DESIGN OF AO BASED VOICE-CONTROLLED

AUTOMATED WHEELCHAIR
A Project Work
Submitted in partial fulfillment of Requirements for the Award of the
Degree of
BACHELOR OF TECHNOLOGY

IN
ELECTRICAL & ELECTRONICS ENGINEERING

Submitted By
A.CHANDANA(198T5A0202)

B.SEETA RAM (198T5A0203)

R.VAMSI KRISHNA(198T5A0225)

P.VENKATA SAI KRISHNA(198T5A0221)

P.PRANAY TEJA (198T5A0222)

Under the Esteemed guidance of

Mrs V . BINDU , M.TECH
Assistant Professor

DEPARTMENT OF ELECTRICAL & ELECTRONICS ENGINEERING

DHANEKULA INSTITUTE OF ENGINEERING &
TECHNOLOGY
GANGURU, VIJAYAWADA - 521 139
(An ISO 9001:2008 Certified institution)
(Affiliated to JNTU, Kakinada & Approved By AICTE, New Delhi)
2021-2022

1
DHANEKULA INSTITUTE OF ENGINEERING & TECHNOLOGY
GANGURU, VIJAYAWADA - 521 139

DEPARTMENT OF ELECTRICAL & ELECTRONICS

ENGINEERING

CERTIFICATE
This is to certify that the project work entitled “DESIGN OF AN ARDUINO
BASED VOICE CONTROLLED AUTOMATED WHEELCHAIR” is a bonafide

record of project work done jointly by A.CHANDANA (198T5A0202)

B.SEETA RAM(198T5A0203) R.VAMSI KRISHNA(198T5A0225)
P.VENKATA SAI KRISHNA (198T5A0221) P.PRANAY
TEJA(198T5A0222)Submitted in partial fulfillment of the requirements

for the award Degree of Bachelor of Technology in Electrical &

Electronics Engineering to Jawaharlal Nehru Technological
University, Kakinada is carried out under my guidance and supervision
during the academic year 2021-2022.

Mrs. V. BINDU, M.TECH Dr. I.SAIRAM

PROJECT GUIDE HEAD OF DEPARTMENT

2
 EXTERNAL EXAMINAR

ACKNOWLEDGEMENT

We are greatly indebted to Dr. K. Ravi principal, DHANEKULA INSTITUTE OF

ENGINEERING & TECHNOLOGY for making us available with all the required
assistance and for his support and inspiration to carry out this project in the institute.
We also take privilege to record our thank to Dr. I .SAIRAM , Head of the
Department, ELECTRICAL & ELECTRONICS ENGINEERING whose
encouragement, cooperation and valuable support crown our success It gives us
immense pleasure to thanks our guide V.BINDU, for having been a source of constant
inspiration, precious guidance and generous assistance during the project work. I
deem it as a privilege to have worked under his able guidance. Without his close
monitoring and suggestions this work wouldn’t have taken this shape. I feel that his
un-substitutable and unforgettable.
We are thankful to the teaching and non-teaching staff of EEE department, for
their direct as well as indirect help in our project.
Finally we express our thanks to everyone who helped us directly or indirectly in
completion of our project work.

PROJECT ASSOCIATES

A.CHANDANA (198T5A0202)

B.SEETA RAM (198T5A0203)

R.VAMSI KRISHNA (198T5A0225)

P.VENKATA SAI KRISHNA (198T5A0221)

P.PRANAY TEJA (198T5A0222)

3
INSTITUTE

VISION
Pioneering Professional Education through Quality
MISSION

 Providing Quality Education through State-of-art, infrastructure, laboratories

and committed staff.
 Moulding Students as proficient, competent and socially responsible
engineering personnel with ingenious intellect.
 Involving faculty members and students in research and development works
for betterment of society.

4
DEPARTMENT

VISION

Emerge as Quality Human Resource Provider for Industry and Society in the
field of Electrical & Electronics Engineering.

MISSION

 Providing Quality Education through State-of-art resources.

 To develop innovative, proficient Electrical engineers.
 Promoting Ethical and moral values among the students so as to make them
responsible professionals for the society.

5
 PROGRAM OUTCOMES (POs)

Engineering graduates will be able to:

1. Engineering knowledge: apply the knowledge of mathematics,

science, engineering fundamentals and an engineering specialization
to the solution of complex engineering problems.

2. Problem Analysis: identify, formulate, review research literature,

and analyse complex engineering problems reaching sustained
conclusions using first principles of mathematics, natural sciences,
and engineering sciences.

