VOICE CONTROLLED WHEELCHAIR

Submitted in partial fulfilment of the requirements for the award of degree

BACHELOR OF ENGINEERING
In
AUTOMOBILE ENGINEERING
by

SACHIN. S (37860701)
SANJAY (37860029)

DEPARTMENT OF AUTOMOBILE ENGINEERING

SCHOOL OF MECHANICAL ENGINEERING

SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY
(DEEMED TO BE UNIVERSITY)
Accredited with Grade “A” by NAAC I 12B Status by UGC I
Approved by AICTE
JEPPIAAR NAGAR, RAJIV GANDHI SALAI, CHENNAI - 600 119

March - 2021
 SATHYABAMA
INSTITUTE OF SCIENCE AND TECHNOLOGY
(DEEMED TO BE UNIVERSITY)
Accredited with “A” grade by NAAC I 12B Status by UGC I Approved by AICTE
Jeppiaar Nagar, Rajiv Gandhi Salai, Chennai – 600 119
www.sathyabama.ac.in

_________________________________________________________

DEPARTMENT OF AUTOMOBILE ENGINEERING

BONAFIDE CERTIFICATE

This is to certify that this Project Report is the bonafide work of SACHIN.S
(37860701), SANJAY (37860029) who carried out the project entitled “VOICE
CONTROLLED WHEELCHAIR” under my supervision from 2020 to 2021

Mr. R. RAJASEKAR, M.E.,

Internal Guide

Dr. V.K. BUPESH RAJA, M.E., Ph.D.,

Head of the Department

Submitted for Viva voce Examination held on _________________

Internal Examiner
 DECLARATION

We SACHIN. S (37860701), SANJAY (37860029) hereby declare that

the project report entitled “VOICE CONTROLLED WHEELCHAIR” done
by under the guidance of Mr. R. RAJASEKAR, M.E., Department of
Automobile Engineering at SATHYABAMA INSTITUE OF SCIENCE
AND TECHNOLOGY is submitted in partial fulfilment of the requirements
for the award of Bachelor of Engineering in AUTOMOBILE
ENGINEERING

DATE:
PLACE:

SIGNATURE OF THE CANDIDATE

 ACKNOWLEDGEMENT

We are pleased to acknowledge my sincere thanks to Board of Management of

SATHYABAMA for their kind encouragement in doing this project and for completing
it successfully. I am grateful to them

We convey our thanks to Dr. S. PRAKASH, M.E., Ph.D., Dean, School of Mechanical
Engineering and Dr. V.K. BUPESH RAJA, M.E., Ph.D., Head of the Department,
Department of Automobile Engineering for providing me necessary support and details
at the right time during the progressive reviews.

We would like to express my sincere and deep sense of gratitude to my Project Guide
Mr. R. RAJASEKAR, M.E., Department of Automobile Engineering for his valuable
guidance, suggestions and constant encouragement paved way for the successful
completion of my project work.

We wish to express my thanks to all Teaching and Non-teaching staff

members of the Department of Automobile Engineering who were
helpful in many ways for the completion of the project.
 Abstract

This project is related to controlling a wheel chair by means of human voice.

The objective of this project is to facilitate the movement of people who are
disabled or handicapped. Speech recognition technology is used to move
the wheel chair. The result of this project is show that this can be used for
future research work and public interest.

v
List of Acronyms

CPU Central processing unit

GPRS General Packet Radio Service

DC Direct current

IC Integrated Circuit

AC Alternating current

BT Bluetooth

vi
 List of figures

Fig 4.1.1 refers to Figure 1 of chapter 4

Fig 4.1.2 refers to Figure 2 of chapter 4

Fig 4.1.3 refers to Figure 3 of chapter 4

Fig 4.1.4 refers to Figure 4 of chapter 4

Fig 4.1.5 refers to Figure 5 of chapter 4

Fig 4.1.6 refers to Figure 6 of chapter 4

Fig 4.1.7 refers to Figure 7 of chapter 4

Fig 4.1.8 refers to Figure 8 of chapter 4

Fig 4.1.9 refers to Figure 9 of chapter 4

Fig 4.1.10 refers to Figure 10 of chapter 4

Fig 4.1.11 refers to Figure 11 of chapter 4

Fig 4.1.12 refers to Figure 12 of chapter 4

vii
Fig 4.1.13 refers to Figure 13 of chapter 4

Fig 4.1.14 refers to Figure 14 of chapter 4

Fig 4.1.15 refers to Figure 15 of chapter 4

Fig 4.1.16 refers to Figure 16 of chapter 4

Fig 4.2.1 refers to Figure 17 of chapter 4

Fig 4.2.2 refers to Figure 18 of chapter 4

Fig 4.3.1 refers to Figure 19 of chapter 4

Fig 4.3.2 refers to Figure 20 of chapter 4

Fig 4.3.3 refers to Figure 21 of chapter 4

Fig 4.3.4 refers to Figure 22 of chapter 4

Fig 5.3.1 refers to Figure 1 of chapter 5

viii
List of tables Page no.

