Blue Book on

Automated Convertible Bed For Disabled Person

Of
BACHELOR OF ENGINEERING

In

ELECTRONICS ENGINEERING

By

Group No.13

Harsh Lathia (22)

Chandan Pandey (27)

Utkarsh Somvanshi (32)

Under the Guidance of

Mrs. PoorvaWaingankar

Department of Electronics

Thakur college of Engineering and Technology

Thakur Shyam Narayan Marg, Thakur Village, Kandivali (E), Mumbai-101
Year 2018-2019
 CERTIFICATE
This is to certify that Harsh Lathia, Chandan Pandey, Utkarsh Somvanshiare
bonafide students of Thakur College of Engineering and Technology, Mumbai.
They have satisfactorily completed the requirements of the PROJECT-I as
prescribed by University of Mumbai while working on

“Automated Convertible Bed For Disabled Person”

Mrs. Dr. Sandhya Save

PoorvaWaingankar(INT (HOD ETRX)
ERNAL GUIDE)

InternalExaminer Dr.KamalShah ExternalExaminer

(Name &SignaturewithDate) (DeanR&D) (Name & Signature withDate)

Dr. B.K Mishra

(Principal)

Thakur College of Engineering and Technology

 Kandivali (E), Mumbai-400101.

PLACE: MUMBAI

DATE:

A
 ACKNOWLEDGEMENT

This project has been made possible due to the contribution of multiple individuals.
The timely completion of the project ‘Automated Convertible Bed For Disabled
Person’ would have been unthinkable without the invaluable guidance and
mentorship of our esteemed professor Mrs. PoorvaWaingankar. We will forever be
indebted to her.

We would like to take this opportunity to thank Dr. Sandhya Save (Electronics
Department, HOD) for her continued motivation, and to our parents for providing
us with all the possible financial and psychological help which propelled us
forward.

Finally, we would thank our college ‘Thakur College of Engineering and

Technology’ for providing us with a platform and the necessary facilities to make
this project.

Harsh Lathia (BE-ETRX 22)

Chandan Pandey (BE-ETRX 27)

 Utkarsh Somvanshi (BE-ETRX 64)

A
 ABSTRACT
In an ever-changing world where transportation is undergoing
tremendous revolution with each passing day, it is a pity to find
that none of them have been conceived keeping the under-
privileged individuals. Moving patients from wheelchair to
stretcher is a crisis. Wheelchairs and stretchers are used mostly
for the transfer of patients from one place to another. When
untrained professionals try to do the transportation, it may lead
to health issues related to bones and body . Hence, this modified
wheelchair is practically easy to handle and patients are not
hindered during transportation.

Understanding the various problems about the mobility vehicles

and giving a new innovation which will be a boost in the
lifestyle of disabled person. The caretaker is hardly able to move
the patient from one place to another. It is not feasible for the
person to carry out basic day to day activities and with the help
of our new technology, they will be able to operate the
household appliance without any assistance from the second
person.

i
 CONTENTS
CHAPTER NO. TOPIC PG NO.
 List of figure i
 List of tables ii

Chapter 1 Introduction 1-3

1.1 Background 2
1.2 Motivation 3
1.3 Scope of the project 3

Chapter 2 Proposed Work and Literature Review 4-8

2.1 Problem Definition 5
2.2 Literature Review 5
2.3 Block Diagram 9

Chapter 3 Analysis and Planning 10-12

3.1 Project Planning 11

Chapter 4 Design, Implementation and Installation 13-27

4.1 Principle Used 14
4.2 Hardware/ Software Used 17
4.3 Flow Chart 28
4.4 Implementation Stages 29

Chapter 5 Results 31

A
Chapter 6 Conclusion and Scope for future work 35

References

Appendix
A: Datasheet of ATmega8
B: Datasheets of LM 7805

LIST OF FIGURES
Fig. Caption Page No.
No.
2.1 Block Diagram of Digital Vehicle Data Recorder 9
4.1 Working of proximity sensor 14
4.2 DC motor direction of rotation 15
4.3 Servomotor angle of rotation14 16
4.4 AVR Mother Board 17
4.5 DC Motor 18
4.6 Main Windows of Aurdino IDE 20
4.7 Proximity Sensor 20
4.8 SONAR Sensor 21
4.9 Sharp sensor 22
4.10 Humidity Sensor 23
4.11 H Bridge Motor Driver 25
4.12 Servo motor24 26
4.13 Li Po Battery 27
4.14 Flow-Chart of Digital Vehicle Data Recorder 28

iii
4.15 Top view of basic design of Digital Vehicle Data Recorder 29
4.16 Side view in Car form 30
4.17 Rotation of wheels to take boat form 30
5.1 Implementation of car form 32
5.2 900 rotation of wheels 32
5.3 Working Of sensors 33
5.4 Implementation of copter form 34