3. Design/Development Of Solutions: design solutions for complex

engineering problems and design system components or process
that meet the specified needs with appropriate consideration for the
public health and safety, and the cultural, societal and environmental
considerations.

4. Conduct Investigations Of Complex Problems: use research-based

knowledge and research methods including design of experiments,
analysis and interpretation of data, and synthesis of the information
to provide valid conclusions.

5. Modern Tool Usage: create, select, and apply appropriate

techniques, resources, and modern engineering and IT tools
including prediction and modelling to complex engineering activities
with an understanding of the limitations.

6. The Engineer And Society: apply reasoning informed by the

contextual knowledge to assess societal, health, safety, legal and
cultural issues and the consequent responsibilities relevant to the
professional engineering practice.

6
 7. Environment And Sustainability: understand the impact of the
professional engineering solutions in societal and environmental
contexts, and demonstrate the knowledge of and need for
sustainable development.

8. Ethics: apply ethical principles and commit to professional ethics

and responsibilities and norms of the engineering practice.

9. Individual And Team Work: function effectively as an individual,

and as a member or a leader in diverse teams, and in
multidisciplinary settings.

10.Communication: communicate effectively on complex

engineering activities with the engineering community and with
society at large such as, being able to comprehend and write
effective reports and design documentation, make effective
presentations, and give and receive clear instructions.

11.Project Management And Finance: demonstrate knowledge and

understanding of the engineering and management principles and
apply these to one’s own work, as a member and leader in a team, to
manage projects and in multidisciplinary environments.

12.Life- Long Learning: recognize the need for and have the
preparation and ability to engage in independent and life- long
learning in broadest context of technological change.

PROGRAM SPECIFIC OUTCOMES (PSOs)

PSO 1: Ability to design solutions for identified problems by using latest

engineering tools like MATLAB, Simulink, PSPICE, plc etc.

PSO 2: Able to design and develop the Green Electrical systems.

7
 Quality Index Assessment

Academic Year: 2021 - 2022

Title of the Project: DESIGN OF AN ARDUINO BASED VOICE-CONTROLLED
AUTOMATED WHEELCHAIR

Prod Workin Revi Consid Consid Safety Standar Follo

uct/ g Model ew eration eration Consid ds wed
Paramet Rese /Analys / for for eration Ethics
er arch is/ Othe Cost Enviro
Applica rs Effecti nment
tion veness
High – High – High – High – High –
3 3 3 3 3
Moder Moder Moder Moder Moder
Level 3 2 1
ate – 2 ate – 2 ate – 2 ate – 2 ate – 2
Low - Low - Low - Low - Low -
1 1 1 1 1
Weighta
50% 10% 10% 10% 10% 10%
ge
Project
Level a= b= c= d= e= f=

Quality Index of Project = (a * 0.5) + (b * 0.1) + (c * 0.1) + (d * 0.1) + (e * 0.1)

+ (f * 0.1)
=

Signature of Guide Signature of Project Coordinator Signature of HOD

8
 ABSTRACT

This paper represents the design of an Arduino based voice controlled

automated wheelchair. The design is developed with a voice recognition
system, which allows the physically disabled person to control the
wheelchair by voice command who have issues in hand movement due
to ageing or paralysis for joystick controlled wheelchairs.The design also
provide some additional features such obstacle detection a for the as a
safe movement and a and sending notifications to increase the usability
of the automated wheelchair system.

To implement the design, Arduino Mega2560, Easy VR3 speech

recognition module, and relay based motor controller circuits are used
along with the wheelchair. The designed wheelchair system does not
require any wearable sensors for using other biomedical signals to
control wheelchair movement (i.e. EEG, EMG, EOG sensors) as reported
in several research studies which require complex signal processing
techniques done with an extra bulky computing system attached with
the wheelchair.

In the proposed design, the speech processing is done solely with the
available integrated speech processing module (Easy VR3) which
removes the necessity of any bulky complex extra computing device.
Moreover, the proposed technique is relatively simple and cheaper to
implement with the widely used available electronic devices in
comparison to other existing techniques which will have a great impact
on the societies of developing and under developing countries.

