is reversed. On a dual coil device, when polarized voltage is applied to the reset coil the
contacts will transition. AC controlled magnetic latch relays have single coils that employ
steering diodes to differentiate between operate and reset commands.
5.3 ARDIUNO SENSOR
The system has two parts, namely; hardware and software. The hardware architecture consists of
an embedded fed to the Motor Driver, the motors will function accordingly. The system will
interpret the commands system that is based on Arduino Uno board, a Bluetooth Module, Motor
Driver and an Android phone. Bluetooth Module provides the communication media between the
user through the android phone and the system by means of voice command given to the android
phone.

The user speaks the desired command to the “BT Voice Control for Arduino voice (AMR
Voice Application)” software application installed in the android phone that is connected
through Bluetooth with Bluetooth Module SR-04. The voice command is converted to an array
of string and the string is passed to Arduino Uno connected to it. Once the Bluetooth Module
receives the message, the command sent will be extracted and executed by the microcontroller
attached to it and depending on the commands and control

The Wheelchair accordingly via android application. Meanwhile, the ultrasonic sensor works
while the circuit is on and makes sure the path has no obstacle and if any obstacle occurs it
notifies the Arduinoand stops wheelchair till further command is obtained from the user.

15
5.4 LINEAR ACTUATOR
Actuators are the motors that drive Smart Chair. They actually change the electric signals of the
microcontroller into the rotational motion and provide desired functionality.
We have used Wiper Motors. The minimum required current for the motor is 1.6 amps at 70 rpm,
maximum at 4 amps to run it at 106 rpm (without load).
A linear actuator is an actuator that creates motion in a straight line, in contrast to the circular
motion of a conventional electric motor. Linear actuators are used in machine tools and industrial
machinery, in computer peripherals such as disk drives and printers, in valves and dampers, and
in many other places where linear motion is required. Hydraulic or pneumatic cylinders
inherently produce linear motion. Many other mechanisms are used to generate linear motion
from a rotating motor.

5.5 MOTOR DRIVE

H-bridgeMotor driver is basically a current amplifier which takes a low-current signal from the
microcontroller and gives out a proportionally higher current signal which can control and drive
a motor. In most cases, a transistor can act as a switch and perform this task which drives the
motor in a single direction.
Turning a motor ON and OFF requires only one switch to control a single motor in a single
direction. To reverse the direction of the motor reverse its polarity. This can be achieved by
using four switches that are arranged in an intelligent manner such that the circuit not only drives
the motor, but also controls its direction. Out of many, one of the most common and clever
design is a H-bridge circuit where transistors are arranged in a shape that resembles the English
alphabet "H".

The circuit has four switches A, B, C and D.

Turning these switches ON and OFF can drive a motor in different ways.
Turning on Switches A and D makes the motor rotate clockwise

Turning on Switches B and C makes the motor rotate anti-clockwise

Turning on Switches A and B will stop the motor (Brakes)

16
 Turning off all the switches gives the motor a free wheel drive
Lastly turning on A & C at the same time or B & D at the same time shorts the entire circuit.

H-bridges can be built from scratch using relays, mosfets, field effect transistors (FET), bi-polar
junction transistors (BJT), etc. But if the current requirement is not too high and all that is
needed is a single package which does the job of driving a small DC motor in two directions,
L293D IC. This single inexpensive package can interface not one, but two DC motors. L293,
L293B and few other versions also does the same job, but pick the L293D version as this one has
an inbuilt flyback diode which protects the driving transistors from voltage spikes that occur
when the motor coil is turned off.
5.6 SPEECH SYNTHESIS
Speech synthesis is the artificial production of human speech. A computer system used for this
purpose is called a speech computer or speech synthesizer, and can be implemented in software
or hardware products. A text-to-speech (TTS) system converts normal language text into speech;
other systems render symbolic linguistic representations like phonetic transcriptions into speech.
[1]