Table 1: Distinguish Between HC-05 & HC-06 21

ix
CONTENTS

Page no.

Title Page I

Bonafide Certificate II

Declaration III

Acknowledgement IV

Abstract V

List of Acronyms VI

List of figures VII

List of tables IX

Chapter – 1

1.1 Introduction 1

Chapter – 2

2.1 Literature survey 5

x
Chapter – 3

3.1 – Aim 7

3.2 - Scope of the present investigation 7

Chapter – 4

4.1 – Materials 10

4.1.1 - Arduino Uno Board 11

4.1.2 - Arduino Cable 12

4.1.3 - Motor Driver Module (L293D) 13

4.1.4 - Motors – 2 15

4.1.5 - Caster Wheel 17

4.1.6 - Wheels – 2 18

4.1.7 - Bluetooth module (HC-05) 18

4.1.8- Ultrasonic sensors 23

xi
4.1.10 - Android App - BT Voice Control 24

for Arduino (Google Playstore)

4.2 - algorithms used 25

4.3 – Methods 35

Chapter – 5

5.1 – Results 39

5.2 – Discussion 39

5.3 - Performance Analysis 42

Chapter – 6

6.1 – Summary 43

6.2 – Conclusions 43

Reference 45

xii
xiii
CHAPTER – 1

INTRODUCTION

This project aims to style integrate program to interface and test a

totally motorized, voice-operated wheelchair. A regular standard
wheelchair wasn’t used instead a prototype was made to meet this
project’s goals. In this project, the procedure of the Mechatronic
systems design was followed to assure the quality of the final product
i.e; the Voice controlled wheelchair. The project took the following of
the subsequent parts: Hardware, software, interface, and testing.

This project is said to controlling a wheelchair by means of the human

voice.

The target of this project is to facilitate the movement of people who

are disabled or handicapped. We used Speech recognition technology
which has been employed to maneuver the wheelchair. The results of
this project show that this will be used for future research work and
public interest.

The main objective is to style a system that gives the answer for the
physically handicapped (challenged) people those who that can’t move
by themselves, they can use speech commands by interfacing the
Speech Recognition with a microcontroller and wheelchair.

The voice commands are given to the Bluetooth module HC 05 kit with
the help of an android phone and thus the wheelchair moves according
to the given directions. The wheelchair's movement is being controlled
by the motors and the motor drivers are being connected to the wheels
of the chair.

1
The interfacing between speech recognition kit and motors is
completed by employing a microcontroller.

The interfacing between speech recognition kit and motors is

completed by employing a microcontroller. Here during this project, the
microcontroller used is ATMEGA 328 The idea was taken during this
paper to reduce the human efforts in driving a wheelchair.

It’s an incontrovertible fact that humans are born imperfections. But

disabilities have never stopped a person from achieving greatness.
Furthermore, many devices/instruments are invented to assist those
that are mentally or physically challenged. "Wheelchair" is supposedly
the simplest example to support the above-mentioned inventions.
According to the earliest records, the wheeled furniture is an inscription
that has been found on a stone slate in China and as a child's bed
depicted during a frieze on a Greek vessel, both beginnings in the 6th
and 5th century BCE. the original records of wheeled furniture making
practiced for carrying disabled characters date to three centuries
succeeding in China; the Chinese practiced early roller carts to move
people also as large objects. A distinction between the 2 functions
wasn't made for an additional several hundred years, until around
525CE,

when images of wheeled chairs made specifically to take the human

from one place to another and is being seen to begin and occur in
Chinese art.

Many people are using these instruments and it's been proven to be a
really useful gizmo for the disabled. Wheelchairs are available in a good
sort of format to satisfy the precise needs of their users. These are
popularly known to include and have particularly well-specialized
seating adaption, build for individualized controls, and also adapted for

2
certain particular activities, as seen with the ones used in the sports
wheelchairs and also which are used in beach wheelchairs. the
foremost widely known the distinction is between powered wheelchairs,
where propulsion is seen to be provided by batteries and electric
motors, and selfly or manually propelled wheelchairs, where the
propulsive happend force is provided either by the wheelchair
user/occupant pushing the wheelchair by their own force using their
hand ("self-propelled") or by an attendant who might be behind the
wheelchair using their hands pushing from the rear ("attendant
propelled").