9
 Mapping with PO/PSO along with Justification:
P P
P P P P P P P P P
PO P O S PS
Title of Project O O O O O O O O O
1 O8 1 O O2
2 3 4 5 6 7 9 11 12
0 1
An Advanced
Security
System
Integrated With
RFID Based 3 2 3 - 3 - - - 3 3 - 2 2 -
Automated Toll
Collection
System

Justifications :(Project Outcomes with respect to Mapped PO`s & PSO`s):

 Our project maps strongly to po1 because in order to do a project we need

specialization in the area [power systems].
 Our project maps strongly to po2 because in our project we just identify
the fault and it does not involve the first principles of mathematics ,natural
sciences.
 Our project maps strongly to po3 because our project solution basically
satisfy the public needs i.e., continuous power supply.
 Our project maps averagely to po4 because it uses the knowledge and
methods according to research for output.
 Our project maps strongly to po5 because it involves modern tools
 Our project maps averagely to po6 because it partly related to the
responsibilities of engineering practices.
 Our project maps strongly to po7 as our project is helpful to the society
and it does not have any impact on environmental issues.
 Our project maps averagely to po8 i.e., ethics
 Our project maps strongly to po9 because we function effectively as
individual or as a team.
 Our project maps strongly to po10 as we communicate effectively about
our project
 Our project maps strongly to po11 i.e., project management and finance
 Our project maps averagely to po12 i.e., life long learning.
 Our project maps slightly to pso1 as it do not has any software.
 Our project maps strongly to pso2 because it is able to design green
electrical system.

10
Contents
CHAPTER 1 INTRODUCTION
1.1 Introduction
1.2 About the voice controlled wheel chair
1.3 History of wheel chair
1.4 Problem statement
1.5 Objectives
1.6 Methodology
CHAPTER 2 LITERATURE REVIEW
2.1 Studies Background
2.2 Theoretical Background
CHAPTER 3 HARDWARE COMPONENT
DESCRIPTION
3.1 Arduino UNO
3.2 DC Motors
3.3 Motor Driver
3.3.1 Pin Diagram
3.3.2 Pin Function
3.4 Bluetooth Module HC-05
3.4.1 Specifications
3.4.2 Pin Diagram
3.4.3 Pin Description
3.5 Voice controlled wheelchair driving circuit
3.6 Mechanical switch based motor driving circuit
3.7 Relay logic-based motor driving circuit
3.8 MOSFET based motor driving circuit
3.9 Voice recognition kit
3.9.1 Voice recognition
3.9.2 Voice module V2

11
CHAPTER 4 ANALYSIS AND RESULTS
4.1 Block Diagram
4.1.1 Flow Chart
4.2 Circuit Simulation
4.3 Implementation
4.4 Results
4.5 Voice Module Output
CHAPTER 5 ADVANTAGES AND LIMITATIONS
5.1 Advantages
5.2 Limitations
5.3 Future Scope
CHAPTER 6 CONCLUSION
6.1 Conclusion
REFERENCES

12
 LIST OF FIGURES

FIGURE LIST OF FIGURES PAGE

NO NO

1 Voice controlled wheel chair 28

2 Arduino UNO 30

3 DC Motor 31

4 Pin Diagram of L293D 32

5 Pin Diagram of HC-05 35

6 Voice Module V2 38

7 Block Diagram of voice control wheel chair 40

8 Simulation circuit of wheel chair 43

9 Flow Chart 45

13
 LIST OF TABLES
TABLE LIST OF TABLES PAGE
NO NO

1 Technical specifications of arduino 28

2 L293D pins functions 31

3 HC-05 pins Description 33

4 MOSFET based motor driving circuit 35

5 Working of driving circuit 36

6 Voice module output 45

14
 CHAPTER 1
INTRODUCTION

CHAPTER 1
INTRODUCTION

1.1 Introduction

"World report on disability" (2011) jointly presented by World

Health Organization (WHO) and World Bank says that there are 70
million people are handicapped in the world. Unfortunately day by day
the number of handicapped people is going on increasing due to road

15
accidents as well as disease like paralysis. Among all the disabilities
percentage of physically handicapped person is most. If a person is
handicapped he is dependent on other person for his day to day work
like transport, food, orientation etc. In This research is conceived as an
idea to ease the lives of those among us who are unfortunate enough to
have lost the ability to move their legs due to a significant amount of
paralysis, accident or due to old age. Man differently abled people
usually depend on others in their daily life especially in moving from one
place to another. For the wheelchair users, they need continuously
someone to help them in getting the wheelchair moving. Their lives are
made difficult by the fact that there is lack of an intuitive control system
for their wheelchairs that allows moving independently. Using an
electrical wheelchair leads to a large amount of independence for
persons with a physical disability who can neither walk nor operate a
mechanical wheelchair alone as it requires great effort and help of other
people. The problem is that in some cases the disability causes someone
to lose the ability to use his hands, therefore in this case, the way of
controlling a power wheelchair can be done using speech commands for
hands-free patients leading to an interesting and promising outcome.
But, still the availability of the smart wheelchair solutions is often 2
limited due to the high costs and not-so-friendly operation. By the
proposed approach, described in this research, the low-cost, simple and
friendly solution for the voice controlled platform will be presented that
is user friendly, fully customizable according to the language spoken by
the user and will help in enhancement of user’s independent mobility.
Using a Smartphone as the “brain” of a robot is already an active

