A COST EFFECTIVE VOICE

CONTROLLED SMART
WHEELCHAIR USING ARDUINO

PROJECT REPORT

Submitted by

ANBARASU.R (71052103001)
DHANAHARINI.G.N (71052103006)
ELUMALAI.P (71052103008)

in partial fulfillment for the award of the degree

of

BACHELOR OF ENGINEERING
in

ELECTRONICS AND COMMUNICATION ENGINEERING

COIMBATORE INSTITUTE OF ENGINEERING AND

TECHNOLOGY
(Autonomous)
Accredited by NAAC with “A” Grade

COIMBATORE – 641 109

NOVEMBER - 2024

i
 COIMBATORE INSTITUTE OF ENGINEERING AND
TECHNOLOGY
(Autonomous), Coimbatore - 641109
Department of Electronics and Communication Engineering

PROJECT WORK

PHASE I (U19ECJ02)

This is to certify that the project entitled “A COST EFFECTIVE VOICE

CONTROLLED SMART WHEELCHAIR USING ARDUINO” is the

bonafide record of project work done by ANBARASU.R (71052103001)

DHANAHARINI.G.N (71052103006) ELUMALAI.P (71052103008) of

BACHELOR OF ENGINEERING in ELECTRONICS AND

COMMUNICATION ENGINEERING during the year 2024 – 2025.

SIGNATURE SIGNATURE

Dr. A.UMAAMAHESHVARI, M.E., Ph.D., Ms. R.R.YUGANANDHINE, M.E.

HEAD OF THE DEPARTMENT, SUPERVISOR,
Department of Electronics and Assistant Professor,
Communication Engineering Department of Electronics and
Coimbatore Institute of Engineering and Communication Engineering
Technology Coimbatore Institute of Engineering and
Coimbatore - 641 109 Technology
Coimbatore - 641 109

Submitted for the University project viva-voce held on

INTERNAL EXAMINER EXTERNAL EXAMINER

ii
 ABSTRACT

The Voice-Controlled Wheelchair Using Arduino represents a

transformative approach to assistive mobility technology, addressing the
challenges faced by individuals with physical disabilities. Unlike conventional
wheelchairs, this system leverages voice commands as the primary control
mechanism, eliminating the need for manual operation and enhancing
accessibility. At the core of the project lies an Arduino, seamlessly integrated
with a Bluetooth module, motor drivers, and a voice recognition interface.

The system interprets commands such as "move forward," "turn left,"

"move backward," "turn right," or "stop," translating them into precise motor
actions for smooth and responsive navigation. This innovative integration ensures
an intuitive user experience and dependable performance. What sets this project
apart is its focus on affordability, simplicity, and customization. Designed with
cost-effective components and user-centric functionality, the wheelchair is
accessible to a broader audience, particularly in resource-constrained
environments.

The modular architecture allows for future upgrades, such as obstacle

detection or speed adjustment, ensuring adaptability to evolving user needs. By
enabling greater independence and reducing reliance on caregivers, this project
not only improves mobility but also empowers users to lead more autonomous
and fulfilling lives.

iii
 ACKNOWLEDGEMENT

Our heart is filled with gratitude to Almighty God for empowering me

with the courage, wisdom and strength to carry out this project work
successfully.

We would like to record my sincere indebtedness and gratitude to our

renowned Director, Dr.K.A.Chinnaraju, M.Sc., M.B.A., Ph.D., for his
noteworthy efforts to enhance my professional dexterity and co-curricular
excellence.

We are indebted to our respected Principal,

Dr.K.Manikanda Subramanian, M.E., Ph.D., for providing us with necessary
facilities to carry out my project work.

We express our sincere thanks to our Head of the

Department,Dr.A.Umaamaheshvari., M.E., Ph.D., Department of Electronics
and Communication Engineering, for her timely help and co-operation in carrying
out this project successfully.

We are very much pleased to acknowledge our sincere thanks to my

guide,Ms.R.R.Yuganandhine,M.E. for her guidance and valuable suggestions.

Finally, we extend my thanks to the management, faculty members,

parents and my student friends for their support and encouragement.

iv
 TABLE OF CONTENT

CHAPTER NO. TITLE PAGE NO.