Earlier the wheelchair was to be moved by a mechanical force applied

by the user. In recent trend Joystick with a motor are getting used to
cause movement. But it comes with its own limitation of force to be
applied on these levers. There could also be an opportunity that it's
going to grind to a halt or it's going to break.

To overcome this problem, we thought of employing a voice-controlled

actuation which not only removes the matter of lever adjustment but
also would be more convenient for the user hence we've come up with
a prototype wheelchair that's voice actuated.

The project aims in designing a wheelchair that can be operated using

Android mobile phone. The controlling of the created prototyped
wheelchair is done wirelessly through the Android smartphone using
the Bluetooth feature present in it. Here in the project the Android smart
phone is used as a remote control for operating the wheelchair.

Android which is a known software stack for mobile devices that

includes an operating system, middleware and key applications.
Android possesses a healthy host of connectivity choices, including Wi-
Fi, Bluetooth, and radio data over a cellular link (for instance, GPRS,

3
EDGE (Enhanced Data rates for GSM Evolution), and 3G). The Android
platform provides availability to a huge range of useful manuscripts and
devices that can be used to build rich applications. In addition, Android
includes a full set of tools that have been built from the ground up
alongside the platform providing developers with high productivity and
deep insight into their applications. Bluetooth is a free standard spec
for a radio frequency (RF)-based, shortrange connectivity technology
that assures to modify the profile of computing and wireless
communication. It is outlined to be an economical, wireless networking
system concerning all classes of transportable devices, such as
laptops, PDAs (personal digital assistants), and mobile phones.

It also will facilitate wireless connections for desktop computers,

making links between monitors, printers, keyboards, and the CPU
cable-free. The controlling device of the whole system is a
Microcontroller. The data obtained by the Bluetooth module of the
Android smart phone is fed as input to the controller. The controller acts
accordingly on the DC motors of the prototype. The wheelchair in the
project can be made to move in all the four directions using the Android
phone.

4
CHAPTER – 2

LITERATURE SURVEY

To understand the effectiveness of our project we had to first understand

the types of the existing wheelchair, their advantages, and their
shortcomings. Some of the types of wheelchairs are:

• Manual wheel Chair: Had to be manually operated.

• Electric Wheel Chair: Controlled by a lever but not automatic.

• Beach Wheel Chair: Good grip on sand but manual.

• Airplane Wheel Chair: Additional strapping but manual.

• Ergonomic Wheel Chair: Extremely comfortable but manual.

• Pediatric Wheel Chair: Kid-size Wheelchair Semi-Automatic.

• Reclining Wheel Chair: Can be tilted to a limited angle,

• Wheel Chair Stretches: Can be opened to a stretcher.

We even did our research by reading a few of the papers and here are
what we understood and used through those.

We went through a paper that specified about the development of

wheelchair that can be controlled by voice, eye or using joystick according

5
to the severity of disability of handicap person. It also features a warning
system that analyses the patient real situation such as heart rate,
temperature, etc and notifies the doctor regarding the same. It even has
integrated robotic hand which helps the patient for taking medicines and
food. This study paper concentrates on the queries of the handicapped
individual and tries to resolve them in the best feasible way. The condition
is that it ought to be formed independently for each single specified to its
austerity which raises its price and time.

The other paper which we through focuses on the development of solar

based wheelchair which helps in reducing the running cost of the
wheelchair. It is specifically created for hemipelagic users to control the
wheelchair efficiently. The control of the wheelchair can be assigned to
either side to help the user. The wheelchair has significant benefits but still
restricts from the circumstance that it has larger battery charging time and
less capacity to climb up the slope

The other paper specified about the high costing of the electric wheelchair
and modifying the present electric wheelchairs to make it affordable to the
common people. It put importance on the utilization of sources open locally
to cut the price of wheelchair. It utilizes pair of dc gear motor, PIC
microcontroller and h bridge module for commanding the movement of
wheelchair. The shortcoming of this research is that expense of the
wheelchair is still huge for the ordinary people to afford it.