research field with several open opportunities and promising

possibilities. Another recent and very successful technology, Bluetooth

has changed how people use digital device at home or office, and has
transferred traditional wired digital devices into wireless devices [4]. This
research is based on Voice-controlled Wheelchair design, by means of
Bluetooth technology, design and implementation of wireless remote
control solutions. The project also incorporates use of android program
and notifies the system and stop the wheelchair till further command. In
this work, Smart Wheelchair control using Arduino UNO and Bluetooth
Module via android application is presented.

16
1.2 About voice controlled wheelchair

Voice controlled Wheelchair Project– The application of this project

“Voice Controlled Wheelchair” is to control the wheelchair through
voice commands, sensors and a joystick .As this is a multi-functional
Wheelchair so therefore it can also be called as the smart wheelchair.
The user voice recognition module, ultrasonic sensor, and joystick have
been integrated in this wheelchair.

In this way we have obtained a wheelchair which can be driven with

voice commands, through joystick and sensors so that to provide the

possibility of avoiding the accidents. This project involves voice

recognition module which will recognize the voice of the user and
process the command of the user and send it to the Arduino. The user
has to save the different voice commands in voice recognition module
before use it to control the direction of the wheelchair.

Arduino is a micro controller based board which accepts data. The

Arduino board based on the UNO micro controller processes the data
and determines which motor will be activated. User can also change the

17
direction of the wheel chair through joystick, while the sensors will
automatically avoid the obstacles.

Before, you try to build this project, I highly recommend, first read my
getting started article on the Voice Recognition Module, this will help
you in understanding how to record voice commands and then how to
control LED s. In this tutorial I have explained all the basics.

A few months back I posted an article about “How to make a wireless

Tongue controlled Wheelchair”. In this project I used the relay based H-
bridges. The above two articles will really help you in making your own
Wheelchair and how to use the voice recognition module.

1.3 History of wheel chair

Earlier a wheel chair, used by the disabled people to move around while
sitting in it, was propelled manually either by others or by the disabled
person itself Now a days they are available by a little automated. Here is
the brief explanation of the wheel chair history used by the people with
illness, injuries or disabilities. The usage of the wheel chair can be
observed in European continent from around the times of German
Renaissance.

A drawing dated 1595, of the Spain King, King Philips I1, shows him in a
wheel chair with foot and armrests. England recorded the usage of
wheel chair from 1670’s. However, it was not able to be self-propelled.
In 1783, Englishman John Dawson built the first wheelchair that was self-
propelled by pushing the wheels.

With the invention of Self propulsion push rims, the modern wheel chair
have began to take shape since 1881. In 1900 the wooden spiked wheels
are replaced by the wire spiked wheels. The first motorized wheelchair
was invented in 1918. The wheel chair with voice activation had used by

a Norwegian law student where he used it for attending the classes

without an attendant help.

1.4 Problem Statement

18
 Many disabled people require wheelchair for mobility. 

 They are not always able to control it themselves. 

 Caretakers not always able to actively monitor disabled individuals.

 Disabled people need a way to control their wheelchair that meets

their specific needs.

The wheelchairs available in market are too expensive and are beyond
the reach of poor and middle class families. Most of the Wheelchairs are
single functioned either it will be operated with voice or joystick. We are
designing a wheelchair that will be a low cost and multi function.

This project aims to make life easier for the disabled and elderly people
who cannot move properly it will enable them to lead better lives
without any problem.

1.5 Objectives

The objective of this research project is to equip the present motorized

wheelchair control system with a voice command system at low-price
and friendly operation 3 and to facilitate the movement of the disabled
people and elderly people who cannot move properly then enable them
to lead better lives without any problem.

1.6 Methodology

The system has two parts, namely; hardware and software. The
hardware architecture consists of an embedded system that is based on
Arduino UNO board, a Bluetooth Module, DC Motor and an Android
phone. The Bluetooth Module provides the communication media
between the user through the android phone and the system by means
of voice command given to the android phone.

19
The user speaks the desired command to the “Voice Control for Arduino
voice (Voice Application)” software application installed in the android
phone that is connected through Bluetooth. The voice command is
converted to an array of string and the string is passed to Arduino UNO
connected to it.

