Published February 6, 2020

Hand Motion Controlled Wheel Chair Via Bluetooth

This paper is to develop a wheel chair control which is useful to the physically disabled person with his hand movement or his hand gesture.

IntermediateProtip1,068

Hand Motion Controlled Wheel Chair Via Bluetooth

Things used in this project

Hardware components

HC-05 Bluetooth Module

Adafruit Analog Accelerometer: ADXL335

Arduino Due

Hand tools and fabrication machines

wheel chair

Story

This paper proposes an integrated approach to real time detection, tracking and direction recognition of hands, which is intended to be used as a human-robot interaction interface for the intelligent wheelchair. This paper is to demonstrate that accelerometers can be used to effectively translate finger and hand gestures into computer interpreted signals. For gesture recognition the accelerometer data is calibrated and filtered. The accelerometers can measure the magnitude and direction of gravity in addition to movement induced acceleration. In order to calibrate the accelerometers, we rotate the device “sensitive axis with respect to gravity and use the resultant signal as an absolute measurement. Integrating a single chip wireless solution with a MEMS accelerometer would yield an autonomous device small enough to apply to the fingernails, because of their small size and weight. Accelerometers are attached to the fingertips and back of the hand. Arrows on the hand show the location of accelerometers and their sensitive directions, that the sensitive direction of the accelerometer is in the plane of the hand. The gesture based wheelchair is suitable for the elderly and the physically challenged people who are unfortunate to have lost ability in their limbs due to paralysis or by birth or by old age. Elders find it tough to move inside the house for day to day activities without help or external aid. Our proposed system makes use of a wheelchair that can be used by elderly or physically challenged to move inside the home without difficulty and without external aid. The elders may also forget the way to the different rooms in house due to the increase in forgetfulness as they become older. The physically challenged, find difficult to move the wheel chair without help from others. By making use of the system, the elderly and the physically challenged can go to different rooms in the house like kitchen, living room, dining room etc by just showing a gesture which is predefined to that particular room. It is also a virtue of the system that even the foot can be substituted in place of the hand for users who might find that more convenient. The aim of this project is to controlling a wheel chair and electrical devices by using MEMS ACCELEROMETER SENSOR (Micro Electro-Mechanical Systems) technology. MEMS ACCELEROMETER SENSOR is a Micro Electromechanically Sensor which is a highly sensitive sensor and capable of detecting the tilt. This sensor finds the tilt and makes use of the accelerometer to change the direction of the wheel chair depending on tilt. For example if the tilt is to the right side then the wheel chair moves in right direction or if the tilt is to the left side then the wheel chair moves in left direction. Wheel chair movement can be controlled in Forward, Reverse, and Left and Right direction along with obstacle detection using ultrasonic sensor. Automation is the most frequently spelled term in the field of electronics. The hunger for automation brought many revolutions in the existing technologies. One among the technologies, which had greater developments, is the MEMS ACCELEROMETER SENSOR. These had greater importance than any other technologies due its user-friendly nature. MEMS ACCELEROMETER SENSOR based devices can be easily reachable to the common man due to its simpler operation.

Code

project program in.txt

int mode = 1;
#define ch_1 3
#define ch_2 4
#define ch_3 5
#define ch_4 6
#define ch_5 7
void setup()
{
  Serial.begin(9600);
  
  pinMode(ch_1, OUTPUT);
  pinMode(ch_2, OUTPUT);
  pinMode(ch_3, OUTPUT);
  pinMode(ch_4, OUTPUT);
  pinMode(ch_5, OUTPUT);
}
void loop()
{
  bluetooth();
  Serial.write(mode);
  /**/

  if (mode == 0) 
  {
    
      run_when_all_are_on_clockwise();run_when_all_are_on_clockwise();run_when_all_are_on_clockwise();
  run_when_all_are_on_anti_clockwise();run_when_all_are_on_anti_clockwise();run_when_all_are_on_anti_clockwise();
  odd_even_blinking();odd_even_blinking();odd_even_blinking();
  clock_run_three_nos();clock_run_three_nos();clock_run_three_nos();
  anti_clock_run_three_nos();anti_clock_run_three_nos();anti_clock_run_three_nos();
    anti_fill(); anti_fill(); anti_fill();
        fill();
    fill();
    fill();