After looking at all the work we came to the decision that there was no
voice-controlled wheel chair which would use an android phone for
controlling it through the App where it would send signal through Bluetooth
to the HC05 and the rest of the function would take place. Hence our idea
would be the first of its kind. But it came with the added disadvantage of
3rd party intervention and failure of the voice control leads to failure of the
entire system.

6
 Chapter – 3

Aim and Scope of the present investigation

3.1. Aim:

The main aim of the project is to provide aid to a person who suffering
from physically handicapped situation and he or she is not be able to do
their ordinary work. Therefore, by this project we thought of providing a
solution and people these guys with very efficient designed and using
voice.

The intention of this project is to create a wheelchair that has

characteristics such as low weight, low cost, long distance travelling
range.

• To achieve long distance travel.

• Forming a light-weight wheel-chair prototype structure.

• Coding of a precise program, which would govern the project by using a

voice (controlled using Arduino)

• Executing the total prototype as cost-efficient and less costly as possible.

3.2.Scope of the present investigation:

In worldwide context, it is estimated that 100-130 million people with

disabilities are present which require wheelchairs for their assistance.

7
Reasons for the physical disability can be

1. Inherited or genetic disorder such as dystrophy.

2. Health instant at the origin so as spinal bifida.

3. Spinal cord or brain injury during accidents. Experts foretell

that the number of people who will require wheelchairs will
be raised by 22% over the subsequent ten years.

Wheel-chair is still the most reliable transport means for them. This is the
cause why wheelchairs are being produced with added latest
improvements which leads its conversion to electric wheelchair.

Shortly available manual wheelchairs need regular assistance of others for

people having severe limitation and are at a high risk of damages to the
upper part of the body due to mechanical inability of the wheelchair.

Furthermore, standard wheelchairs possess problems while working up

the hill or rough surface. The open electric wheelchairs and our wheelchair
are voice-operated and also self operational.

The purpose of our research is to provide simpler wheelchair hardware

architecture but with powerful computational platforms so that wheelchairs
or the robot’s designer can focus on their research and tests instead of
Bluetooth connection infrastructure. This simplistic architecture is also
helpful for educational robotics, because students can construct their own
robots at an economical cost and use them as platform for experiments in
several courses. The main purpose of this project is to develop a remote
user interface to control a system via a wireless technology. There is a
need to communicate with the wheelchair remotely in order to control the

8
wheelchair’s movements and pass critical data both ways. The current IR
controls are not good enough because the wheelchair does not have an
IR transmitter but only a receiver, meaning that the communication is one
way.

The IR communication works only in line of direct sight and any objects in
the way will obstruct the communication. Bluetooth communication will
enable us to control the wheelchair up to 100 meters without the need for
direct sight which means that the wheelchair could be located behind a
wall or some other purpose and the connection would not be lost.

9
Chapter – 4

Materials and methods; Algorithms used

4.1. Materials

• Arduino Uno Board

• Arduino Cable

• Motor Driver Module (L293D)

• Motors - 2

• Caster Wheel

• Wheels - 2

• Bluetooth module (HC-05)

• Ultrasonic sensors

• Power adapters or battery

• Android App - BT Voice Control for Arduino (Google Playstore)

10
4.1.1 Arduino Uno Board

Fig 4.1.1 Arduino board

Arduino is an Open-source-electronic-prototyping-base for simple used

hardware and software in the field of micro-controlling.

Fig 4.1.2 Arduino board vertical view

11
A microcontroller (MCU for microcontroller unit or UC for μ-controller) is a
little processor on a separate integrated circuit. In modern language, it is
comparable to but less complicated than, a system on a chip (SoC). A
microcontroller comprises one or higher CPUs (processors core)
accompanying with memory and programmable input/output peripherals.
Program memory in the form of ferroelectric.

Arduino is a board which has ATmega328 microcontroller built on it. It has

16 MHz crystal, 6 analogue input and output pins, 14 digital input output
pins and out of which 14 digital pins 6 pins can be used as PWM pins that
are pretty accommodating in motor control applications.

RAM, NOR flash or OTP ROM is also usually involved on chip, as well as
a little amount of RAM Microcontrollers are created for embedded
applications, in contrast to the microprocessor used in personal computers
or other general-purpose applications consisting of various discrete chips.

It contains a USB connector that can be practiced to attach Arduino to the

pc for uploading the code. While Arduino is united to PC it can bring
constant power from the PC needed for its operation. It has an adaptor
jack which can be utilized to control the Arduino in offline mode. It has also
Vin pin to allow the 9V supply required for its working. It has two to three
5V and ground pins which can be utilized to power up the diminutive
power-consuming accessories directly from the Arduino.