Once the Bluetooth Module receives the message, the command sent
will be extracted and executed by the arduino attached to it and
depending on the commands fed to the Motor Driver, the motors will
function accordingly. The system will interpret the commands and
control the Wheelchair accordingly via android application.

20
 CHAPTER 2
LITERATURE REVIEW

CHAPTER 2

LITERATURE REVIEW
2.1 Studies Background

21
Shraddha Uddhav khadilkar and Narendra Wagdarikar stated the
wheelchairs are used by the people who cannot walk due to physical
illness, injury or other disability. Now a day’s development promises a
wide scope in developing smart wheelchair. This paper is to describe an
intelligent wheelchair using smart phone is develop to control the
rotation of wheel chair based upon voice and gesture movement for the
physically challenged persons. In build voice and gesture function are
used to control the wheelchair as well as by using smart phone reading
SMS, Email, News.

The sensor used are 8 in which 2 of them are IR sensors the remaining
are for temperature, smoke detection, and light detection sensors. This
system that allows the user to robustly interact with the wheelchair at
different levels of the control and sensing. The system is divided into 3
main units Voice recognition through Android, Gesture recognition
through Android, Motor control through signal conditioning. The system
is based on grouping an android phone with an AVR micro-controller and
sensors. Rahul Jiwane, Priyanka Mahamunkar, and Ritu Notani stated
the proposed system describes the design of a smart, motorized and
voice-controlled wheelchair using an embedded system.

The system design depicts the “Smart Wheelchair” that supports voice
activation system for physically disabled and old aged people by
incorporating voice commands which would control the movement of
the wheelchair. The voice command is given through a cellular device
such as cell phone having Bluetooth and the command is transferred and
converted to the string for Adriano and is transferred to the Bluetooth
Module SR-4.0 connected to the Adriano board for the control of the
Wheelchair.

When the user says “Go” the chair will move in the forward direction,
the chair would move in the backward direction for “Back” and similarly
“Left”, “Right” for rotating it in left and right directions respectively and
“Stop” to stop the wheelchair. This system is designed and developed to
save cost, time, energy and dependence on the others for the
movements of wheel chair using physically handicapped person.

22
Riya Ravi, Berly Paul, Sirin K.L and Varun Kumar4 stated the voice
controlled wheel chair is a mobile wheel chair whose motions can be
controlled by the user by giving specific voice commands. The speech
recognition software running on a PC is capable of identifying the 5 voice
commands ‘Run’, ‘Stop’, ‘Left’, ’Right’ and ‘Back’ issued by a particular
User.

This system controls the wheel chair as well as read the parameters of
patient. M.Prathyusha, K. S. Roy and Mahaboob Ali Shaik stated to
describe an intelligent motorized wheel chair for handicapped person
using voice and touch screen technology. It enables a disabled person to
move around independently using a touch screen and a voice
recognition application which is interfaced with motors through micro
controller. When we want to change the direction, the touch screen
sensor is modeled to direct the user to required destination using
direction keys on the screen and that values are given to micro
controller.

Depending on the direction selected on the touch screen, micro

controller controls the wheel chair directions. This can also be controlled
through simple voice commands using voice controller. The speech
recognition system is easy to use programmable speech recognition
circuit that is the system to be trained the words (or vocal utterances)
the user wants the circuit to recognize. The speed controller works by
varying the average voltage sent to the motor.

This is done by switching the motors supply on and off very quickly
using PWM technique. The methodology adopted is based on grouping a
micro controller with a speech recognition system and touch screen.
Omair Babri, Saqlain Malik, Talal Ibrahim and Zeeshan Ahmed stated a

voice controlled motorized wheelchair with real time obstacle avoidance

is designed and implemented. It enables a disabled person to move
around independently, using a joystick and a voice recognition
application which is interfaced with motors.

23
The prototype of the wheelchair is built using a micro-controller, chosen
for its low cost, in addition to its versatility and performance in
mathematical operations and communication with other electronic
devices. A camera is mounted on the chair for real time obstacle
avoidance.

The system has been designed and implemented in a cost-effective way

so that if our project is commercialized the needy users in developing
countries will benefit 60from it. M.AL-Rousan and K.Assaleh stated a
Power wheelchairs provide unique mobility for the disabled and the
elderly with motor impairments.

However, it is extremely difficult for people suffering from severe motor

impairments, such as tremors, to control standard power wheelchairs. In
this paper, we present a design of an automated powered wheelchair
system that integrates the latest technologies to assist users with motor
disability in moving around and sending help messages to four distinct
destinations using SMS messages.