    
  }
  if (mode == 0) {

  }

  if (mode == 0) {
    blinking();
  }
  if (mode == 0) {
    clock_run_single();
    clock_run_single();
    clock_run_single();
    clock_run_single();
  }
  if (mode == 0) {
    anti_clock_run_single();
    anti_clock_run_single();
    anti_clock_run_single();
    anti_clock_run_single();
  }
  if (mode == 0) {
    bf();
  }
  if (mode == 0) {
    m345();
    m345();
    m345();
  }

  if (mode == 0) {
    m345();
    m345();
    m345();
  }
}

void run_when_all_are_on_clockwise(void) //dial
{
  still();
  ch_1_off();   delay_on_all();
  ch_2_off();     delay_on_all();
  ch_3_off();     delay_on_all();
  ch_4_off();    delay_on_all();
  ch_5_off();    delay_on_all();
}

void run_when_all_are_on_anti_clockwise(void) //dial
{
  still();
  ch_5_off();    delay_on_all();
  ch_4_off();     delay_on_all();
  ch_3_off();     delay_on_all();
  ch_2_off();     delay_on_all();
  ch_1_off();     delay_on_all();
}

void odd_even_blinking(void) //dial
{
  off_all();
  ch_1_on(); ch_3_on();ch_5_on();   delay_off_all();
  ch_2_on(); ch_4_on();  delay1 ();
}

void clock_run_three_nos(void) //anti-clock fill & empty
{
  off_all();
  ch_1_on(); ch_2_on(); ch_3_on(); delay1 (); ch_1_off();
  ch_4_on(); delay1 (); ch_2_off();
  ch_5_on(); delay1 ();
}

void anti_clock_run_three_nos(void) //anti-clock fill & empty
{
  off_all();
  ch_5_on();ch_4_on();ch_3_on();delay1 ();ch_5_off();
  ch_2_on();delay1 ();ch_4_off();
  ch_1_on();delay1 ();
}

void blinking(void) //dial
{
  on_all(); delay1 ();      off_all(); delay1 ();
}

void fill(void) //anti-clock fill & empty
{
  off_all();
  ch_1_on(); delay1 ();
  ch_2_on(); delay1 ();
  ch_3_on(); delay1 ();
  ch_4_on(); delay1 ();
  ch_5_on(); delay1 ();
  ch_5_off(); delay1 ();
  ch_4_off(); delay1 ();
  ch_3_off(); delay1 ();
  ch_2_off(); delay1 ();
  ch_1_off(); delay1 ();
}
void anti_fill(void) //anti-clock fill & empty
{

  off_all();
  ch_5_on(); delay1 ();
  ch_4_on(); delay1 ();
  ch_3_on(); delay1 ();
  ch_2_on(); delay1 ();
  ch_1_on(); delay1 ();


  ch_1_off(); delay1 ();
  ch_2_off(); delay1 ();
  ch_3_off(); delay1 ();
  ch_4_off(); delay1 ();
  ch_5_off(); delay1 ();
}

void m135(void) //anti-clock fill & empty
{
  off_all();

  ch_1_on();    delay_off_all();
  ch_3_on();    delay_off_all();
  ch_2_on();    delay_off_all();
  ch_4_on();    delay_off_all();
}

void m345(void) //anti-clock fill & empty
{
  off_all();

  ch_3_on();    delay_off_all();
  ch_4_on();    delay_off_all();
  ch_5_on();    delay_off_all();
}

void clock_run_single(void) //anti-clock fill & empty
{
  off_all();
  ch_1_on();    delay_off_all();
  ch_2_on();    delay_off_all();
  ch_3_on();    delay_off_all();
  ch_4_on();    delay_off_all();
  ch_5_on();    delay_off_all();
}


void anti_clock_run_single(void) //anti-clock fill & empty
{
  off_all();
  ch_5_on();    delay_off_all();
  ch_4_on();    delay_off_all();
  ch_3_on();    delay_off_all();
  ch_2_on();    delay_off_all();
  ch_1_on();    delay_off_all();
}
void bf(void) //anti-clock fill & empty
{
  off_all();
  ch_1_on();    delay_off_all2();
  ch_2_on();    delay_off_all2();
  ch_1_on();    delay_off_all2();

  ch_1_on();    delay_off_all2();
  ch_2_on();    delay_off_all2();
  ch_3_on();    delay_off_all2();
  ch_2_on();    delay_off_all2();
  ch_1_on();    delay_off_all2();