4.1.2 Arduino cable

12
 Fig 4.1.3 Arduino cable

It is used to connect our Arduino Uno board, Arduino ATmega328 board

which is used both to power the board and upload the program to the board
for it to function it out.

4.1.3 Motor driver module L293D

Fig 4.1.4 Motor driver L293D

13
L293D is a standard Motor driver or Motor Driver IC which enables DC
motor to drive on either way. L293D is a 16-pin IC that can command a set
of two DC motors concurrently in any way.

It works on the concept of H-bridge. H-bridge is a circuit which enables the

voltage to be navigated in either direction.

As you understand, voltage needs to change its direction for rotating the
motor in clockwise or anticlockwise direction; hence, H-bridge IC is ideal
for driving a DC motor.

In a single L293D chip there are two h-Bridge circuit inside the IC which
can turn two dc motor separately. Due its dimension it is very much used-

-in robotic application for regulating DC motors. Given underneath is the

pin design of a L293D motor controller.

Fig 4.1.5 L293D layout

The L293D is fourfold high-current half-H drivers. It is created to give

bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V.
Both tools are invented to drive inductive loads such as relays, solenoids,
dc and bipolar stepping motors, as well as additional high-current/high-
voltage loads in positive-supply uses. All inputs are TTL agreeable. Each
output is a whole totem-pole drive circuit, with a Darlington transistor sink
and a pseudo- Darlington origin. Drivers are enabled in pairs, with drivers

14
1 and 2 enabled by 1,2EN and drivers 3 and 4 approved by 3,4EN. When
an facilitate input is high, the associated drivers are licensed, and their
outputs are ready and in phase with their inputs. When the permitted input
is low, those drivers are disabled, and their outputs are off and in the high-
impedance state.

4.1.4 Motors

Fig 4.1.6 DC motor

Motors are undoubtedly one of the multiple important roles of a mobile

robotics program. Overpowered motors generate inability and waste the
already restrained supply of energy from the onboard batteries, while small
motors could be low on torque at crucial times.

The optimal rotation velocity and the possible speed limit of the motor
requirement also be taken into thought. To high of an output rpm from the

15
motor shaft will cause the robot to operate at a fast, uncontrollable speed.
Too weak of output and the robot will not be able to achieve a proper speed
to match the user’s requirements.

The torque output of the motor also performs a role in the execution
because if the torque is not enough, locomotion may not happen in some
circumstances. Hence, much thought was put into the choice of the
individual motor for the platform.

Motors come in various shapes and sizes. There are electromagnetic

direct current (DC) motors and electromagnetic alternating current (AC)
motors and plenty of varieties of each. AC motors are typically practiced
for large purposes, such as machine tools, washers, dryers, etc., and are
power by an AC power line.

As the standard power stock for mobile robotic is a DC battery, and

technology for transforming DC to AC is very expensive in both terms of
monetary cost and power cost, AC motors are where ruled out as an option
for the robot.

16
4.1.5 Caster wheel

Fig 4.1.7 Caster wheel

A caster (or castor) is an undriven wheel that's designed to be attached to

rock bottom of a bigger object (the "vehicle") to enable that object to be
moved.

Casters are utilized in numerous applications, including shopping carts,

office chairs, hospital beds, and material handling equipment. High
capacity, heavy duty casters are utilized in many industrial applications,
like platform trucks, carts, assemblies, and tow-lines in plants.

17
4.1.6 Wheel

Fig 4.1.8 Wheels

Wheels are that operate around the area` practicing motorized wheels to
drive themselves. This study is plainer than using treads or legs and by
utilizing wheels they are simpler to create, build, and program for
movement in flat, not-so-rugged terrain. They are also more well-controlled
than different kinds of robots. Disadvantages of wheeled robots are that
they can’t navigate well over obstacles, such as rocky terrain, sharp
declines, or areas with low friction.

4.1.7 Bluetooth module (HC-05)

Bluetooth is a wireless technology standard for exchanging data over short

distances (using short wavelength UHF radio waves in the ISM band from
2.4 to 2.485 GHz) from fixed and mobile devices, and building personal
area networks (PANs).