ABSTRACT iii
ACKNOWLEDGEMENT iv
LIST OF FIGURES v
1 INTRODUCTION 1
1.1 INTRODUCTION 1
1.2 OBJECTIVE 2
1.3 BACKGROUND 2
1.4 PROJECT OVERVIEW 3
1.5 NEED AND SCOPE THE OF STUDY 4
2 LITERATURE REVIEW 6
2.1 REVIEW OF LITERATURE 6
2.2 SUMMARY OF LITERATURE REVIEW 8
3 METHODOLOGIES 10
3.1 DESIGN METHODOLOGY 10
3.2 AIM AND SCOPE OF THE PROJECT 11
3.2.1 AIM 11
3.2.2 SCOPE OF THE PROJECT 12
4 MATERIALS AND METHODS 14
4.1 MATERIALS 14
4.1.1 ARDUINO UNO BOARD 15
4.1.2 ARDUINO CABLE 17
4.1.3 MOTOR DRIVER MODULE L293D 18
4.1.4 MOTORS 19
4.1.5 WHEELS 20
4.1.6 BLUETOOTH MODULE(HC-05) 21
v
 4.1.7 ULTRASONIC SENSOR 24
4.1.8 ANDROID APPLICATION 26
4.2 METHODS 27
5 RESULT AND DISCUSSION 29
5.1 RESULT 31
5.2 DISCUSSION 33
6 CONCLUSION AND RECOMMENDATION 33
7 FUTURE SCOPE OF WORK 35
8 REFERENCES 44

vi
 LIST OF FIGURES

FIGURE.N0 TITLE PAGE.N0

3.1.1 DESIGN METHODOLOGY 10
4.1.1 ARDUINO BOARD 15
4.1.2 ARDUINO BOARD VERTICAL VIEW 15
4.1.3 ARDUINO CABLE 17
4.1.4 MOTOR DRIVER L293D 17
4.1.5 PIN CONFIGURATION OF L293D 18
4.1.6 DC MOTOR 19
4.1.7 WHEEL 20
4.1.8 HC05 21
4.1.9 HC05 PLUGGED IN WITH ARDUINO BOARD 22
4.1.10 HC05 LAYOUT 23
4.1.11 SENSORS LAYOUT 24
4.1.12 ULTRASONIC SENSOR 24
4.1.13 BLUETOOTH VOICE CONTROL ANDROID APP 25
4.1.14 CONNECTING BLUETOOTH 25
4.2.1 CIRCUIT CONNECTION 26
4.2.2 BLOCK DIAGRAM 26
4.2.3 FLOW CHART 27
4.2.4 WHEELCHAIR FLOWCHART 28
5.1.1 SIMULATION OUTPUT FOR RIGHT 29
5.1.2 SIMULATION OUTPUT FOR LIGHT 30
5.1.3 SIMULATION OUTPUT FOR FORWARD 30
5.1.4 SIMULATION OUTPUT FOR BACKWARD 30
5.1.5 SIMULATION OUTPUT FOR STOP 30

vii
 CHAPTER 1

INTRODUCTION

1.1. INTRODUCTION

Mobility is a fundamental aspect of independent living, yet individuals

with physical disabilities often face significant challenges in navigating their
surroundings. Traditional wheelchairs, though effective, require manual
operation or advanced motor skills, which may not be feasible for all users. To
address this, the Voice-Controlled Wheelchair using Arduino introduces a
modern, innovative solution that harnesses the power of voice commands for
seamless and effortless mobility.

This project combines accessible technologies such as Arduino, Bluetooth

communication, and motor control to create a user-friendly and cost-effective
assistive device. By interpreting voice commands, the system enables users to
control the wheelchair's movement, direction, and speed, providing a
personalized and efficient mode of transportation.[4]

The design focuses on affordability and ease of implementation, making it

suitable for a wide range of users and adaptable to diverse environments.
Additionally, the modular approach ensures scalability, enabling features like
obstacle detection, path mapping, or integration with IoT systems in future
iterations.

The Voice-Controlled Wheelchair using Arduino is not merely a mobility

aid; it represents a step toward enhanced independence, inclusivity, and dignity
for individuals with mobility impairments. This introduction sets the stage for a
deeper exploration of its components, functionality, and impact on end users.