LIST OF TABLES
Fig. Caption Page No.
No.
2.1 Literature Survey 7
3.1 Planning 11
4.1 Key Parameters of ATmega8 17
4.2 Pin configuration of IR Proximity Sensor 21

A
Page | 5
Page | 6
 Chapter 1

Introduction

Page | 7
 Background

Foundation Generally the expression "portability help" has connected

predominantly to low innovation mechanical gadgets. The term additionally shows
up in government archives, for instance managing charge concessions of different
sorts.

It alludes to those gadgets whose utilization empowers an opportunity of

development like that of unassisted strolling or standing up from a seat. Specialized
advances can be relied upon to expand the extent of these gadgets significantly, for
instance by utilization of sensors and sound or material criticism. In this time of
family units, the more modest number of accessible guardians for incapacitated
patients is a noteworthy issue.

The moving of such patients to a wheelchair is a sensitive procedure and in the vast
majority of the cases, at least two overseers are required. Loss of motion patients are
profoundly subject to their guardians. Today, number of accessible guardians per
persistent is demonstrating a diminishing pattern. The exchange of these fixed
patients from bed to a wheelchair is a fragile procedure and in the majority of the
occasions, at least two parental figures are required.

In any case, it is assessed that 1 out of 3 medical attendants or parental figures will
Page | 8
create back wounds. Most wounds happen in light of the fact that the patient is
generally substantial to lift and access to them is troublesome when endeavoring to
put the patient onto another seat. This represents a requirement for enhancing the
accessible help gadgets to facilitate the exertion of accessible parental figures.

Other than this, the burden to the patient amid the exchange strategy additionally
should be tended to. The exchange technique gets harder with increment in the
patient weight and with the level of fixed status. This undertaking conquers the
above issue by exhibiting another kind of portability help, or, in other words
wheelchair convertible gadget.

The wheel seat can be changed over to a bed at whatever point important with
patient locally available. The exchange is smooth and can be made conceivable just
with a press of a button. The impaired individual dependably requires a guardian
regardless of whether the one is in rest position. With the assistance of Zigbee
Innovation, the individual will be able to be independent and self sufficient.

Page | 9
Motivation
Moving the patients from wheelchair to stretcher or to the therapeutic bed or the other
way around is dependably a dangerous issue for the overseer. There is an upheaval of
wheelchairs accessible today determined by requirements and want of man. The
"Convertible Keen Bed for Patients" encourages the debilitated patient's versatility
& gives novel medicinal gear to use in the Indian clinics.

However, even with the invention of Convertible Bed, the problems still persists as
the under privileged patients still rely on another helper.The main idea is to make this
bed SMART in every way possible.By doing this, one will be able to carry out
activities on its own without any external help.

Page | 10
 Scope of theProject

a) This plan which will decrease the exertion of the overseer and give a more secure
exchange to the patients in healing facilities.

b) To lessen blocking effort of the patients.

c) To do the protected exchange of the patient.

d) To use space effectively.

e) An incredible decision for a man looking for two highlights, as opposed to going
for two unique items, he can pick our 'Convertible Smart Bed for Patients'
coordinated with two distinct highlights.

f) The 'Computerized Convertible Smart Bed for Crippled Individual' encourages the
handicapped patient's portability &amp.

g) The bed is environment friendly as it produces next to zero harmful substances.

h) It is also capable of working at any place.

i) Through the use of this bed, the disabled person can move about independently
making them feel good about themselves.

Page | 11
 Chapter 2

Proposed Work
& Literature review

Page | 12
2.1 Problem Definition
The percentage of patients in India is increasing day by day. In healing facilities patients should
be moved from wheelchair to stretcher, stretcher to beds, bed to wheelchair, or the other way
around; which makes hazardous conditions for patients. Moving patients in doctor's facilities is a
typical issue for the guardians. We can refine the solution to this ailing problem in the society
using this comprehensive new product.