This was one interesting topic that we came across. We found out various
ways to control our wheelchair with help of voice recognition modules or
Bluetooth voice control. Few modules which we came across were:

18
 i. HM2007: It is used to command and control of appliance and
equipment. It is user programmable through keys. It has a MIC
interface. It has the ability to detect 40 different words. It would cost
around Rs.3500/-

Fig 4.1.9 HM2007

ii. RKI1199: This Voice Recognition module is compatible and easy control
speaking board. It also has microphone pin interface. It supports up to 80
voice commands. Max of 7 voice commands would work at the same time.
Its cost would be placed at Rs.2366/-

iii. HC05: HC05 is a Serial Bluetooth module for Aurdino and other
microcontrollers operating at 5V. It has a two-way wireless functionality
which is compatible with laptop or phone.

It has a baud rate of 9600. It is readily available in most of the electronic

shops. It would cost Rs.400/-.

Fig 4.1.10 HC05

19
HC Serial Bluetooth goods consist of Bluetooth serial interface module and
Bluetooth adapter. Bluetooth series module is utilized for changing serial port
to Bluetooth.

This module has couple of forms: master and slaver device. The device
named after even number is defined to be master or slaver when out of factory
and can’t be changed to the other mode. But for the project titled after odd
quantity, users can set the work mode (master or slaver) of the device by AT
commands.

Fig 4.1.11 HC05 plugged in with Adruino board

HC-06 Specifically includes:

Master device: HC-06-M, M=Master Slaver device: HC-06-S, S=Slaver.

The main purpose of the Bluetooth series module is to replace the

following port line, such as One connects to the Bluetooth control device
while another one equates to a slaver means. Their link can be created
once the pair is executed. This Bluetooth link is equally liked to a serial
port line agent including RXD, TXD signals. And they can communicate
with each other.

20
 1. Meanwhile MCU has Bluetooth cure module, it can interact with
Bluetooth adapter of computers and smart phones.

2. The Bluetooth tools in the shop mostly are cure devices, such as
Bluetooth printer, Bluetooth GPS. So, we can use the control
module to make pairs and interact with them.

3. Bluetooth serial module’s work doesn’t require drivers and can

interact with the other Bluetooth device. But connection between
two Bluetooth modules need at two conditions:

i) The information must be within master and slave.

ii) The password must be correct.

Here is the main factory parameter of HC05 and HC06. Pay attention to
the difference:

HC-05 HC-06

Master and Slave mode can be Master and Slave mode can’t be

Switched switched

21
Bluetooth Name: HC-05 Bluetooth Name: HC-06

Password: 1234 Password: 1234

Table 1: Distinguish Between HC-05 & HC-06

Fig 4.1.12 HC05 layout

22
4.1.8 Ultrasonic sensors

Fig 4.1.13 Sensors layout

Fig 4.1.14 Ultra sonic sensors

23
4.1.9 Android App - BT Voice Control for Arduino (Google Playstore)

To control the whole set up through our voice command we would need
an android app which we can easily find in the play store named BT voice
controlled by Arduino

Fig 4.1.15 Bluetooth voice control android app

Fig 4.1.16 Connecting Bluetooth

24
4.2 Algorithms used
#define BAUDRATE 9600
const int MotR_A = 5;
const int MotR_B = 3;
const int MotL_A = 6;
const int MotL_B = 9;
const int trigPin = 12;
const int echoPin = 13;
byte GetValue;
long duration, distance;
void setup()
{
Serial.begin(BAUDRATE);
pinMode(trigPin, OUTPUT);
pinMode(echoPin, INPUT);
pinMode(MotR_A, OUTPUT);
pinMode(MotR_B, OUTPUT);
pinMode(MotL_A, OUTPUT);
pinMode(MotL_B, OUTPUT);
}
byte ReadOneByte()
{
int ByteRead;
while(!Serial.available());
ByteRead = Serial.read();
return ByteRead;
}
long dist()
{
digitalWrite(trigPin, LOW);

25
 delayMicroseconds(2);
digitalWrite(trigPin, HIGH);
delayMicroseconds(10);
digitalWrite(trigPin, LOW);
duration = pulseIn(echoPin, HIGH);
distance = (duration/2) / 29.1;
return distance;
}
void loop()
{
GetValue = ReadOneByte();
Serial.print(GetValue);
switch(GetValue)
{
case 'L':
Robot_Left();
delay(500);
Robot_Stop();
break;
case 'R':
Robot_Right();
delay(500);
Robot_Stop();
break;
case 'F':
Robot_Front();
break;
case 'B':
Robot_Reverse();
break;

