2020 5th International Conference on Recent Trends on Electronics, Information, Communication & Technology (RTEICT-2020), November 12th &
13th 2020
A Hand Gesture Based Wheelchair for Physically
2020 International Conference on Recent Trends on Electronics, Information, Communication & Technology (RTEICT) | 978-1-7281-9772-2/20/$31.00 ©2020 IEEE | DOI: 10.1109/RTEICT49044.2020.9315575
Handicapped Person with Emergency Alert System
P. Upender
Department of ECE
Vignan Institute of Technology and Science,
Hyderbad, India
Abstract— Many people in the world today suffer from
paralysis, physical illness, injury or any other disability. They
have walking difficulties. A control system is developed with
the aid of hand motion recognition for physically handicapped
person with his gesture movement. The system is divided into
unit for movement and wheelchair. This paper consists of
gaining control of a wheel chair. This wheelchair can be
operated by quick, joystick, hand movements. It consists of an
accelerometer sensor that controls the users hand motion of the
moving stools and clarifies the user movement and moves
accordingly. When we changed the ways, the sensor registers
values are changed & that values are given to atmega328p
controller. Depending on the direction of the acceleration,
Arduino controller controls the wheelchair ways like Left,
Right, Forward, & Backward. This system also consists of
ultrasonic sensor for obstacle avoidance. This program has the
function of introducing control of Wheelchair direction
reorganization of the hand gesture. For many applications the
proposed wheelchair is used including schools, hospitals, old
homes and airports. In addition, the SMS will be sent to the
family members in case of emergency by pressing a single
switch.
Keywords— Wheelchair, Ultrasonic sensor,
accelerometer, joystick.
I. INTRODUCTION
Many people in the world today suffer from paralysis,
physical illness, injury or any other disability. They have
walking difficulties. A control system is developed with the
aid of hand motion recognition for physically handicapped
person with his gesture movement [1]. A wheelchair (WC) is
a power chair that is used while walking due to sickness,
injury or impairment becomes difficult or impossible.
Wheelchairs come through a wide range of designs to match
their users' unique needs. Also seen in wheelchair sports and
wheelchairs at the beach, they can require different seating
arrangements, controls individualized, and can be exclusive
to particular activities. The most widely known differentiate
between powered wheelchairs "power chairs", where the
propulsion is provided by batteries and electric motors and
manually propelled wheelchairs, where all wheelchairs have
the propulsive power user or by an occupant Moving the
wheelchair "self-powered" by hand or the attendant moving
from the rear "propelled attendant" [2, 3].
In the design [4], robot has two sections, one is the
gesture controller and, another is the Robot Wheelchair. This
system has accuracy of 94% [4]. A MEMS accelerometer is
detected and transmitted to a PC via Bluetooth wireless logs
for hand-in - hand acceleration in three perpendicular
directions [5]. Use of machine vision method to build up a
hearty shrewd wheelchair control framework dependent
close by motion acknowledgment for those with actual
openness issue [6]. The framework gets the data of speed as
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P.A. Harsha Vardhini
Department of ECE
Vignan Institute of Technology and Science,
Hyderbad, India
per the situation of the palm continuously. The tests
demonstrated that the keen wheelchair can meet the