2.2Literature Review
2.2.1 History
The most punctual records of wheeled furniture are an engraving found on a stone slate in China
and a youngster's bed delineated in a frieze on a Greek vase, both dating between the sixth and
fifth century BCE. The principal records of wheeled seats being utilized for transporting
incapacitated individuals date to three centuries later in China; the Chinese utilized early work
carts to move individuals and also overwhelming items.

A refinement between the two capacities was not made for another few hundred years, around
525 CE, when pictures of wheeled seats made particularly to convey individuals start to happen in
Chinese craftsmanship. In spite of the fact that the Europeans in the long run built up a
comparative outline, this technique for transportation did not exist until 1595 when an obscure
innovator from Spain assembled one for Lord Phillip II.

Despite the fact that it was a detailed seat having the two armrests and leg rests, the outline still
had inadequacies since it didn't include a productive drive instrument and accordingly, expects
help to move it. This makes the plan to a greater degree a cutting edge baby chair or compact
position of royalty for the well off instead of a current wheelchair for the handicapped.

In the past, Science has made tremendous growth and technology has reached to greater hights.
During the invention, it is kept in mind about the benefits for the normal people. In today’s world,
where everything is SMART, this technology when put on to this bed will be a boon for under
privileged people.
Page | 13
2.2.2 Related Papers
Table2.1:Literature Survey
S.NO. IEEE PAPER PUBLISHED PUBLISHED IN PUBLISHED AT
SUBJECT BY THE YEAR
1. Performance Cooper R, 2002 IEEE Trans
Assessment of Corfman T, Control Sys
a Pushrim Fitzgerald S, Tech, Volume
Activated Boninger M. 10, ISSN:
Power Spaeth D, 1063-6536
SASTECH 86 Ammer W,
Volume 10, Arva J.
Issue 2, Sep
2011
Assisted
Wheelchair

2. Wheelchair Dr. Rory A. 1998 ISBN 1-

selection and Cooper 888799–18 –8
configuration

Page | 14
 3. Hospital Bed Wei Ching- 2007 33rd Annual
with Auxiliary Hua; Tung Conference of
Functions of Ting-Chun; the IEEE
Lateral Hsiao Shin- Industrial
Positioning Chieh; Chen Electronics
and Wan-Chun; Society
Transferring Chiu Yen-
for Ming; Tu
Immobilized Kun-Tse; Yeh
Patients Chun-Wen;
Chen Kuo-Yi

4. Stretcher cum P.A. 1998 International

Wheelchair for VAGHELA Journal of
Patients Futuristic
Trends in
Engineering
and
Technology
5. A Novel Deepesh K. 2014 IEEE
Multipurpose Rathore, Conference
Smart Pulkit
Wheelchair Srivastava

2.3Block Diagram:
Convertible bed using mechanical action -

Page | 15
SMART bed using Zigbee Tech -

Page | 16
Page | 17
Page | 18
 Chapter 3

Analysis& Planning

Page | 19
 Software & Hardware requirement:
Problem definition stage
Generally, when a person has an surgical operation in the lower part of his body,
movement causes unnecessary trauma to the patient and also has the risk of raising
the injury. Additionally exchanging the patient from bed to wheelchair and the other
way around makes expanded pressure the patient and requires a medical
caretaker/specialist to complete this procedure.

Designing block diagram

The planning of the square outline assumes an essential job as it outwardly depicts
the framework all in all showing the huge components of the framework. The graph
beneath is the square chart of the venture.

Implementing circuits and components

This is the real execution of each square. At this stage we have outlined each square
independently lastly coordinated them into the total working framework.
Writing actual code for Microcontroller
After the improvement of the mechanical equipment divide we have made the code of
the activity in wheelchair mode in C dialect for "Arduino" microcontroller with the
goal that it can comprehend the guidance and keep running according to our
necessity. The directions are in C dialect.

Compiling the code

The handwritten code was then transferred into the computer. For that we have to use
“Arduino IDE” on PC. The “Arduino IDE” is a computer aided program to verify and
edit the working of microcontroller in real time,
Burning the hex file into microcontroller with programmer
In this stage the compiled Hex format file was downloaded or burned into ARM
7 Microcontroller. This was done by using the in-system software provided by
the manufacture itself.
Testing and Running:
This time we tested our project for actual working, after loading the code into the
Page | 20
microcontroller and connecting the modules to”Arduino”. Any errors found were
removed successfully. This is the last and final stage of development of our project.
In this stage a user flowchart was made so that anyone can use this system without
any difficulty.

