Proceedings of the Second International Conference on Intelligent Computing and Control Systems (ICICCS 2018)

IEEE Xplore Compliant Part Number: CFP18K74-ART; ISBN:978-1-5386-2842-3

Wheelchair Control Using Hand Movement & Voice

with Obstacle Avoidance
1 2 3
Akshay B. Satpe Mr. S. V. Khobragade Dr. S. L. Nalbalwar
M. Tech Scholar, Dept. of Electronics Assist. Prof. Dept. of Electronics & Associate Prof, Dept. Electronics &
& Telecommunication Engg. Telecommunication Engg. Telecommunication Engg.
Dr. B. A. T. University, Lonere, Dr. B. A. T. University, Lonere, Dr. B. A. T. University, Lonere,
Maharashtra- India Maharashtra- India Maharashtra- India
akshaysatape@gmail.com svk2305@gmail.com slnalbalwar@dbatu.ac.in

Abstract — Around 15% of world population are lives with the obstacle Avoidance i.e. Using IR sensor, it detects any
disability. In India 2.21% of the total population are disable. To obstacle which comes in front. This will helpful to avoid any
move around is difficult for these peoples so we are developing a accident. Control all this we are using Arduino-Uno.
wheelchair to overcome this problem. The main aim of this paper
is to make a wheelchair for such peoples. With the help of this
chair physically handicap person can easily move without any
difficulty. Arduino is the main part of this wheelchair as all
sensors are work according to this. Voice Recognition Module is
used for controlling wheelchair using voice commands such as
Right, Left, Forward, Backward and Stop. Accelerometer sensor
Fig. 1. General Representation of system
is used to control wheelchair using hand movement for moving in
four directions.IR sensor is used for obstacle Avoidance. DC II. LITERATURE SURVEY
motor are used to rotate wheelchair. Peoples having disability
can effectively use this proposed wheelchair so they will be less Many researchers did their research on wheelchair.
dependent on others and live life happily. Now a day’s smart wheelchair is necessary. Following table I
give literature survey.
Keywords — Voice recognition module, Ultrasonic sensor,
Accelerometer sensor.
TABLE I. LITRATURE SURVEY ON WHEELCHAIR

I. INTRODUCTION Authors Paper Title Year Technology

Hand movements based
A chair which has wheels used by peoples who have control of an intelligent
difficulties while walking due to some illness or accidents is ADXL335,
wheelchair
called as wheelchair. World’s population is increased at high D. July GSAS, adc0816,
Using Accelerometer,
Anjaneyulu 2015 DC Motor Driver
rate. Unfortunately, Accident & illness in peoples are also obstacle avoidance
increase at high. In some illness & accident peoples last their Using Ultrasonic and IR
handle leg or both that means they are disabled people for sensors
daily routine they must have to depend on other peoples. They Hand Gesture Recognition
MEMS Sensor,
can’t do their work independently. In today’s world all are Based Auto Navigation March
T. Suchitra ARDUINO
busy no one has time for others as well as technology changes System for Leg Impaired 2017
Persons
every day. World is changing everyday new technology comes
Microcontroller,
in market. The main aim of technology is to make human life
Ultrasonic
simple & easier dependent on other for this we are giving Apsan S.
Voice Controller Wheelchair August
Sensor,
system will be helpful for human beings who have difficulties using Arduino 2016
microphone
while walking.
Sometimes due to some illness or due to accident HMM2007
speech
people lost their either hand or leg or both temporary or Design of Voice Controlled Dec.
Ali A. Abed recognition
permanently. If person lost their hand & leg in such situation Smart Wheelchair 2015
system PWM
they required a wheelchair which works according to their
voice command. So, we are making wheelchair which some
according to person voice commands such as stop, right, left, All above system has pros and cons. In this paper I am
backward & forward for this we are using voice recognition
proposing a system which will work on both voice recognition
module. If person is paralyzed they want wheelchair which
and gesture control as well as it detect obstacle to avoid
work according to their hand gesture for this we are using
accident.
accelerometer sensor which work according to hand
movement. In this wheelchair we are adding new feature

978-1-5386-2842-3/18/$31.00 ©2018 IEEE 1175

 Proceedings of the Second International Conference on Intelligent Computing and Control Systems (ICICCS 2018)
IEEE Xplore Compliant Part Number: CFP18K74-ART; ISBN:978-1-5386-2842-3

III. PROPOSED SYSTEM IV. FLOW CHART FOR VOICE REDNTION AND HAND
At input side i.e., Transmitter we are interfacing voice GESTURE
recognition module, accelerometer sensor and Infrared Sensor
with Arduino. To transmit all this information to receiver side
we are using NRF 24L01RF module. At first, we have to store
voice command using voice recognition module.