A user can move the wheelchair using one of the three techniques
integrated in the wheelchair: a joystick, direction buttons, or voice.
Moreover, the speed of the wheelchair can be controlled using two
buttons (slow and fast). For the recognition of the voice commands, the
system uses wavelets and neural networks for feature extraction and
classification, respectively.

2.2 Theoretical Background

24
Here input is taken from the android mobile, speech signal is converted
into the text with the help of an android application. This text is transfer
to the Arduino UNO which controls the movement and direction of
wheel chair via a Bluetooth module wireless. Arduino UNO decides the
operation of the two DC motors depending on the text received.

L293D is a dual full bridge driver IC which is used for driving purpose of
DC motors. The wheel chair directions and movement possible are as
given below

Forward: Both motors are in forward direction. Back: Both motors are in
back direction.

Left: Left motor stopped and right motor in forward direction.

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

Stop: Both motors are stopped.

25
 CHAPTER 3
HARDWARE COMPONENT
DESCRIPTION

CHAPTER 3

HARDWARE COMPONENT DESCRIPTION

26
3.1 Arduino UNO
A micro-controller is a small computer on a single integrated circuit
containing a processor core, memory, and programmable input/output
peripherals The important part for us is that a micro-controller contains
the processor (which all computers have) and memory, and some
input/output pins that you can control. Arduino UNO is a micro controller
board based on the ATmega328P.

It has 14 digital input/output pins (of which 6 can be used as PWM

outputs), 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a
power jack, an ICSP header and a reset button. It contains everything
needed to support the micro controller; simply connect it to a computer
with a USB cable or power it with an AC-to-DC adapter or battery to get
started.

You can tinker with your UNO without worrying too much about doing
something wrong, worst case scenario you can replace the chip for a few
dollars and start over again. “UNO" means one in Italian and was chosen
to mark the release of Arduino Software (IDE) 1.0. The UNO board and
version 1.0 of Arduino Software (IDE) were the reference versions of
Arduino, now evolved to newer releases. The UNO board is the first in a
series of USB Arduino boards.

27
Technical specifications of arduino

Micro controller ATmega328

Operation voltage 5V

In put voltage 7-12V

Input Voltage 6-20V

Digital I/O Pins 14

Analogue Input Pins 6

DC Current per I/O Pin 40mA

DC Current for 3.3V Pin 50MA

Flash Memory 32 KB of which 0.5 KB used by

boot Loader

SRAM 2KB

EEPROM 1KB

Clock Speed 16 MHz

3.2 DC Motors

Motor is a device which transforms the electrical energy into

mechanical energy. The working principle of the motor is the interaction
between the magnetic field and the current to produce a force within the
motor which helps the motor to do work.The motor principle is basically
based on Faraday's Law, which states that, it is the conservation of
electrical and mechanical energy.

28
 DC motor is one type of motor that uses the DC current to convert
electrical energy into mechanical energy. When the electric current passes
through a coil in a magnetic field, a magnetic force will be generated,
which produces a torque in the DC motor.

A DC motor contains the following parts:

• Rotor
• Stator
• Air gap
• Winding
• Commutator

3.3 Motor Driver

L293D is basically a motor driver or controller. It has two builtin H-

bridge circuits which are able to control two DC motors simultaneously
in both clockwise and counter clockwise direction. It acts as an current
high amplifier because it take low current signal at its input and provides

29
higher current signal at the output in order to drives different load e.g.
stepper motor & DC motors.

Its features include large input voltage supply range, large output current
high noise immunity input signals etc. Its common real life applications
include stepping motor drivers, relay drivers, DC motor drivers etc.

3.3.1 Pin Diagram

3.3.2 Pin Functions

30
3.4 Bluetooth Module HC-05

HC-05 Bluetooth Module is an easy to use Bluetooth SPP (Serial Port

Protocol) module, designed for transparent wireless serial connection
setup. Its communication is via serial communication which makes an
easy way to interface with controller or PC. HC-05 Bluetooth module
provides switching mode between master and slave mode which means it
able to use neither receiving nor transmitting data.

3.4.1 Specifications

 Model: HC-05 
 Input Voltage: DC 5V
 Communication Method: Serial Communication 
 Master and slave mode can be switched.