  ch_1_on();    delay_off_all2();
  ch_2_on();    delay_off_all2();
  ch_3_on();    delay_off_all2();
  ch_4_on();    delay_off_all2();
  ch_3_on();    delay_off_all2();
  ch_2_on();    delay_off_all2();
  ch_1_on();    delay_off_all2();


  ch_1_on();    delay_off_all2();
  ch_2_on();    delay_off_all2();
  ch_3_on();    delay_off_all2();
  ch_4_on();    delay_off_all2();
  ch_5_on();    delay_off_all2();
  ch_4_on();    delay_off_all2();
  ch_3_on();    delay_off_all2();
  ch_2_on();    delay_off_all2();
  ch_1_on();    delay_off_all2();



}

void still(void)
{
  on_all();    delay1 ();
}

void delay_on_all(void)
{
  delay1 ();  on_all();
}
void delay_off_all(void)
{
  delay1 ();  off_all();
}
void delay_off_all2(void)
{
  delay2 ();  off_all();
}
void delay_off_all3(void)
{
  delay3 ();  off_all();
}

void ch_1_on(void)
{
  digitalWrite(ch_1, HIGH);
}
void ch_1_off(void)
{
  digitalWrite(ch_1, LOW);
}
void ch_2_on(void)
{
  digitalWrite(ch_2, HIGH);
}
void ch_2_off(void)
{
  digitalWrite(ch_2, LOW);
}
void ch_3_on(void)
{
  digitalWrite(ch_3, HIGH);
}
void ch_3_off(void)
{
  digitalWrite(ch_3, LOW);
}
void ch_4_on(void)
{
  digitalWrite(ch_4, HIGH);
}
void ch_4_off(void)
{
  digitalWrite(ch_4, LOW);
}
void ch_5_on(void)
{
  digitalWrite(ch_5, HIGH);
}
void ch_5_off(void)
{
  digitalWrite(ch_5, LOW);
}
void off_all(void)
{
  digitalWrite(ch_1, LOW);
  digitalWrite(ch_2, LOW);
  digitalWrite(ch_3, LOW);
  digitalWrite(ch_4, LOW);
  digitalWrite(ch_5, LOW);
}
void on_all(void)
{
  digitalWrite(ch_1, HIGH);
  digitalWrite(ch_2, HIGH);
  digitalWrite(ch_3, HIGH);
  digitalWrite(ch_4, HIGH);
  digitalWrite(ch_5, HIGH);
}
void bluetooth(void)
{
  if (Serial.available() > 0)
  {
    char a = Serial.read();
    if (a == '0')
    {
      mode = 0;
    }
    else if (a == '1')
    {
      mode = 1;
    }
    else if (a == '2')
    {
      mode = 2;
    }
    else if (a == '3')
    {
      mode = 3;
    }
    else if (a == '4')
    {
      mode = 4;
    }
    else if (a == '5')
    {
      mode = 5;
    }
    else if (a == '6')
    {
      mode = 6;
    }
    else if (a == '7')
    {
      mode = 7;
    }
    else if (a == '8')
    {
      mode = 8;
    }
    else if (a == '9')
    {
      mode = 9;
    }

  }
}
void delay1 (void)
{
  //adc_rd = (ADC_Read(2)+300) ;
  //for(i=0; i<adc_rd;i++) ;
  delay(150);
}
void delay2 (void)
{
  //adc_rd = (ADC_Read(2)+300) ;
  //for(i=0; i<adc_rd;i++) ;
  delay(80);
}
void delay3 (void)
{
  //adc_rd = (ADC_Read(2)+300) ;
  //for(i=0; i<adc_rd;i++) ;
  delay(80);
}

Credits

akhiljacobvp

1 project • 0 followers

Hand Motion Controlled Wheel Chair Via Bluetooth

Things used in this project

Hardware components

Hand tools and fabrication machines

Story

Schematics

123213_KzhmTTbktE.bmp

Code

project program in.txt

Credits

akhiljacobvp

Comments

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Hand Motion Controlled Wheel Chair Via Bluetooth

Hand Motion Controlled Wheel Chair Via Bluetooth

Things used in this project

Hardware components

Hand tools and fabrication machines

Story

Schematics

123213_KzhmTTbktE.bmp

Code

project program in.txt

Credits

akhiljacobvp

Comments

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