Introduction:

The number of people who need to move around with the help of some artificial means, whether
through an illness or an accident, is continually increasing. These means have to be increasingly
sophisticated, taking advantage of technological evolution, in order to increase the quality of life
for those people and facilitate their integration into the working world. In this way a contribution
may be made to facilitating movement and to making this increasingly simple and vigorous, so
that it becomes similar to that of people who do not suffer deficiencies. Systems already exist
which respond too many of the needs of people with different degrees of incapacity.
Generally two types wheelchairs by the hand-operating and operating the joystick, have come into
wide use. We want to introduce attachable wheelchair Automator which will give variety in this
field and served handicap persons more effectively as well. As Automator can be attachable or
detachable so it will give an option to use older wheel chair instead of purchasing new one joystick
operated wheelchair. The former type needs muscular strength for the operation and our design
needs skill. Therefore, there is a problem that it is difficult for the old and the handicapped person
to use these interfaces will be solved. The system makes use of batteries to drive the wheelchair
and no fuel based engine which makes it ecofriendly. The wheelchair attachment is designed to
automate wheelchairs and thus achieve efficient and easy transportation medium to patients as well
as disabled people. The attachment uses metal rods and pipe arrangement designed to be attached
to a wheelchair front rods and thus clamp on the front wheelchair rods. We then use a ball bearing
integrated handle fabricated with efficient support in order to achieve directional movement. We
now use a chain-based arrangement that connects motor to the wheel arrangement in order to drive
the attachment. Our system uses batteries to power the motor and a switching arrangement in order
to switch on and off the motor and achieve desired movement.

Problem Statement:
Independent mobility is crucial for development of physical, cognitive, communicative and social
skill for physically impaired people. It is possible to develop an Automator by which wheelchair
can be used indoor and outdoor as well, it can be operated manually or electrically and most
importantly it can increase the quality of life for handicap persons to facilitate their integration into
working world.

Objectives of the Project:

1) To test and utilize our skills which we gained during our degree program.
2) To develop something by which wheelchair will capable of working indoor as well as
outdoor.
3) To develop an Automator which can be easily attachable and detachable with wheelchair
by which wheelchair can be operated manually or electrically at minimum cost.
4) To increase the quality of life for the users and facilitate their integration into working
world.
Literature Review:
In worldwide it is estimated that 100-130 million people with disabilities need wheelchairs.
Experts predict that the number of people who need wheelchairs will increase by 22 percent over
the next ten years. Wheel-chair is still the best transportation means for them since its invention in
1595 (called an invalid’s chair) for Phillip II of Spain by an unknown inventor. and this is the
reason why this particular chair with wheels is developing in newer shapes with additional latest
enhancements. In February 2014 Bangladeshi engineer design electric wheel chair. The major
consideration of this project that it will suits Bangladeshi people economically. The main objective
of this project is to run the wheelchair automatically in all possible directions forward, backward,
left and right by using a joystick. A 40-pin PIC18F4520 micro-controller was operated smoothly
to ensure EWC's movement in desired direction, after receiving command signal from the joystick.
Each rear wheel of EWC is attached with a DC gear motor which acquires required power from
dry-cell battery connected to respective motors [1].
A Ph.D holder Abdal-Razak Shehab from Iraq in 2013 design stair climbing wheelchair by using
Hydraulic jack. In his study he presents the designing and implementation of an electric chair for
disabled persons, has the ability to rise on stairs with automatic controlling. The chair can be
controlled to move in all directions and to raise the ramp and stairs with different degrees. The
chair works with DC voltage source (Battery) can be recharged to work for long times. The design
suggested has suitable size to be used in streets hospitals and home (width=88cm& length=125cm)
also can work with user’s weight reach to 90kg. It is also economically suitable comparing with
that in markets as the cost of normal wheelchair walk only on the planes exceed 1300$, while our
chair cost is about 600$ for one piece and this cost may be halved for a line of production [2].
In April 2013, Indian engineers designs Automatic wheel chair for physically disabled person. It
a dependent user recognition voice system and ultrasonic and infrared sensor systems has been
integrated in this wheelchair. In this way we have obtained a automatic wheelchair which can be
driven using voice commands and with the possibility of avoiding obstacles by using infrared
sensors and down stairs or hole detection by using ultrasonic sensors. The wheelchair has also
been developed to work on movement of accelerometer which will help for the person whose limbs
are not working. Accelerometer can be attached to any part of body of physically disabled person
which he can easily move like head, hand etc. It has also provision of joystick for disabled person
who can easily move his/her hand. Electronic system configuration, a sensor system, a mechanical
model, voice recognition control, accelerometer control and joystick control are considered [3].
Sumit Desai, Dr.S.S.Mantha, Dr. V.M. Phalle of Veermata Jijabai Technological Institute,Mumbai
conduct study on Advances in smart wheel chair technology in 2017. A Survey of Disabled Persons
by NSSO (2011) reported that Disability is an important public health problem in India. The
wheelchair is topmost used assistive devices for enhancing the personal mobility of disabled
people. Power wheelchairs are useful for those unable to propel a manual wheelchair. The disabled
people with visual acuity, lack of motor skills and strength find difficult to use a power wheelchair.
To solve this problem, several researchers have used mobile robots technologies to create smart
wheelchairs. A smart wheelchair typically contains a standard power wheelchair, a computer and
a collection of sensors. The recent development in research are as such as computer science,
robotics, Artificial Intelligence and sensor technology broaden the range of features in smart
wheelchairs. This paper presents designs of different prototypes of smart wheelchairs proposed by
researchers. Future research challenges in this field are recognized. Also, Directions for upcoming
research are discussed [4].
In January 2012, Brígida Mónica Faria and Sérgio Vasconcelos introduced new concept of
Intelligent wheel chair. The new concept aiming to allow higher autonomy to people with lower
mobility such as disabled or elderly individuals. Some of the more recent IWs have a multimodal
interface, enabling multiple command modes such as joystick, voice commands, head movements,
or even facial expressions. In these IW it may be very useful to provide the user with the best way
of driving it through an adaptive interface. This paper describes the foundations for creating a
simple methodology for extracting user profiles, which can be used to adequately select the best
IW command mode for each user. The methodology is based on an interactive wizard composed
by a flexible set of simple tasks presented to the user, and a method for extracting and analyzing
the user's execution of those tasks. The results achieved showed that it is possible to extract simple
user profiles, using the proposed method. Thus, the approach may be further used to extract more
complete user profiles, just by extending the set of tasks used, enabling the adaptation of the IW
interface to each user's characteristics [5].
In June 2016, Ali Ebrahimi from Tehran reviews wheel chair design and Its Influence on Physical
Activity and Quality of Life Among Disabled Individuals. According to him Biomechanical
aspects of wheelchair design play an important role in physical activity and social participation of
disabled individuals. This review focuses on key biomechanical features of wheeled mobility
devices including propulsion methods, overuse injuries, assistive technologies, prevention of
pressure ulcers, and tire and frame design. We briefly review the role of design modifications in
increasing the physical activity and improvement of QOL among wheelchair-bound adults [6].
On November 1, 2012 Rory A. Cooper, PhD on JRRD guest editorial publish a review on
Wheelchair research progress, perspectives, and transformation. According to him
there is a growing and rich body of wheelchair research and development being generated around
the world. A simple search of PubMed using the search term “wheelchair” shows that 259 articles
were published in the past year, 566 in the past 2 years, 1,315 in the past 5 years, and 2,241 over
the past 10 years. If one narrows the search to “power wheelchair,” the number of publications
drops precipitously to 31 articles in the past year, 70 in the past 2 years, 156 in the past 5 years,
and 265 in the last 10 years. The number of published articles drops even further if the search is
specific to the design of new wheelchair technologies. This simple investigation provides some
insights worth examining. The output of wheelchair research has risen over the past 10 years: there
was a 17 percent increase in the number of total articles published in the last 5 years versus the
previous 5 years, although there are natural annual fluctuations. Similarly, there has been about an
18 percent increase in the number of articles related to power wheelchairs, although the overall
numbers are quite small. Most of the articles are related to wheelchair usage and clinical
assessment, with a few on training [7].
In 2013, Yassine Rabhi , Makrem Mrabet , Farhat Fnaiech , Philippe Gorce gave the cocept of a
feedforward neural network wheelchair driving joystick. According to their publication People
with disabilities such as those affected by IMC disease or Parkinson's disease have difficulties in
operating standard joystick due to their different levels of tremors or difficulties encountered when
moving their arms. The objective of this work is to design a new neural joystick suitable for each
patient allowing overcoming these difficulties or incomplete or erroneous actions, in order to reach
maximum security. The design of the neural network joystick system is based on training a neural
network to model the inverse of the standard joystick. The trained resulting neural network is then
connected to output of the joystick. The overall system is then used to control all the DC motors
and devices of the wheelchair. Simulations and experimental real data recorded on disabled
persons are then used to highlight the effectiveness of the designed system [8].
Methodology:
When we initiate any project the first step is to review the literature. In section of literature review
we would overview the relevant study and then made calculations according to it. After gaining
this basic requirements of designing we will design the model. After completing the design section
we initiate the step of cost estimation. After estimating the final cost we made the decision. After
this the the step of fabrication will initiate. When prototype has been ready then at last step we will
test the prototype and made documentation.

Figure 1 Methodology Flowchart

By using following equations, we can find the parameters required for Automator.

Total distance covered per hour

RPM =
Linear Distance

Power = [𝑀𝑎𝑠𝑠 × 𝑔 × 𝑣 × 𝑅𝑟] + [𝐴𝑖𝑟 𝑑𝑒𝑛𝑠𝑖𝑡𝑦 × 𝐶𝑑 × 𝐴 × 𝑣 3 ]

Efficiency × Power input

Torque =
𝜔
Following figure gave the general concept of Automator design.

Figure 2 Proposed Design

Gantt Chart:

Sr.
no. Tasks 1 to 4 5 to 8 9 to 12 13 to 16
weeks weeks weeks weeks

1 Designing
2 Fabrication

3 Testing & Thesis

References
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