1
 1.2. OBJECTIVE

The objective of this project is to develop an innovative, cost-effective, and

accessible voice-controlled wheelchair using Arduino, a motor driver, and a
Bluetooth module. This project seeks to empower individuals with limited
mobility by enabling them to control their wheelchair’s movement (forward,
backward, turn right, turn left, stop) using voice commands through a mobile app
interface. The system will integrate speech recognition technology with a
microcontroller to ensure intuitive and hands-free operation, aiming to provide a
seamless, reliable, and personalized user experience.[7] Additionally, the project
will explore the potential of low-cost, off-the-shelf components to create an
assistive device that is affordable, customizable, and easy to deploy for
individuals with disabilities.

1.3. BACKGROUND

The concept of assistive technologies for individuals with mobility

impairments has been evolving rapidly. Traditional wheelchairs, while
functional, often require manual effort or assistance, which may not be feasible
for individuals with severe physical disabilities.

Voice-controlled wheelchairs represent a significant advancement in this

domain. By leveraging voice recognition technology, users can operate the
wheelchair without physical effort, making it particularly beneficial for those
with limited upper-body strength. The use of Arduino and affordable components
has made such solutions more accessible to a broader audience[3].

2
 This project builds on existing innovations to develop a cost-effective and
user-friendly voice-controlled wheelchair. It aims to address the limitations of
traditional and high-cost smart wheelchairs by providing an efficient, reliable,
and affordable solution that enhances the quality of life for individuals with
mobility challenges.

1.4. PROJECT OVERVIEW

The Voice-Controlled Wheelchair is an innovative mobility solution

designed to enhance the independence and convenience of individuals with
physical disabilities. This project focuses on integrating voice recognition
technology with a motorized wheelchair, allowing users to control its movement
using simple voice commands such as "forward," "backward," "left," "right," and
"stop".

The system is built using cost-effective components, including an Arduino

microcontroller, motor drivers, and a voice recognition module, ensuring
affordability and accessibility. It eliminates the need for manual effort or external
assistance, making it ideal for users with limited mobility[1].

This wheelchair is designed to be user-friendly, efficient, and safe,

incorporating features such as speed control, obstacle detection , and smooth
maneuverability.

3
 1.5. NEED AND SCOPE OF THE STUDY

Need for the Study:

In recent years, the number of individuals with physical disabilities has

risen significantly, emphasizing the critical need for innovative assistive
technologies that can enhance mobility and independence. Among the most
affected individuals are those with limited or no motor function, who rely on
wheelchairs for their daily transportation. However, traditional manual
wheelchairs often require significant physical effort, which can be exhausting
and difficult for individuals with severe disabilities. While electric wheelchairs
provide a solution, they tend to be expensive, limiting their accessibility to a
larger population in need[4].

A promising solution to these challenges is the development of voice-

controlled systems. These systems offer individuals the ability to control their
movement without the need for physical exertion. Voice control can
significantly enhance the user experience, providing greater independence and
ease of use. Moreover, by integrating speech recognition with mobility devices
such as wheelchairs, it is possible to create a system that enables users to control
movement hands-free through simple vocal commands.

This project, which aims to design and implement a voice-controlled

wheelchair using Arduino, a motor driver, and Bluetooth technology, seeks to
address these needs by providing a low-cost, easily accessible, and user-friendly
mobility solution.[8] It will explore how voice recognition technology can be
integrated with a motorized system to provide users with the ability to move
their wheelchair forward, backward, left, or right, and stop, all through voice
commands.

4
Scope of the Study:

The scope of this study is centered around the design, development, and
implementation of a voice-controlled wheelchair prototype that is both
affordable and effective. The project will focus on the integration of several key
technologies, including Arduino as the central control unit, a motor driver for
movement control, and Bluetooth technology to interface with a mobile device
for receiving voice commands.

The project will begin with the selection and integration of appropriate
hardware components. This will include the Arduino, which will serve as the
brain of the system, controlling the motor driver and managing the
communication between the mobile device and the wheelchair. The motor driver
will be responsible for controlling the wheelchair's movement in response to the
commands received from the Bluetooth module. A Bluetooth module will
facilitate the connection between the wheelchair and a mobile app, which will
process voice commands and transmit them to the Arduino system.[5]

In terms of software, the system will rely on speech recognition

algorithms to accurately process the voice commands and convert them into
actionable instructions for the wheelchair. The software development will focus
on ensuring that the voice commands are recognized clearly and the
corresponding movements (forward, backward, left, right, stop) are executed
reliably.The project will also emphasize testing and evaluation to assess the
system’s effectiveness.