necessities of the activity in the room [7]. A HanGes
prototype system is developed to recognize and identify
movements, which includes IR sensors, MCU and power
management circuits. The control system is implemented for
driving engines. The design, execution, system response time
calculations, monitoring, stroke performance assessment and
SCI patients are addressed in depth by HanGes [8]. The hand
motions are composed in a chain of command considering
the ergonomics, unwavering quality of ID and the method of
activity. The outcomes introduced show the conduct of the
wheelchair in light of manual and guide mode hand signal
orders. The framework has been put to test by people of
various hand shapes and end up being amazingly solid [9]. A
force wheelchair control framework to improve the living
nature of debilitated seniors is created. To acknowledge hand
signal acknowledgment with Kinect interface, the
handicapped senior uses hand motion to call the wheelchair.
The force wheelchair moves to the area of crippled senior
consequently [10]. The advancement of model wheelchair
stage constrained by the motions. Jump Motion Controller is
Arduino, utilized to obtain information while changing the hand
position. The tale UI was created, which shows the hand
position to the client and joins the old style button GUI
switchboard [11]. A Bluetooth-based wheelchair which can
be constrained by finger or hand motion utilizing an Android
application created by us introduced in brilliant contraption.
The gadget helps those denied of movement in their
everyday exercises [12]. Improvement of performance in
head gesture recognition. These environmental factors do not
fix the surviving traditional head gesture recognition systems
[13]. Development and design of an advanced arduino uno
board microcontroller and MCU Node, managed low cost
manual wheelchair usage [14].
In this proposed design power of movement in the WC is
split into 2 parts: 1. Controller: Hand transfer 2. Receiver:
the WC. It enquires both hands to reorganize the hand
movement. Individuals need to be can you track the chair in
limited space, as this setup uses IR sensors that are also
useful for object avoidance. In addition, the SMS will be sent
to the family members [15, 16].
The unit of gesture consists of LPC2138, three flex
sensors and one glove-mounted accelerometer sensor and
XBeeS1. The wheelchair assembly is composed of
LPC2138, L293DNE driver
II. DESIGN OF ARDUINO BASED WHEEL CHAIR
The block diagram is depicted in fig 1. The system
consists of Arduino (ATMEGA328P), LCD display, Joy
stick, Ultrasonic sensor as the major components. Each
component is described below. Fig 2 depicts the actual
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Control section where accelerometer and RPS are connected
to arduino. Proposed work uses 1.Atmega3289 2.Joystick
3.Lcd 4.Sensor 5.L293d 6.Hti2d 7.Regulated Power Supply
8.Ht12e 9.Accelometer [17, 18].
The arduino built-in programming system ideal is a
hybrid forum model set up in c and C++ functions "for
Windows, Mac OS, and Linux". It is used for the drafting
and upload of programs boards which are compliant with
Arduino, but also other product production boards with the
support of the third party nuclei. Under Version 2 of GNU
Public License Provides Source code for the program
transaction Concept. The Arduino IDE facilitates the C and
C++ languages using different application structuring rules.
The Arduino IDE arrives with a Wiring project software
library and provides several typical procedures for input and
output. Below fig 3 depicts the arduino compiler with the
program compilation [19, 20].