26
 case 'S':
Robot_Stop();
break;
}
}
void Robot_Front()
{
long value = dist();
if (distance < 10)
{
Robot_Stop();
}
else
{
Robot_Forword();
}
}
void Robot_Forword()
{
digitalWrite(MotR_A, LOW);
digitalWrite(MotR_B, HIGH);
digitalWrite(MotL_B, LOW);
digitalWrite(MotL_A, HIGH);
}
void Robot_Reverse()
{
digitalWrite(MotR_A, HIGH);
digitalWrite(MotR_B, LOW);
digitalWrite(MotL_B, HIGH);
digitalWrite(MotL_A, LOW);

27
}
void Robot_Left()
{
digitalWrite(MotR_A, HIGH);
digitalWrite(MotR_B, LOW);
digitalWrite(MotL_B, LOW);
digitalWrite(MotL_A, HIGH);
}
void Robot_Right()
{
digitalWrite(MotR_A, LOW);
digitalWrite(MotR_B, HIGH);
digitalWrite(MotL_B, HIGH);
digitalWrite(MotL_A, LOW);
}
void Robot_Stop()
{
digitalWrite(MotR_A, LOW);
digitalWrite(MotR_B, LOW);
digitalWrite(MotL_B, LOW);
digitalWrite(MotL_A, LOW);
}

28
Fig 4.2.1 Code in Adruino open source

29
Fig 4.2.2 Code in Adruino open source

30
4.3 Methods

Fig 4.3.1 Circuit connection

Fig 4.3.2 Block diagram

31
 Fig 4.3.3 Flow Chart

• When the app is started at that point a request is created if the

Bluetooth is not switched on.
• A combined virtual switch is near which is utilized to combine the
Android mobile phone with the device Bluetooth HC-05 for wireless
transmission of data.
• When the Bluetooth has turned on the request considers the
information when the user affects the virtual button.
• If the requirement is forward and only if the ultrasonic sensor does
not sense any object within 30 cm in front of it then all the dc motors
are provided with 5V and submitted in forwarding directions for
linear progression.
• If the condition is opposite then all the dc motors are provided with
5V and moved in reversed tracks for linear movement.
• If the condition is to switch left then the left dc motors are suspended
and the right dc motors are provided with 5V and the wheelchair
progress in left direction.
• If the condition is to turn right then the right dc motors are
suspended and the left dc motors are provided with 5V and the
wheelchair progress in right direction.

32
 • If STOP over the voice command is said then all the dc motors are
stopped.

Fig 4.3.4 Voice controlled wheelchair flow chart

The prototype will use an Arduino UNO as a microcontroller and HC05

Bluetooth Module to make it voice actuated. To actuate the wheel chair,
we will be using a D.C motor of 10kg-cm Torque rating. To power this
motor, we will use a battery of 12V, 1.3Ah. Since the Arduino cannot
provide 12V as its output, we will use a L298 motor driver. All the above-
mentioned components will be encased in a wooden box which will have
wheels attached to it.

• The application in our cell phones sense our voice converts it to written
words, encodes it and sends it to the Bluetooth Module.

• Bluetooth Module receives this data and sends it to the microprocessor of

Arduino.

• The processor compares this data with the predefined program and
generates a digital data according to the program.

• This signal powers the motor and actuates our machine.

33
• The Ultrasonic sensor senses the obstructions, if there are any, and sends
a signal to the Arduino which again compares it with the program and
generates a digital signal accordingly.

34
Chapter – 5

Results, Discussion and Performance Analysis

5.1 Result

Voice controlled wheelchair is the modified version of the manual

wheelchair. It is operated based on the voice command of the patient i.e.,
commands such as forward, left, right, stop, etc. The wheelchair does not
require any person to move it as it is automated with motors. Voice of an
independent speaker is sent through the android app, which is paired to
HC-05 and interfacing of the Arduino and HC-05 converts the voice signals
and with the help of L298D Driver motors are driven and hence the
wheelchair moves in the direction that’s been commanded.

5.2 Discussion

The input is taken from the android mobile; speech signal is converted into
the text with the help of an android application. This writing is the command
to the Microcontroller which establishes the action and way of wheelchair
via a Bluetooth module wirelessly. The microcontroller determines the
development of the two DC motors depending on the text sustained.
L298D is a dual full bridge driver IC which is used for driving purpose of
DC motors.

The wheelchair paths and progress probable are as given below.

1. Forward: Both motors are in forward direction.

2. Reverse: Both motors are in reverse direction.

35
3. Left: Left motor closed and right motor in front direction.