The project aims to demonstrate that a voice-controlled wheelchair can

be developed using affordable components, making it an accessible and
practical option for individuals with limited mobility.

5
 CHAPTER 2

LITERATURE REVIEW

2.1. REVIEW OF LITERATURE

Since this is a field of major attention, a lot of research scholars have

carried out different research work in this field. A few notable ones are mentioned
below,

[1] Al-Hajri et al. (2016) Developed a voice-controlled wheelchair system

using Arduino and a smartphone interface. Focused on improving the
accessibility of the wheelchair by enabling users to issue commands through a
mobile application. Highlighted the advantages of using a smartphone for
processing voice commands, making the system portable and cost-effective.

[2] Patel et al. (2017) Designed a wheelchair controlled by voice

commands through a Bluetooth interface. Used a speech recognition system in
conjunction with a microcontroller to detect basic commands like "move
forward," "turn right," and "stop." Focused on improving ease of use for elderly
and disabled individuals.

[3] Zhou et al. (2019) Designed an affordable, voice-controlled wheelchair

prototype that uses a Google Assistant-based system for command recognition.
Incorporated Bluetooth communication between a smartphone and the
wheelchair. Provided solutions to make the system compatible with various smart
devices, such as smartphones and voice assistants.

[4] Khan and Choudhury (2020) Developed a wheelchair that combines

voice control with a proximity sensor to detect obstacles. Integrated a basic
speech recognition system with an ultrasonic sensor for enhanced mobility and

6
safety. Focused on improving the accuracy of obstacle detection while
maintaining a simple user interface for elderly users.

[5] Patel and Desai (2021) Introduced a hybrid voice control system that
integrates voice commands with motion sensors to detect user gestures. Focused
on creating a more intuitive interface where users can switch between voice
commands and physical gestures to control the wheelchair. Aimed to improve the
accessibility of wheelchairs for people with varying levels of disabilities.

[6] Kumar et al. (2023) Proposed a wheelchair system that uses voice
commands for mobility along with a feedback mechanism. Integrated haptic
feedback to provide the user with sensory information regarding the wheelchair’s
status and surroundings. Aimed to increase user confidence by allowing real-time
feedback during operation.

This alternative set of studies provides a broader view of the various

approaches to voice-controlled wheelchairs, highlighting advancements in
communication, sensor integration, and user experience improvements.

7
 2.2. SUMMARY OF LITERATURE REVIEW

AUTHOR YEAR TECHNOLOGY CONTRIBUTIONS

USED

1. Khan et al 2015 Arduino Created an

microcontroller, affordable solution
voice recognition for wheelchair
module, motor control using basic
driver. voice commands.

2. Patel et al 2017 Speech recognition Simplified

system, Bluetooth navigation for
module, disabled users
microcontroller. using wireless
control.

3. Zhao et al 2018 Bluetooth Enhanced user

technology, speech independence by
recognition module, providing precise
motor control. movement control.

4. Reddy et al 2019 Arduino, Made the system

smartphone portable,
interface, Bluetooth. affordable, and
easy to use.

8
 AUTHOR YEAR TECHNOLOGY CONTRIBUTIONS
USED

5. Singh et al 2020 Voice command Improved flexibility

module, motion and accessibility for
sensors. users with different
needs.

6. Jain et al 2021 Deep learning Reduced errors in

algorithms, speech recognizing
recognition module. commands in noisy
environments.

7. Chavez et al 2022 Ultrasonic sensors, Increased user

Bluetooth, speech safety by avoiding
recognition. obstacles during
navigation.

8. Kumar et a 2023 Haptic sensors, Enhanced user

speech recognition experience by
module, motor providing real-time
drivers. wheelchair status.

9
 CHAPTER – 3

METHODOLOGY

3.1. DESIGN METHODOLOGY

Literature Survey

Preparation of Block Diagram

Choice of Components

Simulation of Circuit in Software

Programming

Simulation

Preparation of Prototype

Testing

Troubleshooting

Fig 3.1.1 Design Methodology

10
 3.2. AIM AND SCOPE OF THE PRESENT INVESTIGATION

3.2.1. 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.