LCD DISPLAY
RPS

ATMEGA328
(ARDUINO)
JOYSTICK

L293D

Ht12d

RF M1 M2
RECEIVER

To Control Section
ULTRASONIC SENSOR

Fig. 1. Proposed Block Diagram

RPS

ATMEGA32 SP HT12E RF Tx
ACCELEROMETER

Fig. 2. Control Section

III. IMPLEMENTATION OF PROPOSED DESIGN

In this hand motion operated wheelchair an ADXL335
accelerometer has been used as a detector which could be
providing an analogue signal on pushing this in X, Y
orientation respectively. LM324 operational amplifier is used
as a comparator to transform the analogue signal to the
digital signal. For wireless signal transmission, radio
frequency transmitter is used. To avoid issues from another
computer, the data is encoded with an encoder IC HT12E
with a safe address before sending. This eliminates
interference and undesirable noise. The signal would then be
Fig. 3. Arduino compiler transmitted wirelessly. The detector now sends the message
and is then interpreted by the controller so that the signal is

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decoded further by sending the receiver to Arduino Uno for transmitter to the receiver section depicted in fig 5. Which
data. The Arduino UNO existing data preloaded in the takes the analog input and process that to the decoder and
controller upon receipt of the input. The signal must be sent microcontroller and the motor drivers. Depending on the
to the L293D IC if the input data meet the preinstalled data. accelerometer signal motor will move towards left/right or
When the signal is received the L293D IC gives the relays forward/backward.
signal, then the wheelchair moves. As a sensing unit,
ADXL335 accelerometer is selected as recording minute Start
modifications. Firstly, calibrate the accelerometer
appropriately such that it is possible to monitor the rotation
of the wheels, using variable resistors and checking outputs
for various reference voltages that can be altered by variable Receiver
power. In order to compare and display the accurate From transmitter
accordingly, we use comparators. The rotating angle must be
balanced according to the hand’s actions. A simple
wheelchair control scheme based on the user's right arm's Decoder
understanding of hand movements is developed. The
controller puts his right hand in his / her hand motion circuit
to operate in gesture recognition mode. As per directions the
Microcontroller
user performs the gesture. The wheelchair is powered by
electric motors during gesture recognition mode.
The motor is not functioning and the wheelchair is not
moving while the arm is in a neutral position. By shifting Motor driving IC
his/her hand from the relaxed position the user provides
direction of the wheelchair push. The wheelchair rotates to
the left as the hand is pushed. Likewise, as the hand is
pushed, the wheelchair rotates to the right. Extending the Relays and Motors
hand beyond the neutral position causes wheelchair motion,
while trying to bend the arm closer to the body causes the
bend backwards.This makes it easy to control the direction of
the wheelchair by changing the user hand 's position. Once Stop
the person adds his hand to the stable position, the
wheelchair halts. When the arm moves beyond the field of
Fig. 5. Flowchart for processing Signals
hand detection, the hand gesture mode can be switched off.

Start IV. DESIGN ANALYSIS AND RESULT

In the proposed system, an accelerometer is used which

provides the analog signal on the movement on the X, Y, Z
Detect the motion of axis, is used in this Hand gesture controlled wheel chair.
Accelerometer
TABLE I. COMPONENTS AND INPUT VOLTAGE SUPPLIED

Components Input voltage

Comparator Motors 24 volts

LM324 11.91 volts

HT12E 4.90 volts

Encoder
Transmitter module 4.90 volts

HT12D 4.96 volts

Transmitter To receiver
Stop
Fig. 4. Flowchart - Transmitter Process
Fig. 4 depicts the flowchart of the transmitter. It first
checks the motion of accelerator upon which will be given to
encoder for processing this signal. Then it is given from the
It contributes to wheelchair performance and rising
machine costs and capacity. The wheelchair proposed can
be used in many applications such as hospitals, old age
homes and airports. In Table I, input voltage supplied to
individual component is depicted and in Table II, the wheel
chair direction movement with angle is depicted.

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 TABLE II. DIRECTION OF MOVEMENT OF WHEEL CHAIR
Movement of Threshold angle of
wheel chair hand gesture
Forward 25 degrees forward
Backward 25 Degrees backward
Stop 0 degree
Left 30 Degree left
Right 30 Degree right
If the ways are changed, the sensor registers values are
changed & that values are given to atmega328p controller.
Depending on the direction of the acceleration, ARDUINO
controller controls the wheelchair ways like LEFT, RIGHT,
FORWARD, & BACKWARD. This system also consists of
ultrasonic sensor for obstacle avoidance. This program has
the function of introducing control of Wheelchair direction
reorganization of the hand gesture. For many applications
the proposed wheelchair is used including schools,
hospitals, old homes and airports.
A. Advantages
x It is easy to design and manufacture as all the
components are easily available.
x It is portable and hence can be placed anywhere. 0
It has low cost of manufacturing
x Due to wireless communication data rate is faster
x Wireless makes ease of operation, no need of
lengthy wires. Power consumption is less.
B. Disadvantages
x If power supply fails system won’t work.
x Failure of device/components may have dire
consequences, fatal accidents can occur
C. Applications
x It uses flex sensors to record finger gestures.
x The gesture signals are fed to ATmega32
microcontroller, which processes the information to
x control four DC motors in order to move the
wheelchair in any desired direction.
x Flex sensors are widely used to convert finger
gestures into equivalent electrical signals.
V. CONCLUSION
The developed system is capable to control the
wheelchair motion for disabled people using hand gesture.
Improvements can be made by using various body gestures
such as eye gaze, leg movement or head movement
accordingly. The switching operation for the mode selection
that is either touch pad or accelerometer is separated by
using a switch. This adds up to the efficiency of the
wheelchair and reducing the cost and size of the system. The
proposed wheelchair can be used in many applications such
as hospitals, old age homes and airports etc. In future, a
voice monitoring helps the disabled person to determine the
obstacle by acknowledging with alarm signals with slight
modification in power section by monitoring the battery
voltage levels to enhance the speed and estimate the delay
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for action to be taken to enhance the speed of the wheelchair
dc motors can be replaced by servo motors.
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