The complete planning of the development of the system is divided into the following
stages

Week Work Planned Work Done Percentage(%)

27/07/15 Selection of Group Group Selected 2%
to and finalization of and Domain name
31/07/15 Domain. is Industrial
Automation

03/08/15 Selection of topics Data recorder 4%

to based on the
07/08/15 Domain.

10/08/15 Research on the Research has been 5%

to selected topics done on the
14/08/15 projects that can
be done on data
recorder used in
flights.
17/08/15 Presentation on the Topic selected is 7%
to selected topics and Digital Vehicle
21/08/15 finalization of topic. Data Recorder

24/08/15 Doing literature Found at least 3 10%

to survey by finding IEEE papers.
28/08/15 IEEE papers on
digital vehicle data
recorder

Page | 21
07/09/15 Given presentation-1 Presenting the 14%
to entire idea of how
11/09/15 to go about the
whole project.
14/09/15 Presenting our Presenting the 16%
to project on standard entire idea of how
18/09/15 IDC platform to go about the
whole project.
21/09/15 Learning the Basics Studied how to run 18%
to of VisalBasics6.0 or simulate the
25/09/15 program on
VisualBasic6.0.
28/09/15 Learning Written small 23%
to Programming in program in
02/10/15 VisualBasic6.0 VisualBasic6.0
05/10/15 Presentation-2 Studied 25%
to VisualBasic6.0
09/10/15 software and
various sensors.
12/10/15 Preparation of Blue Half the topics are 27%
to Book. done.
16/10/15

19/10/15 Preparation of Blue Blue Book Report 30%

to Book. has been made and
23/10/15 the Hard copy of
the same has been
created.

Week Work Planned Percentage

09/11/15 Designing of Code by defining all the 38%
to parameters and using the algorithms.
13/11/15
16/11/15 Programming of Code 46%
to
Page | 22
20/11/15
23/11/15 Testing and Debugging the Code. 50%
to
27/11/15
21/12/15 Error Correcting and Executing the Code 55%
to on Visual Basic 6.0
25/12/15
11/01/16 Conversion and verification of the 60%
to characteristics of sensors using hardware.
15/01/16
18/01/16 Implementation of microcontroller circuit 65%
to
22/01/16
25/01/16 Implementation of microcontroller circuit 70%
to
29/01/16
01/02/16 Implementation of Amplifiers for each 75%
to sensor based section.
05/02/16
08/02/16 Testing of the Project 80%
to
12/02/16
15/02/16 Error Detection and Correction 85%
to
19/02/16
22/02/16 Testing of the Project after Error 90%
to Correction
26/02/16
29/02/16 Preparation of Black Book 95%
to
04/03/16
07/03/16 Preparation of Black Book 100%
to
11/03/16
TOTAL 100% out of 100%

Page | 23
 Chapter 4
Design and Implementation

4.1 Working Principle:

There are three sections in ‘Convertible Smart Bed’. These sections are as
follows:
a)BackRest
b)MainRest/Seat
c)LegRest
Out of these backrest and legrest are movable, whereas the main rest is stationary.
back rest and the mainrestareheldtogetherbymeans of
shaftsandbushes.Whenthebuttonispressedthe
Motorstartsrotatingincounterclockwisedirection (When viewedfrom rearend).
Theelectricmotorrotatesinthe samedirection asthatofthemotor.Stoppers are provided
sothattheback restdoesnotgobeyond thestretcherposition (0or 180). The
transformation continuestillthepushbuttonis pressed. Assoonasthepushbutton
isreleasedit getslockedatthatposition.

Fig 4.1:

4.2 Hardware and Software Components:

The hardware of the convertible smart bed for patients consists of the
RecliningMechanism, Motors, Arduino Mega, Bluetooth Module, Castor
Wheels,
 Arduino ATMega2560

The Arduino Mega 2560 is a microcontroller board based on the ATmega2560. It

has 54 digital input/output pins (of which 15 can be used as PWM outputs), 16
analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a
USB connection, a power jack, an ICSP header, and a reset button. It contains
everything needed to support the microcontroller; simply connect it to a
computer with a USB cable or power it with a AC-to-DC adapter or battery to
get started.

Input and Output

Each of the 54 digital pins on the Arduino 2560 Mega can be used as an input or output, using
pinMode(), digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can
provide or receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by
default) of 20-50 kOhms.