11
 3.2.2. SCOPE OF THE PROJECT

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

disabilities are present which require wheelchairs for their assistance.

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.[6]

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.

12
 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.[2] There is a need to communicate with the
wheelchair remotely in order to control the 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.

13
 CHAPTER – 4

MATERIALS AND METHODS

4.1.MATERIALS

• Arduino Uno Board

• Arduino Cable

• Motor Driver Module (L293D)

• Motors - 4

• Wheels - 4

• Bluetooth module (HC-05)

• Ultrasonic sensor

• Servo Motor

• Li-ion Battery

• Power adapters or battery

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

14
 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

15
 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.

16
 4.1.2. ARDUINO CABLE

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

17
 Fig.4.1.5 Pin configuration of L293D

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.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.

The Above underneath is the pin design of a L293D motor controller. 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. . 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 1 and 2 enabled by 1,2EN and drivers 3 and 4 approved by
3,4EN.

18
 4.1.4. MOTORS

Fig 4.1.6 DC motor

Motors plays a major 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 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.[8]

Motors come in various shapes and sizes. There are electromagnetic direct
current (DC) motors and electromagnetic alternating current (AC) motors and

19
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.

4.1.5. WHEELS

Fig 4.1.7 Wheel

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.

20
 4.1.6. 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.The way to control
wheelchair is done with the help of Bluetooth voice control.[9]

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.

Fig 4.1.8 HC05

HC Serial Bluetooth goods consist of Bluetooth serial interface module and

Bluetooth adapter. Bluetooth series module is utilized for changing serial port to
Bluetooth.

21
 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 4.1.9 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.

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.
22
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.

Fig 4.1.10 HC05 layout

23
4.1.7.ULTRASONIC SENSOR

Fig 4.1.11 Sensor layout

Fig 4.1.12 Ultrasonic sensor

24
 4.1.8. ANDROID APPLICATION - BT VOICE CONTROL FOR
ARDUINO (GOOGLE PLAYSTORE)

To control the whole set up through voice command need an android

application which we can easily find in the play store named BT voice controlled
by Arduino.

Fig 4.1.13 Bluetooth voice control android app

Fig 4.1.14 Connecting Bluetooth

25
4.2. METHODS

Fig 4.2.1 Circuit connection

Fig 4.2.2 Block diagram

26
 Fig 4.2.3 Flow Chart

 Request is created at the point of application is started 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.
 Bluetooth has turned on means the request considers the information when
the user affects the virtual button.
 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.
 The condition is opposite then all the dc motors are provided with 5V and
moved in reversed tracks for linear movement.
 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.
 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.

27
  The condition is to STOP over the voice commend is said then all the DC
motors are stopped.

Fig.4.2.4.Voice controlled Wheelchair flow chart

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

Bluetooth Module to make voice actuated. To actuate the wheel chair, D.C
motor of 10kg-cm Torque rating is used. To power this motor, battery of 12V is
used. Since the Arduino cannot provide 12V as its output, we will use a L298
motor driver.

 The application in cell phones sense humans 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 ofArduino.

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

28
 CHAPTER – 5

RESULT AND DISCUSSION

5.1. RESULT

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

Fig 5.1.1 Simulation output for right

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

Fig 5.1.2 Simulation output for left

29
Forward: Both motors are moved in forward direction.

Fig 5.1.3 Simulation output for forward

Backward: Both motors are moved in backward direction.

Fig 5.1.4 Simulation output for backward

30
Stop: Both motors are stopped.

Fig 5.1.5 Simulation output for stop

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, backward. 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 application, 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

31
 depending on the text sustained. L298D is a dual full bridge driver IC
which is used for driving purpose of DC motors.

Backward: M1 moves in clockwise direction. Similarly, M2 moves

in the clockwise direction and the tyres of the wheelchair moves in
backward direction.
Forward: M1 moves in the anti-clockwise direction. Similarly, M2
moves in the anti-clockwise direction and the tyres of the wheelchair
moves in forward direction.
Left: M1 or the left tyre moves in the anti-clockwise direction and
simultaneously M2 or the right tyre moves in the clockwise direction.
Right: M2 or the right tyre moves in the anti-clockwise direction and
simultaneously Motor1 or the left tyre moves in the clockwise
direction.
Stop : M1 and M2 both are stopped.

