“SMART WHEELCHAIR”

A minor project submitted at

Rajiv Gandhi Proudyogiki Vishwavidyalaya, Bhopal
In partial fulfilment of the degree
Of
Bachelor of Engineering
In
Mechanical Engineering
Submitted by -
Aman Sheikh (0823ME141007) Alziya Uddin Sheikh (0823ME141005)
Keshav Gupta (0823ME141023) Abrar Ahmed (0823ME141005)
Kunal Bhawsar (0823ME141025) Bhushan Khaire (0823ME141015)

Lokesh Manik (0823ME141028) Faizan Anwar (0823ME141018)

Mechanical Engineering Department

SHRI DADAJI INSTITUTE OF TECHNOLOGY AND SCIENCE
KHANDWA 2017-2018
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 SHRI DADAJI INSTITUTE OF TECHNOLOGY AND SCIENCE
KHANDWA

CERTIFICATE

This is to certify that

Keshav gupta (0823ME141023)
Has completed his/her seminar/project work titled” SMART WHEELCHAIR ” submitted a satisfactory
report on this seminar/project as a partial fulfillment toward the degree of

Bachelor of Engineering
In
Mechanical Engineering
From
RAJIV GANDHI PRODYOGIKI VISHVAVIDHYALAYA,
BHOPAL

Prof. Y.P.ladhe Prof. R.Rai Dr.S .Tare

Seminar/Project Guide Head Of Department Director/Principal

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 ACKNOWLEDGEMENT
First of all I would like to express my sincere gratitude and convey heartiest thanks to my seminar guide Prof.
Y.P.Ladhe for his constant support and encouragement to carry out this work. Their immense knowledge,
active involvement, motivation and innovative ideas in the work always inspired to do better and better. They
will always be a source of inspiration to me in future works. I also express my sincere thanks to Prof. R.RAI,
Head of Department of Mechanical Engineering S.D.I.T.S KHANDWA whose excellence and constant
guidance and supervision helped in steering my seminar works through its completion.

I express my deep gratitude and reverence to my beloved parents for blessings, which have helped the works to
the light of the day.

Keshav gupta(0823ME141023)
ME: VII Sem.
S.D.I.T.S Khandwa

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 Content

1. introduction

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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 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
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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 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
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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 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.

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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.
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

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 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, 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

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 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 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.

3.1TECHNOLOGY
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.

3.2 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.

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  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 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.

3.3 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.

3.4 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 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.
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 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.

3.5 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 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.

3.6 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
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 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.

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.

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

Electical components-

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

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
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 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.

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

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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.

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
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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.

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
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 Turning on Switches B and C makes the motor rotate anti-clockwise
Turning on Switches A and B will stop the motor (Brakes)
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]

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(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 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.

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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.

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 (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 .

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

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#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)
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.
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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 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.

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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.

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
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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]

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

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Body: Fabric of Reality

Hands: Charged Hands

Feet: Grounding Barrier

Weapon: Lightning Rod

Abilities

Fireball

Boulder

Lightning Bolt

Freezing Wind

Boil

Earthquake

Inferno

Lightning Storm

CHAPTER 6. RESULT AND DICUSSION

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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.

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.

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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.
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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