Synthesized speech can be created by concatenating pieces of recorded speech that are stored in
a database. Systems differ in the size of the stored speech units; a system that stores phones or
diphones provides the largest output range, but may lack clarity. For specific usage domains, the
storage of entire words or sentences allows for high-quality output. Alternatively, a synthesizer
can incorporate a model of the vocal tract and other human voice characteristics to create a
completely "synthetic" voice output.[2]

The quality of a speech synthesizer is judged by its similarity to the human voice and by its
ability to be understood clearly. An intelligible text-to-speech program allows people with visual
impairments or reading disabilities to listen to written words on a home computer. Many
computer operating systems have included speech synthesizers since the early 1990s.
5.7 LITHIUM-ION BATTERY
An example of a Li-ion battery
(used in the Nokia 3310 mobile phone)
Specific energy
100–265 W·h/kg[1][2]

17
(0.36–0.875 MJ/kg)
Energy density
(0.90–2.43 MJ/L)
Specific power ~250-~340 W/kg
Charge/discharge efficiency 80–90%
Energy/consumer-price 2.5 W·h/US$
Self-discharge rate 2% per month
Cycle durability
400–1200 cycles
Nominal cell voltage NMC 3.6 / 3.85 V, LiFePO4 3.2 V
Lithium-ion batteries are common in home electronics. They are one of the most popular types of
rechargeable batteries for portable electronics, with a high energy density, tiny memory effect
and low self-discharge. LIBs are also growing in popularity for military, battery electric vehicle
and aerospace applications For example, lithium-ion batteries are becoming a common
replacement for the lead–acid batteries that have been used historically for golf carts and utility
vehicles. Instead of heavy lead plates and acid electrolyte, the trend is to use lightweight lithium-
ion battery packs that can provide the same voltage as lead-acid batteries, so no modification to
the vehicle's drive system is required. Chemistry, performance, cost and safety characteristics
vary across LIB types. Handheld electronics mostly use LIBs based on lithium cobalt oxide
(LiCoO2), which offers high energy density, but presents safety risks, especially when damaged.
Lithium iron phosphate .
Lithium ion manganese oxide battery (LiMn2O4, Li2MnO3, or LMO) and lithium nickel
manganese cobalt oxide (LiNiMnCoO2 or NMC) offer lower energy density, but longer lives
and less likelihood of unfortunate events in real world use, (e.g., fire, explosion, ...). Such
batteries are widely used for electric tools, medical equipment, and other roles. NMC in
particular is a leading contender for automotive applications. Lithium nickel cobalt aluminum
oxide (LiNiCoAlO2 or NCA) and lithium titanate (Li4Ti5O12 or LTO) are specialty designs
aimed at particular niche roles. The newer lithium–sulfur batteries promise the highest
performance-to-weight ratio.
Lithium-ion batteries can pose unique safety hazards since they contain a flammable electrolyte
and may be kept pressurized. An expert notes "If a battery cell is charged too quickly, it can
cause a short circuit, leading to explosions and fires". Because of these risks, testing standards
are more stringent than those for acid-electrolyte batteries, requiring both a broader range of test

18
conditions and additional battery-specific tests. There have been battery-related recalls by some
companies, including the 2016 Samsung Galaxy Note 7 recall for battery fires.

Research areas for lithium-ion batteries include life extension, energy density, safety, and cost
reduction, among others. However, as both energy density and economy of scale have reached
their maximum, the industrial attention along with the market demand is to increase the charging
speed with a practical target of under 1 min (60C in the technical term).
5.8 BATTERY VERSUS CELL
International industry standards differentiate between a "cell" and a "battery". A "cell" is a basic
electrochemical unit that contains the electrodes, separator, and electrolyte. A "battery" or
"battery pack" is a collection of cells or cell assemblies which are ready for use, as it contains an
appropriate housing, electrical interconnections, and possibly electronics.
5.9 SHOCK ABSORBER