In addition, some pins have specialized functions:

Serial: 0 (RX) and 1 (TX);

Serial 1: 19 (RX) and 18 (TX);
Serial 2: 17 (RX) and 16 (TX);
Serial 3: 15 (RX) and 14 (TX).

Used to receive (RX) and transmit (TX) TTL serial data. Pins 0 and 1 are also connected to the
corresponding pins of the ATmega16U2 USB-to-TTL Serial chip.

External Interrupts: 2 (interrupt 0), 3 (interrupt 1), 18 (interrupt 5), 19 (interrupt 4), 20
(interrupt 3), and 21 (interrupt 2). These pins can be configured to trigger an interrupt on a low
value, a rising or falling edge, or a change in value. See the attach Interrupt() function for
details.

PWM: 2 to 13 and 44 to 46. Provide 8-bit PWM output with the analogWrite() function.
SPI: 50 (MISO), 51 (MOSI), 52 (SCK), 53 (SS). These pins support SPI communication using
the SPI library. The SPI pins are also broken out on the ICSP header, which is physically
compatible with the Uno, Duemilanove and Diecimila.

LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value, the
LED is on, when the pin is LOW, it’s off.

TWI: 20 (SDA) and 21 (SCL). Support TWI communication using the Wire library. Note that
these pins are not in the same location as the TWI pins on the Duemilanove or Diecimila.
The Mega2560 has 16 analog inputs, each of which provide 10 bits of resolution (i.e. 1024
different values). By default they measure from ground to 5 volts, though is it possible to
change the upper end of their range using the AREF pin and analogReference() function.

There are a couple of other pins on the board:

AREF. Reference voltage for the analog inputs. Used with analogReference().

Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button to
shields which block the one on the board.

HC-05 - Bluetooth to Serial Port Module

HC-05 module is an easy to use Bluetooth SPP (Serial Port Protocol) module, designed for
transparent wireless serial connection setup. Serial port Bluetooth module is fully qualified
Bluetooth V2.0+EDR (Enhanced Data Rate) 3Mbps Modulation with complete 2.4GHz radio
transceiver and baseband. It uses CSR Bluecore 04-External single chip Bluetooth system with
CMOS technology and with AFH(Adaptive Frequency Hopping Feature). It has the footprint as
small as 12.7mmx27mm. Hope it will simplify your overall design/development cycle.

It has 6 pins,

1. Key/EN: It is used to bring Bluetooth module in AT commands mode. If Key/EN pin is set

to high, then this module will work in command mode. Otherwise by default it is in data mode.

The default baud rate of HC-05 in command mode is 38400bps and 9600 in data mode.

HC-05 module has two modes.

1. Data mode: Exchange of data between devices.

2. Command mode: It uses AT commands which are used to change setting of HC-05. To

send these commands to module serial (USART) port is used.

2. VCC: Connect 5 V or 3.3 V to this Pin.

3. GND: Ground Pin of module.

4. TXD: Transmit Serial data (wirelessly received data by Bluetooth module transmitted out

serially on TXD pin)

5. RXD: Receive data serially (received data will be transmitted wirelessly by Bluetooth

module).

6. State: It tells whether module is connected or not.

Specifications
Hardware features:

i. Typical -80dBm sensitivity

ii. Up to +4dBm RF transmit power
iii. Low Power 1.8V Operation ,1.8 to 3.6V I/O
iv. PIO control
v. UART interface with programmable baud rate
vi. With integrated antenna
vii. With edge connector

Software features:

i. Default Baud rate: 38400

ii. Data bits:8, Stop bit:1
iii. Parity:No parity
iv. Data control: has. Supported baud rate:
9600,19200,38400,57600,115200,230400,460800
v. Given a rising pulse in PIO0, device will be disconnected.
vi. Status instruction port PIO1: low-disconnected, high-connected;
vii. PIO10 and PIO11 can be connected to red and blue led separately. When master and
slave are paired, red and blue led blinks 1time/2s in interval, while disconnected only
blue led blinks 2times/s
viii. Auto-connect to the last device on power as default.
ix. Permit pairing device to connect as default.
x. Auto-pairing PINCODE:”0000” as default
xi. Auto-reconnect in 30 min when disconnected as a result of beyond the range of
connections.
Battery: 12V/12 A
 Applications:

i. All purpose
ii. Uninterruptable Power Supply (UPS)
iii. Electric Power System (EPS)
iv. Emergency backup power supply
v. Emergency light Railway signal
vi. Aircraft signal
vii. Alarm and security system
viii. Electronic apparatus and equipment
ix. Communication power supply
x. DC power supply
xi. Auto control system