4. Right: Right motor stopped and left motor in forward direction.

5. Stop: Both motors are stopped.

Movement of the motors is controlled with the help of joystick commands

and Arduino UNO and battery using joystick controller board.

When the DC driver is connected to the motors and supply of 12v is given
from the external voltage chargeable source. Interfacing of Arduino and
HC-05 is done. With the help of android phone connect the Bluetooth HC-
05 to the android app it is an independent speaker app.

Backward: Motor1 moves in clockwise direction. Similarly, Motor2 moves

in the clockwise direction and the tyres of the wheelchair moves in
backward direction.

Forward: Motor1 moves in the anti-clockwise direction. Similarly, Motor2

moves in the anti-clockwise direction and the tyres of the wheelchair
moves in forward direction.

Left: Motor1 or the left tyre moves in the anti-clockwise direction and
simultaneously Motor2 or the right tyre moves in the clockwise direction.

Right: Motor2 or the right tyre moves in the anti-clockwise direction and
simultaneously Motor1 or the left tyre moves in the clockwise direction.

36
Advantages

1. A handicapped person even with Legs and Hand can use this and
become Independent.

2. Very quickly developing input can be effortlessly identified due to

Android mobile.

3. Suitable for practical application as compared to HM 2007.

4. Requires less wiring because of Bluetooth section.

5. Less Hardware require i.e., compact.

6. Economical.

7. Reduce manpower.

37
5.3 Performance Analysis

Fig 5.3.1 Calculation

Calculation if the weight that has to be carried by wheelchair is 10kg

Total torque = 0.823 Nm

V = 18.85 cm/sec

Battery capacity = 92.5Ah

38
Chapter – 6

Summary and Conclusions

6.1. Summary

This project can be reviewed as a method that is used for the handicapped
personality can able to move around using the voice of that person.

To create and produce an android app within which we can operate a

movement of wheelchair Using the android device.

6.2. Conclusions

Wireless controller is one of the most prominent basic needs for all living beings.
But sadly, due to a huge amount of data and communication overheads the
technology is not fully utilized.

Many of the wireless-controlled robots use RF modules. But this project makes
use of Android mobile phone for robotic control which is very cheap and easily
available. The control commands open are more than RF modules. For this the
android mobile user has to establish an application on her/his mobile. Then the
user requires to switch on the Bluetooth in the mobile. The wireless connection
method used to command the robot is Bluetooth technology. User can practice
many commands like move forward, reverse, move left, move right using these
commands which are transmitted from the Android mobile.

39
Robot has a Bluetooth transceiver unit that accepts the commands and return it
to the microcontroller circuit to command the motors.

The microcontroller then transmits the signal to the motor driver ICs to operate
the motors the objective of the paper is to realise the smart living, more
specifically the home lighting control system using Bluetooth Technology. Robot
and smart phones are a perfect match, especially mobile robots.

As phones and mobile devices are each time more powerful, using them as robot
for building robot with advanced feature such as voice recognition. Android
Bluetooth-enable phones and Bluetooth module via HC-06 and information
among Bluetooth tools. It is presumed that smart existence will slowly turn into a
reality that user can control their home remotely and wirelessly.

40
 References

Journals

1. “Design and Implementation of an Electric Wheel-Chair to Economies it

with Respect to Bangladesh” by Humaira Salmin, Hafiz Rakibul, Pratik
Kumar Kundu, B.M. Fahmid Jahur Shuvo, K.B.M. Nasiruzzaman and
Rahman MD Moshiour, International Journal of Multidisciplinary
Sciences and Engineering, Vol. 5, No. 2, pp: (17-22), February 2014 [3]

2. “Solar Powered Wheel Chair: Mobility for Physically Challenged”, Arun

Manohar Gurram, P.S.V Ramana Rao, Raghuveer Dontikurti,
International Journal of Current Engineering and Technology, ISSN 2277
- 4106 Vol.2, No.1, pp: (211-214), March 2012 [2]

3. “Wheelchair for Physically and Mentally Disabled Persons”, Nirmal T M,

International Journal of Electrical and Electronics Research, ISSN 2348-
6988 (online), Vol. 2, Issue 2, pp: (112-118), April - June 2014 [1]

Valid internet articles

1. https://en.wikipedia.org/wiki/Arduino

2. https://www.itead.cc/wiki/Serial_Port_Bluetooth_Module_(Master
/Slave)_:_HC-05

3. https://www.instructables.com/Voice-Activated-Arduino-Bluetooth-
Android/

41
Final outcome:

42