Shock absorber is an essential part of suspension system in vehicles. There are different types of
springs used in shock absorbers such as helical, leaf, coil, etc. Shock absorbers used in auto
mobiles, industries in machines, robots, etc. A spring in shock absorbers absorbs or store energy
so that it called mechanical devices. Shock absorbers design in such a way to give comfortable
ride with smooth out damp shock impulse and dissipate kinetic energy. The aim of this review
paper is to analyses and minor study on shock absorbers.
Shock absorber consist of two parts first is spring and second is damper, where spring is a elastic
member or device which store mechanical energy is to made by spring steel when a spring
stretched or compressed it exerts a apposing force . There are different types of spring used in
automobile discussed below mostly springs are obey hooks law.

Mainly, shock absorbers are also known as oil pumps, a piston is installed at the end of piston
rod and it runs hydraulically . when a vehicle run on worst road it move or roll up and down
motion due jerks or damps condition of road so hydraulic fluid forced through some orifices
holes consist in piston these orifices allows worst only little amount of fluid as a oil enters
through the piston due to this a restriction cause to piston or slow down spring and suspension
movement.

19
(5.9.1) MAIN COMPONENT OF SHOCK ABSORBERS ARE:

(a) PISTON ROD,(b) MAIN BEARING,(c) PISTON RINGS,(d) PRESSURE CHAMBER,(e)

OUTER BODY (a) Piston and piston rod is most necessary part of whole mechanical device
mainly made up of high tensile steel has long life .piston rod attached one end of piston rod . (b)
The function of main bearing is provide lubrication to whole shock absorber . (c) Main function
of rings are seal the lubrication oil or maintain pressure .mainly two types of piston rings are
pressure ring and lubrication ring .pressure ring maintain pressure and other ring restricts
lubrication oil. (d) It is made by hard alloy steel and can with stand up to internal pressure about
1000 bar. (e)Outer body covers whole components and protect them from dust and foreign
material like dust particles

Selection of material : Material and its allowable stress table given below of spring material used
in shock absorbers .

20
SHOCK ABSORBER TYPES : There are many types of shock absorbers available in market
/industry different kinds of techniques are there to reduce shocking effect on running vehicles
and to make a ride comfortable
#Rotating wheel:-A Shimano Dura-Ace freehub style hub
A bicycle wheel is a wheel, most commonly a wire wheel, designed for a bicycle. A pair is often
called a wheelset, especially in the context of ready built "off the shelf" performance-oriented
wheels.
Bicycle wheels are typically designed to fit into the frame and fork via dropouts, and hold
bicycle tires.
Construction:-The first bicycle wheels followed the traditions of carriage building: a wooden
hub, a fixed steel axle (the bearings were located in the fork ends), wooden spokes and a shrink
fitted iron tire. A typical modern wheel has a metal hub, wire tension spokes and a metal or
carbon fiber rim which holds a pneumatic rubber tire.
Hub:-A hub is the center part of a bicycle wheel. It consists of an axle, bearings and a hub shell.
The hub shell typically has two machined metal flanges to which spokes can be attached. Hub
shells can be one-piece with press-in cartridge or free bearings or, in the case of older designs,
the flanges may be affixed to a separate hub shell.

Axle:-It is attached to dropouts on the fork or the frame. The axle can attach using a:

QUICK RELEASE - a lever and skewer that pass through a hollow axle designed to allow for
installation and removal of the wheel without any tools (found on most modern road bikes and
some mountain bikes).
NUT - the axle is threaded and protrudes past the sides of the fork/frame. (often found on track,
fixed gear, single speed, BMX and inexpensive bikes)