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. Economical.

6. Reduce manpower.

32
 CHAPTER – 6

CONCLUSION AND RECOMMENDATIONS

The voice-controlled wheelchair project serves as a significant step

toward improving mobility and independence for individuals with physical
disabilities. By combining Arduino, Bluetooth, and voice recognition, the
system offers an innovative yet cost-effective solution compared to traditional
mobility aids. The prototype effectively demonstrates the feasibility of using
voice commands to control the wheelchair’s movements, making it a user-
friendly and accessible assistive device. However, while the initial results are
promising, certain limitations, such as the dependency on clear voice
commands and environmental noise, highlight areas for future improvement.
Overall, this project contributes to advancing assistive technologies,
addressing the growing demand for affordable and effective mobility
solutions.

To further enhance the functionality and usability of the system, several

recommendations can be proposed. First, incorporating advanced voice
recognition algorithms or machine learning techniques could improve the
system’s ability to accurately interpret commands in noisy environments.

Optimizing the power supply by using high-capacity rechargeable

batteries would increase the wheelchair’s operational duration, reducing the
need for frequent recharging. Additionally, integrating obstacle detection
features, such as ultrasonic or infrared sensors, would enhance user safety by
preventing collisions.

33
 Another valuable improvement would be the development of a
dedicated mobile application to complement the voice-controlled system,
allowing users to monitor the wheelchair’s status and issue commands more
conveniently. Testing the system with actual end-users, such as individuals
with varying levels of disabilities, would provide essential feedback for
refining the design and improving usability. Furthermore, using durable
materials and ergonomic design would ensure the wheelchair is both reliable
and comfortable for extended use. Finally, exploring opportunities for
commercialization through collaborations with healthcare providers and
manufacturers could help make the product widely available and affordable,
benefiting a larger audience.

By addressing these aspects, the project can evolve from a prototype

into a reliable, safe, and market-ready assistive technology that meets the
diverse needs of its users.

34
 CHAPTER – 7

FUTURE SCOPE OF WORK

The voice-controlled wheelchair using Arduino has significant

potential for further enhancements and applications in assistive technologies.
Future developments can transform this project into a more sophisticated and
versatile solution to cater to a broader range of user needs.

1. Enhanced Voice Recognition:

The integration of advanced voice recognition systems powered by
Artificial Intelligence (AI) can improve the wheelchair's ability to understand
various accents, languages, and even complex phrases, making it accessible
to a global user base.

2. IoT Integration:
Incorporating Internet of Things (IoT) features can enable real-time
monitoring and control via mobile apps or cloud platforms. This would allow
caregivers to track the wheelchair's location, battery status, and overall
functionality remotely.

3. Autonomous Navigation:
implementing technologies such as GPS, LiDAR, and path-mapping
algorithms, the wheelchair can be upgraded to support semi-autonomous or
fully autonomous navigation in predefined environments.

35
4. Improved Obstacle Avoidance:
The use of advanced sensors like LiDAR or stereo cameras can enhance
the accuracy and reliability of obstacle detection, allowing the wheelchair to
navigate safely through complex terrains and crowded areas.

5. Health Monitoring:
Future iterations of the wheelchair could include health sensors to
monitor vital signs like heart rate, blood pressure, and oxygen levels,
providing real-time data to users and caregivers. Alerts can be sent in case of
emergencies.

6. User Customization:
Expanding control options to include eye-tracking, joystick-based
controls, or gesture recognition would cater to users with different levels of
physical ability, increasing inclusivity.

7. Compact and Lightweight Design:

Future designs can focus on reducing the overall weight and size of the
wheelchair while maintaining strength and durability, making it more portable
and convenient for users.

These advancements would transform the voice-controlled wheelchair

into a highly intelligent, multifunctional device capable of meeting the diverse
requirements of individuals with mobility challenges.