Fig. 2. Transmitter side

Fig. 4. Flow Chart for Voice Transmitter
When user gives same command to it, then Arduino
will process according to command executed by voice module.
We have to assign values for accelerometer sensor to execute
commands according to hand movement. Depending on
reflection Ultrasonic senor detects obstacles. If any obstacle
detects then Arduino will Send STOP command to motor and
wheelchair will stop and obstacle detect message will also
display on LCD.

Fig. 3. Receiver side

At output side i.e. Receiver NRF 24L01 RF Module, Relay
module and two dc motors are interface to Arduino Uno. The
information send by transmitter is received by RF receiver &
it will send to Arduino. Arduino will process the instructions
and give the appropriate command to motor driver. According
to commands Relay module will operate wheelchair properly.
Fig. 5. Flow Chart for Hand Gesture
V. TECHNICAL STUDIES
A. Arduino Uno
Arduino Uno is a programmable board based on the
ATmega328 IC. It has 14 inputs, output pins out of which 6
can be used as PWM outputs, 6 analog inputs and 16MHz
quartz crystal oscillator. In this proposed system we are using
3 sensors namely accelerometer, IR, voice recognition module

978-1-5386-2842-3/18/$31.00 ©2018 IEEE 1176

 Proceedings of the Second International Conference on Intelligent Computing and Control Systems (ICICCS 2018)
IEEE Xplore Compliant Part Number: CFP18K74-ART; ISBN:978-1-5386-2842-3

v3. The sensor gives analog output signal, which is given to
Arduino as input. All these analog signals are converted into
controlled digital signal and feed to the Relay module to move
wheelchair.
B. Voice Recognition Module V3
This module recognizes our voice. It receives voice
commands and respond through serial port. To control
wheelchair using voice command we are using voice
recognition module v3. At first, we have to record voice. It has
operating voltage range of 4.5 to 5.5v. Effectively it can detect
7 voice commands simultaneously but in our proposed system
we are using 5 voice commands such as STOP, LEFT,
RIGHT, FORWARD, BACKWARD.
G. RF Module
RF Module operates at radio frequency whose range
varies between 30 KHz to 433MHz. The transmission is an
ASK transmitter mode. In our proposed system for
transmitting data from Arduino to another Arduino we are
using 433 MHz RF module.
VI. RESULTS
Fig. 7 shows voice recognition system which acts as
transmitter, Fig. 8 shows voice recognition system which acts
as Receiver, fig. 9 shows hand gesture system which acts as
transmitter, fig. 10 shows hand gesture system which acts as
receiver and Fig. 11 shows complete Wheelchair system.

Fig. 6. Voice Recognition Module V3

C. Accelerometer Sensor
ADXL345 is accelerometer sensor which sense
gesture from hand or leg. In our proposed system for moving
wheelchair according to hand movement we are using ADX
L345sensor.Accelerometer sensor senses the gesture of hand Fig. 7. voice recognition system (transmitter)
movement. In our system we are using five hand movement
such as STOP, FORWARD, BACKWARD, LEFT, RIGHT to
move wheelchair.
D. Ultrasonic Sensor
Ultrasonic sensor is used to detect an object at a
certain distance. In our proposed system to detect obstacle i.e.
To avoid accident, we are using Ultrasonic sensor. The range
of Ultrasonic sensor depend on its operating frequency for our
system. The range of Ultrasonic sensor is 20m. That is, it will
detect object which is at distance 20m.
E. Relay module
Relay module is used to drive DC Motors. A transfer
is an electrically worked switch of mains voltage. It implies
that it can be turned on or off, releasing the current through or
not. We can interface two motors. In our proposed system to
drive wheelchair we using two DC Motors and to control this Fig. 8. Voice recognition module (Receiver)
motor we are using Relay module.
F. DC Motor
To drive wheelchair properly we are using two DC
Motors and these motors are placed at bottom of wheelchair.
The speed range of these motor is 27rpm to 45rpm