21
Bolt - the axle has a hole with threads cut into it and a bolt can be screwed into those threads.
(found on some single speed hubs, Cannondale Lefty hubs)
THRU AXLE - a removable axle with a threaded end that is inserted through a hole in one fork
leg, through the hub, and then screwed into the other fork leg. Some axles have integrated cam
levers that compress axle elements against the fork leg to lock it in place, while others rely on
pinch bolts on the fork leg to secure it. Diameters for front thru axles include 20 mm, 15 mm, 12
mm, and 9 mm. Rear axles typically have diameters of 10 or 12 mm. Most thru axles are found
on mountain bikes, although increasingly disc-braked cyclocross and road bikes are using them.
Thru axles repeatably locate the wheel in the fork or frame, which is important to prevent
misalignment of brake rotors when using disc brakes. Unlike other axle systems (except Lefty),
the thru axle is specific to the fork or frame, not the hub. Hubs/wheels do not include axles, and
the axle is generally supplied with the fork or frame. Adapters are usually available to convert
wheels suitable for a larger thru axle to a smaller diameter, and to standard 9mm quick releases.
This allows a degree of re-use of wheels between frames with different axle specifications.
FEMALE AXLE - hollow center axle, typically 14, 15, 17, or 20 mm in diameter made of
chromoly and aluminum, with two bolts thread into on either side.[1] This design can be much
stronger than traditional axles, which are commonly only 8 mm, 9 mm, 9.5 mm, or 10 mm in
diameter.[2] (found on higher end BMX hubs and some mountain bike hubs)
Modern[when?] bicycles have adopted standard axle spacing: the hubs of front wheels are
generally 100 mm wide fork spacing, road wheels with freehubs generally have a 130 mm wide
rear wheel hub. Mountain bikes have adopted a 135 mm rear hub width,[3] which allows
clearance to mount a brake disc on the hub or to decrease the wheel dish for a more durable
wheel.[3] Freeride and downhill are available with both 142 and 150 mm spacing.[4]

Bearings Edit
The bearings allow the hub shell (and the rest of the wheel parts) to rotate freely about the axle.
Most bicycle hubs use steel or ceramic ball bearings. Some hubs use serviceable "cup and cone"
bearings, whereas some use pre-assembled replaceable "cartridge" bearings.

Freehub vs freewheel hub

A "cup and cone" hub contains loose balls that contact an adjustable 'cone' that is screwed onto
the axle and a 'race'
1.ELECTRIC MOTOR:-An electronic speed control or ESC is an electronic circuit with the
purpose to vary an electric motor's speed, its direction and possibly also to act as a dynamic

22
brake. ESCs are often used on electrically powered radio controlled models, with the variety
most often used for brushless motors essentially providing an electronically generated three-
phase electric power low voltage source of energy for the
motor.
ESC can be a stand-alone unit which plugs into the
receiver's throttle control channel or incorporated
into the receiver itself, as is the case in most toy-
grade R/C vehicles. Some R/C manufacturers that
install proprietary hobby-grade electronics in
their entry- level vehicles, vessels or aircraft use
onboard electronics that combine the two on a
single circuit board.

FUNCTION:-Regardless of the type used, an ESC interprets control information not as

mechanical motion as would be the case of a servo, but rather in a way that varies the switching
rate of a network of field effect transistors, or FETs.[1] The rapid switching of the transistors is
what causes the motor itself to emit its characteristic high-pitched whine, especially noticeable at
lower speeds. It also allows much smoother and more precise variation of motor speed in a far
more efficient manner than the mechanical type with a resistive coil and moving arm once in
common use.

Most modern ESCs incorporate a battery eliminator circuit (or BEC) to regulate voltage for the
receiver, removing the need for separate receiver batteries. BECs are usually either linear or
switched mode. ESCs, in a broader sense, are PWM controllers for electric motors. The ESC
generally accepts a nominal 50 Hz PWM servo input signal whose pulse width varies from 1 ms
to 2 ms. When supplied with a 1 ms width pulse at 50 Hz, the ESC responds by turning off the
motor attached to its output. A 1.5 ms pulse-width input signal drives the motor at approximately
half-speed. When presented with 2.0 ms input signal, the motor runs at full speed.