3.4.2 Pin Diagram

31
3.4.3 Pin Description

32
3.5 voice controlled wheel chair driving
circuit

The motor driving circuit is the main part of our project that is
used to drive low control direction as well as the speed of the
motors. There are three main types of motor driving circuits as
listed below:

 The mechanical switch-based motor driving circuit

 Relay logic-based motor driving circuit
 MOSFET based motor driving circuit

The current required to drive each motor is four amperes and

twenty-four volt, and total 8-ampere current and 24 volts are
required to drive both motors. As the result shows practically
batteries provide ampere per hour timing as mentioned by the
company.

In our case, we have required 8-ampere current and 24 volts for

this purpose we have used two forty ampere batteries to provide
smart wheelchair at least two and half hour backup timing. To
design a driving circuit for these high volts and amperes is really a
difficult task.

3.6 Mechanical switch based motor driving

circuit
By using toggle switches and implementing simple logical
operation both motors can be driven in both directions. It is the
simplest way to design a motor driving circuit, but there are a
number of issues that restrict us to not use the mechanical switch.
They are listed below:

33
  Enormous current losses
 Automatic switching not possible
 No speed control
 Low torque

3.7 Relay logic-based motor driving circuit

By using simple two relays we can drive one motor in both
directions. By using relay logic automatic switching is possible, the
switching time is round about ten milliseconds. But in relay-based
motor driving circuitry are a number of issues listed below:

 No fast switching
 No speed control only two levels high and low

3.8 MOSFET based motor driving circuit

Motor drive circuit can be made by using MOSFET s, very fast, and
automatic switching is possible, speed can be controlled by
applying required PWM, response time is round about
31microseconds but it is very complex.

Serials Components Functions

no

1 Schmitt 74HC14 Provide level triggering

2 IR 2110 Gate Driver IC

3 MOSFET s IRF 1010 Four MOSFET to drive motor in both directions

34
 4 P(817) OPTOCOUPLER Provide isolation between Micro controller and
H- Bridge

Our requirement is that h bridge can bear forty amperes or more

current and voltage at least thirty volts. For this purpose, we have
used the following component (not including resistors, capacitors,
diodes).

To control reverse leakage current and on-off switching of

MOSFET is one of the major tasks while designing h bridges. To
manage on-off delays we have implemented low pass filters too.
The MOSFET motor drive circuit can work smoothly on PWM with
no compromise on torque. Advantages of MOSFET are listed
below:

 Speed can be controlled by using required PWM

 Provide full torque
 Fast switching

 Automatic switching
 Can bear eighty-ampere current and voltage up to sixty volts

Driving circuit is the main part of the project that is used to control
the motors and other components used in the project such as
sensors and joystick. Driving circuit is either from the relay or from
transistors.

R1 R2 L1 L2 Result

1 0 1 0 Forward

0 1 0 1 Reverse

1 0 0 1 Right

0 1 1 0 Left

35
We make the driving circuit from the transistors because its
response is very quick as compare to relays as in relays the
switching process is slow as compare to transistors.The direction of
the motors are control through the H bridge.

We used it in such a way that it gives four types of direction

Forward, Reverse, Left, and Right.

We make two H-Bridges one for each motors. Making H-Bridges

were very difficult task because the integrating circuit using in it
are very sensitive which very quickly damage on over current.

Four BJT transistors were used as switches for the H-Bridge. They
take their signals from the micro controller through resistors and

transmit it to the four relays that control the power supply of the
motors thus in this way direction of motors are controlled.

3.9 Voice Recognition Kit

In this project Voice Recognition Module V2 is used.

3.9.1 Voice Recognition

Input voice is based on the signals which are given to the voice
recognition module and accordingly coding is done. This module
converts the voice signals to electrical signals.

As pitch of each human’s voice is different from other so this module

works on that basic difference. If you programmed the module with
person A’s voice, then it will never operate with person B’s voice.

36
3.9.2 Voice Module V2

This module is used to recognize your voice. It receives your voice

commands or give input through serial port interface. Using this module,
control of the car or other electrical devices by voice is being done.

15 voice instructions are stored in V2. 15 pieces are divided into 3

groups, with 5 in each group. First train the V2 with voice instructions
and serial commands group by group.

After this, we import one group it could recognize the 5 voice

instructions within that group. For the implement instructions in other
groups, import the group first using serial command.

It is a speaker dependent module. On the voice of only one person it will

work, the person who train it.

Once the module is train, the voice instruction save in it. Its work on 5V
TTL. The serial data is in form of 8 data bits, zero  parity, one stop bit.
9600 is default baud rate.