978-1-5386-2842-3/18/$31.00 ©2018 IEEE 1177

 Proceedings of the Second International Conference on Intelligent Computing and Control Systems (ICICCS 2018)
IEEE Xplore Compliant Part Number: CFP18K74-ART; ISBN:978-1-5386-2842-3

for them as they will do their work independently. The

proposed wheelchair system will be very useful for physically
disabled people and it will work effectively with either voice
command or hand movement also it will detect obstacle. Our
proposed wheelchair avoids accident.
VII. FUTURE WORK
In future we can add feature like carrier wheelchair
that means physically disabled person capture of travelling
over any stairs & we can interface brain signal to operate
wheelchair.
REFERENCES

[1] T. Suchitra, Dr. R. Brinda, “Hand Gesture Recognition Based Auto

Navigation System for Leg Impaired Persons,” International Journal of
Advanced Research in Electrical Electronics and Instrumentation
Engineering, Vol. 6, Special Issue 2, pp. 2320 – 3765, March 2017.
[2] K. Sudheer, T.V. Janardhana Rao, H. Sridevi, M. S. Madhanmohan
Fig. 9. Hand gesture system (transmitter) “Voice and Gesture Based Electric-Powered Wheelchair Using ARM,”
International Journal of Research in Computer and Communication
Technology, ISSN 2278-5841, Vol. 1, Issue 6, November 2012.
[3] Mrs Madane M. R., Miss. Agarwal Raksha V., Miss. Ghare Radha P.
and Miss. Thorat Priyanka S. “Gesture Control Wireless Wheelchair
Prototype,” International Journal of Engineering Research &
Technology (IJERT) ISSN: 2278-0181 Vol. 4 Issue 04, April-2015.
[4] Ali A. Abed, “Design of Voice Controlled Smart Wheelchair,”
International Journal of Computer Applications, Volume 131 – No.1, pp.
0975 – 8887, December2015.
[5] Masato Nishimori, Takeshi Saitoh and Ryosuke Konishi, “Voice
Controlled Intelligent Wheelchair” SICE Annual Conference Kagawa
University, Japan, 17-20, Sept. 2007.
[6] Apsana S. and Renjitha G. Nair, “Voice Controlled Wheelchair using
Arduino,” International Advanced Research Journal in Science,
Engineering and Technology Vol. 3, pp. 2393 – 8021, August 2016.
[7] D. Anjaneyulu and Mr. B. V. N. R. Siva kumar, “Hand movement based
control of an intelligent wheelchair using Accelerometer, obstacle
avoidance using ultrasonic and IR sensor,” International journal of
Fig. 10. hand gesture system (Receiver) engineering research and development, Volume 11, issue 07, pp. 01 –
09, July 2015.
[8] M.Senthil Sivakumar, Jaykishan Murji, Lightness D Jacob, Frank
Nyange, M.Banupriya, “Speech controlled automatic wheelchair,” Pan
African International Conference on Information Science, Computing
and Telecommunications, 2013.
[9] Mohammed Ismail B., Syed Fouzan Ishaqui, Abdul Karim Khan, and
Mohammed Abdul Quadeer, “Head Gesture Based Control of
Wheelchair for a Paralysed Person in an Indoor Environment,”
International Journal of Innovative Research in Electrical, Electronics,
Instrumentation and Control Engineering Vol. 2, Issue 10, pp. 2321 –
5526, October 2014.
[10] Pushpendra Jha, Preeti Khurana “Hand Gesture Controlled Wheelchair,”
IJCTA, 9(41), pp. 243-249, 2016.
[11] Abirami B, Anupriya S R, Divyarani R and Nagaraju V.,
“Accelerometer Based Hand Gesture Controlled Wheelchair,”
International Journal of Technical Research and Applications, Volume
4, Issue 4, pp. 188 – 192, July-Aug, 2016.
[12] Amruta S. Magar, M.R.Bachute “Hand Gesture Controlled Wheelchair”
International Journal of Engineering Science and Computing, Volume 6
Issue 6, pp. 2321 – 3361, 2016

Fig. 11. Complete wheelchair system

VII. CONCLUSION
As we know that physically disabled peoples depend
on others for their daily routine. Wheel chair is very beneficial

978-1-5386-2842-3/18/$31.00 ©2018 IEEE 1178