23
ESC:-A generic ESC module rated at 35 amperes with an integrated BEC
ESC systems for brushed motors are very different by design; as a result brushed ESC's are not
compatible with brushless motors. Brushless ESC systems basically create a tri-phase AC power
output of limited voltage from an onboard DC power input, to run brushless motors by sending a
sequence of AC signals generated from the ESC's circuitry, employing a very low impedance for
rotation. Brushless motors, otherwise called outrunners or inrunners depending on their physical
configuration, have become very popular with "electroflight" radio-control aeromodeling
hobbyists because of their efficiency, power, longevity and light weight in comparison to
traditional brushed motors. Brushless AC motor controllers are much more complicated than
brushed motor controllers.[2]

The correct phase varies with the motor rotation, which is to be taken into account by the ESC:
Usually, back EMF from the motor is used to detect this rotation, but variations exist that use
magnetic (Hall Effect) or optical detectors. Computer-programmable speed controls generally
have user-specified options which allow setting low voltage cut-off limits, timing, acceleration,
braking and direction of rotation. Reversing the motor's direction may also be accomplished by
switching any two of the three leads from the ESC to the motor.

SEATING SYSTEMS

Wheelchair seating systems are designed both to support the user in the sitting position and to
redistribute pressure from areas of the body that are at risk of pressure ulcers.[24] For someone
in the sitting position, the parts of the body that are the most at risk for tissue breakdown include
the ischial tuberosities, coccyx, sacrum and greater trochanters. Wheelchair cushions are the
prime method of delivering this protection and are nearly universally used. Wheelchair cushions
are also used to provide stability, comfort, aid posture and absorb shock.[25] Wheelchair
cushions range from simple blocks of foam costing a few pounds or dollars, to specifically
engineered multilayer designs with costs running into the hundreds of pounds/dollars/euros.

Prior to 1970, little was known about the effectiveness of wheelchair cushions and there was not
a clinical method of evaluating wheelchair seat cushions. Most recently, pressure imaging (or
pressure mapping) is used to help determine each individual’s pressure distribution to properly
determine and fit a seating system.[26][27][28]

24
While almost all wheelchair users will use a wheelchair cushion, some users need more
extensive postural support. This can be provided by adaptions to the back of the wheelchair,
which can provide increased rigidity, head/neck rests and lateral support and in some cases by
adaptions to the seat such as pommels and knee-blocks. Harnesses may also be required.
GUZZEN PIN:-Arch-Mage Gazzen is the main antagonist in Legend of the Void 1. The player
first fights him on a military ship where he performs the Void Ritual. The battle is scripted for
the player to lose, and Gazzen escapes. Gazzen, with Blaek, Lord of the Void, is the final boss at
the end of the game.
Gazzen was once a respected member of the elite mages in Calderia. It is unknown what caused
him to turn evil, however some believe he was possessed by a demon. After being caught
performing evil rituals, he was imprisoned. During transfer to the Empire's most secure prison,
he escaped after initiating the Void Ritual in secret. When the protagonist and Rogan defeat him
at the Black Gate, the volcano collapses and he dies after claiming the protagonist is too late and
Armageddon has begun.

EQUIPMENT

Head: Radiating Cowl

Body: Fabric of Reality

Hands: Charged Hands

Feet: Grounding Barrier

Weapon: Lightning Rod

Abilities

Fireball

25
Boulder

Lightning Bolt

Freezing Wind

Boil

Earthquake

Inferno

Lightning Storm

CHAPTER 6. RESULT AND DICUSSION

In order to evaluate the performance of the presented speech recognition system to drive the
wheelchair following test done to test the effectiveness of the Voice-recognition to drive the
wheelchair. The recognition rate of each Keyword word programmed to operate when spoken by
the user is calculated by the following equation: RR% = Number of Recognized Words divided
by Number of Tested Words Common Words Operation GO Moves forward BACK Moves
backward LEFT Moves left RIGHT Moves right STOP Stops moving. In order to test the
accuracy and effectiveness of the project, four volunteers were asked to become a part of testing
of the project. Each volunteer was asked to give 10 commands and based on how many the
commands are followed will give the result. The test was carried in silent and noisy environment
by both male and female users. This test will determine the accuracy and effectiveness of the
project.