Motor Driver 12V-60V:

Description:

Page | 32
 i. Operating voltage: DC 9V-60V
ii. Output Current: 0 to 10A.
iii. Output Power:0-600W
iv. PWM Frequency：25KHz.
v. Speed range: 0-100%
vi. Speed principle : Adjust the current
vii. Shell material :Aluminum Alloy
viii. Size (L*W*H):84mm*52mm*36mm
ix. Mounting holes centerdistance : 104mm

Typical applications：

i. DC 9V 12V 18V 24V 36V 48V 60V DC Motor Speed Controller

ii. Motor speed control and regulation in RC models, fans and more
iii. Small pump control, such as RS-360 motor
iv. Temperature control in devices such as soldering irons
v. Brightness control of DC light bulbs

Software Description:
The software consists of an mobile application in which various automation features have been added.

Page | 33
Code:

Page | 34
Page | 35
 Chapter 5

Applications

Page | 36
Page | 37
 Chapter 6

Conclusion and future scope

Page | 38
Conclusion:
Thus after referring IEEE and various other research papers, we concluded that
with development in latest Smart bed techniques.The project was intended to
develop a concept for automatic wheelchair cum stretcher, with the motivation
of saving space and precluding exertion by the patient. By provide remote control
for the ease of patient to move without being dependent on anyone or applying
extra force for movement. Also to remove difficulties for shifting patient from
stretchers to wheelchair.

FutureScope:
 An excellent choice for a person seeking for two features, rather than going
for two different products, he can choose our ‘Convertible Smart Bed for
Patients’ integrated with two different features.

 The ‘Convertible Smart Bed for Patients’ facilitates the disabled patients
mobility & provides novel medical equipment for use in the Indian
hospitals.
 Physically Disabled People can use it as per their purposes. People who are
able to use their hand can use Joystick.
 People suffering from certain paralysis can use either head movement or
Bluetooth module as per requirement.
 People at old age homes can use this chair as per their requirement.
 Focusing on mobility assistance for bedridden persons.

Chapter 7
References
[1]. IEEE Paper subject “Convertible bed and wheelchair”, published by Shaffer
W. G.,|1988

IEEE Paper subject “Wheelchair and bed with movable body supporting
portions”, published by Weiss N.| 2014

39
IEEE Paper subject “Design and Fabrication of Pneumatically Powered Wheel
Chair Stretcher Device” published by Rashid Ahmed K. Safar Abdul Razack1
Shamil Salam ,Vishnu Prasad K.V. |2015

[2]. “Guidelines & Space Standards for Barrier Free Built Environment for
Disabled & Elderly People” By Central Public Works Department of India
5] Cooper R, Corfman T, Fitzgerald S, Boninger M. Spaeth D, Ammer W, Arva
J., “Performance Assessment of a Pushrim Activated Power SASTECH 86
Volume 10, Issue 2, Sep 2011 Assisted Wheelchair”, IEEE Trans Control Sys
Tech, Volume 10, ISSN: 1063-6536, Jan 2002.

[6] Anonymous, “Wheelchair history and development”,

www.newdisability.com, retrieved on 27th Sept. 2010.

[7] Mr. Daniel E. Jolly., “Wheelchair transfer”, The Ohio state university
college, Columbus, ohio, retrieved on 24th Sept. 2010

[8] Mr. Amos Winter, “Mechanical principle of wheelchair design”, Graduate

Student, Department of Mechanical Engineering, Massachusetts Institute of
Technology, US, retrieved on 24th Sept. 2010.

[9] Anonymous, “History of the wheelchair”, www.inventors.about.com,

retrieved on 27th Sept. 2010.

[10] Unknown, “wheelchair, stretcher, hydraulic lifting”,

www.googleimages.com, retrieved on 8th 2010

[11] James J. Kauzlarich., “Wheelchair caster shimmy II: Damping”, Journal of

Rehabilitation Research and Development, Volume. 37, No. 3, pp 305- 313,
May/June 2000.

[8] Debkumar Chakrabarti, “Indian Anthropometric Dimensions for Ergonomic

Design Practice”, National Institute of Design, Ahmedabad, 1999.

Page | 40
41