36
 APPENDIX

Source Code

#include <Servo.h>
#include <AFMotor.h>
#define Echo A0
#define Trig A1
#define motor 10
#define Speed 170
#define spoint 103
char value;
int distance;
int Left;
int Right;
int L = 0;
int R = 0;
int L1 = 0;
int R1 = 0;
Servo servo;
AF_DCMotor M1(1);
AF_DCMotor M2(2);
AF_DCMotor M3(3);
AF_DCMotor M4(4);
void setup() {
Serial.begin(9600);
pinMode(Trig, OUTPUT);

37
pinMode(Echo, INPUT);
servo.attach(motor);
M1.setSpeed(Speed);
M2.setSpeed(Speed);
M3.setSpeed(Speed);
M4.setSpeed(Speed);
}
void loop() {
//Obstacle();
//Bluetoothcontrol();
//voicecontrol();
}
void Bluetoothcontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
}
if (value == 'F') {
forward();
} else if (value == 'B') {
backward();
} else if (value == 'L') {
left();
} else if (value == 'R') {
right();
} else if (value == 'S') {
Stop();
38
}
}

void Obstacle() {
distance = ultrasonic();
if (distance <= 12) {
Stop();
backward();
delay(100);
Stop();
L = leftsee();
servo.write(spoint);
delay(800);
R = rightsee();
servo.write(spoint);
if (L < R) {
right();
delay(500);
Stop();
delay(200);
} else if (L > R) {
left();
delay(500);
Stop();
delay(200);
}
} else {

39
forward();
}
}

void voicecontrol() {
if (Serial.available() > 0) {
value = Serial.read();
Serial.println(value);
if (value == '^') {
forward();
} else if (value == '-') {
backward();
} else if (value == '<') {
L = leftsee();
servo.write(spoint);
if (L >= 10 ) {
left();
delay(500);
Stop();
} else if (L < 10) {
Stop();
}
} else if (value == '>') {
R = rightsee();
servo.write(spoint);
if (R >= 10 ) {
right();

40
delay(500);
Stop();
} else if (R < 10) {
Stop();
}

} else if (value == '*') {

Stop();
}
}
}
// Ultrasonic sensor distance reading function
int ultrasonic() {
digitalWrite(Trig, LOW);
delayMicroseconds(4);
digitalWrite(Trig, HIGH);
delayMicroseconds(10);
digitalWrite(Trig, LOW);
long t = pulseIn(Echo, HIGH);
long cm = t / 29 / 2; //time convert distance
return cm;
}
void forward() {
M1.run(FORWARD);
M2.run(FORWARD);
M3.run(FORWARD);
M4.run(FORWARD);

41
}
void backward() {
M1.run(BACKWARD);
M2.run(BACKWARD);
M3.run(BACKWARD);
M4.run(BACKWARD);
}

void right() {
M1.run(BACKWARD);
M2.run(BACKWARD);
M3.run(FORWARD);
M4.run(FORWARD);
}
void left() {
M1.run(FORWARD);
M2.run(FORWARD);
M3.run(BACKWARD);
M4.run(BACKWARD);
}
void Stop() {
M1.run(RELEASE);
M2.run(RELEASE);
M3.run(RELEASE);
M4.run(RELEASE);
}
int rightsee() {

42
servo.write(20);
delay(800);
Left = ultrasonic();
return Left;
}
int leftsee() {
servo.write(180);
delay(800);
Right = ultrasonic();
return Right;
}

43
 CHAPTER – 8

REFERENCES

1. “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. “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. “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

4. Khan, M., et al. (2015). Voice-Controlled Wheelchair Using Arduino.

International Journal of Advanced Research in Electronics and

Communication Engineering, 4(5), 123-129.

5. Patel, R., et al. (2017). Design and Implementation of Bluetooth-Based

Wheelchair Control. Journal of Assistive Technologies, 9(3), 45-51.

6. Zhao, Y., et al. (2018). Robotic Wheelchair Control Using Voice

Recognition. International Journal of Robotics and Automation, 6(2), 78-85.

44
7. Reddy, K., et al. (2019). A Low-Cost Voice-Controlled Wheelchair Using
Arduino and Bluetooth. International Conference on Assistive Technologies,
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8. Kumar, A., and Prasad, S., "Voice-Controlled Wheelchair: A Prototype

for Mobility Assistance," International Journal of Advanced Research in
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9. Sharma, R., "Design and Implementation of a Voice-Controlled

Wheelchair Using Arduino," Journal of Embedded Systems and
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