26
.

CHAPTER 7. CONCLUSION, FUTURE SCOPE AND REFERENCES

The system has two parts, namely; hardware and software. The hardware architecture consists of
an embedded system that is based on Arduino Uno board, a Bluetooth Module, Motor Driver and
an Android phone. The Bluetooth Module provides the communication media between the user
through the android phone and the system by means of voice command given to the android
phone. The user speaks the desired command to the “BT Voice Control for Arduino voice (AMR
Voice Application)” software application installed in the android phone that is connected through
Bluetooth with Bluetooth Module SR-04. The voice command is converted to an array of string
and the string is passed to Arduino Uno connected to it. Once the Bluetooth Module receives the
message, the command sent will be extracted and executed by the microcontroller attached to it
and depending on the commands fed to the Motor Driver, the motors will function accordingly.
The system will interpret the commands and control the Wheelchair accordingly via android
application. Meanwhile, the ultrasonic sensor works while the and makes sure the path has no
obstacle and if any obstacle occurs it notifies the Arduino and stops wheelchair till further
command is obtained from the user

REFERENCES
D. R. Browning, J. Trimble, S-M. Song, R. Priemer and C-D. Zhang, Legged mobility, a
wheelchair alternative. http://bucky.aa.uic.edu:80/DVL/drew/leggs.html, 1988.
S-M. Song and K. J. Waldron, Geometric design of a walking machine for optimal mobility,
ASME Journal of Mechanisms, Transmissionso and Automation in Design, 109(1), 1987.
C-D Zhang and S-M. Song, Gaits and geometry of a walking chair for the disabled. Journal of
Terramechanics, 26(314): 211-233, 1989.
P. Wellman, V. Krovi, V. Kumar and W. Harwin, Design of a wheelchair with legs for people
with motor disabilities. IEEE Transactions on Rehabilitation Engineering, 3(4): 343-353, 1995.
V. Krovi and V. Kumar, Modeling and control of a hybrid mobility system, Submitted to ASME
Journal of Mechanical Design, 1997.
M.J. Lawn, T. Sakai, M. Kuroiwa, T. Ishimatsu, “Development and practical application of a
stairclimbing wheelchair in Nagasaki”, Int. Journal of Human-friendly Welfare Robotic Systems,
pp. 33-39, 2001.
Murray John LAWN, “Study of stair-climbing assistive mechanisms for the disabled”,
Dissertation submitted to the faculty of Mechanical Systems Engineering For the Degree of

27
Doctor of Philosophy, Graduate School of Marine Science and Engineering, Nagasaki
University, Japan, December 2002.
M.J. Lawn, and T. Ishimatsu, "Modeling of a stair-climbing wheelchair mechanism with high
single step capability," IEEE Transactions on Neural Systems and Rehabilitation Engineering,
vol. 11, No. 3, pp. 323-332, Sept. 2003.
R.Moreles, V. Feliu, A. Gonzalez, P. Pintado, “Kinematic Model of a New Staircase Climbing
Wheelchair and its Experimental Validation”, The International Journal of Robotics Research,
Sept 2006, Vol.25, No 9, pp 825-841.
Shanu Sharma, Syed Nadeem Akhtar, J. Ramkumar, “VARDAAN: A Convertible Manual Stair
Climbing Wheelchair” Winners: Gandhian Young Technological Innovation Awards 2012,
Winners: Social innovations Award
G. S. Modak, Dr. Manmohan Bhoomkar, New Low-Cost Design of „Staircase Climbing
Wheelchair, International Journal of Engineering Research & Technology (IJERT),1(5), 2012.
G. S. Modak, Dr. Manmohan Bhoomkar, Innovative Design of Staircase Climbing Wheelchair,
International Journal of Engineering Research & Technology (IJERT), 2 (2), 2013.

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