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38
 CHAPTER 4
ANALYSIS AND RESULTS

CHAPTER 4
ANALYSIS AND RESULTS

4.1 Block Diagram

39
Micro controller (AVR ATmega328) is the heart of this smart wheel chair
system. All the different types of module used in the smart system are
controlled by the controller. ATmega328 is a high performance, low
power ATmel 8-bit Advanced RISC micro controller.

a. Line follower section:

Line follower section is used to reach the specific section of hospital. This
whole section also follows the same control procedure i.e. the use of BT
Voice Control application which is installed in an android mobile .The
patient has to speak the name the particular section which are K, M and
V.Line follower section consists of four pair of IR sensors and one pair
ultrasonic sensor.

IR sensors are the main triggers of the whole line following action
mechanism. IR sensor is basically a transceiver. It consists of one IR LED
as transmitter and one Photo diode as receiver.The transmitter section
of IR sensor emits infrared light which will be received by receiver diode
and according to the intensity or pulse width of receiving light the
decision of the movement has been taken by the wheel chair.

There are two types of strips in line following path which are black strip
and white strip. There is no reflection from Black strip, low or (‘0’) logic
will reach to micro controller and when there is white or reflective

40
surface there is high reflection and a high or (‘1’) reaches to micro
controller is depicting line follower path with respective position of IR
sensors.

b. Obstacle detection:
To avoid collision and obstracles obstacle, the ultrasonic sensor is
used.Here we have used HC-SR04 Ultrasonic sensor. Whenever the
wheel chair is going on the desired path the ultrasonic sensor transmits
the ultrasonic waves without interruption.

When obstracle comes into the path, the sensor’s wave is reflected
by the object and the discontinuity in the reception of ultrasonic wave
information is passed to the micro controller. The distance of obstacle is
continuously display on LCD.

41
 If any obstacle distant away less than 100 cm, wheelchair will stop
and will not move till the obstacle is passed or went away greater than
100 cm from wheelchair.

c. Motor Driver controller circuit:

Motor driver circuit MD10C is used to run motors. MD10C is PWM
enable motor driver controller. The PWM output pins of micro controller
are connected to motor driver circuit. Motor driver controller has one
PWM pin and one direction (DIR) pin.

Speed of motor is controlled by PWM and direction pin is used to run

the motor in clockwise or anticlockwise direction. Permanent Magnet DC
motors are connected to motor drive circuit.

d. Motor:

In this design, 24V 250watt brushed DC motor has been chosen as it is

widely used in industrial applications where the load is heavy. The
chosen motor’s higher rotational speed measured in RPM can be
reduced using gear mechanism to provide more staring torque. The
motor has a starting torque of around 50Kg-cm operated at 12V.

e. Battery:
Two 12V 30Ah(Ampere hour) sealed lead acid rechargeable batteries
were used to provide power of the whole system. They were connected
in series to have 24V to supply the power to the motor.. Although this
battery is little bit heavy weighted, this battery is used due to its
availability and comparatively lower cost.

4.1.1 Flow Chart

42
4.2 Circuit Simulation

43
Above designed by prouteus 8 software simulation program which
shows the general circuit components were connected to Arduino UNO
input/output such as Bluetooth module and the driver L293d which
control the DC motors and make interface between the Arduino UNO
and motor .

4.3 Implementation

44
As after train the voice module, connect it with Arduino. Depending on
the voice command the voice module send some code to the Arduino,
Arduino work on the program that is written by User that at what
command which task should be perform depending on the condition.
The PWM signal is sent to the driving Circuit of motor. If the signal to
move Wheelchair forward is sent than according to condition 24v will be
provided to both motors.

The Sensor in front of wheelchair are connected to avoid the accident.

Sensor input is connected to Arduino Interrupt pin. Interrupt pin
function is that it will stop the execution of program and run the specific
portion of code which is attach to that interrupt pin. That portion is
consisting of how to stop the wheelchair to avoid that accident.

Joystick option also available, to used Joystick first disable the voice
command so that it will not perform any action on your voice. Only
action will now be performing through Joystick. In that Option, the
programming option is simple the same task will be perform as which
was being perform through voice command. The only change is input
command which is now Joystick

Motors which are being used in this project have built-in breaking
system. When Excite breaking wire the break is release and when
connection disconnected it will stop automatically. To utilize that option
a special Emergency Button on the wheelchair so that to stop in case of
any Emergency like damage of any sensor or circuit fault.

Three Levels of speed is provided to the user. Speed is control through

PWM.

4.4 Results

45
This work elaborates the design and construction of wheelchair with
voice recognition module to control all the movements of the
wheelchair. The wheelchair can also be operated by the help of an
android application which can easily be downloaded in smartphones.

When the user says “forward” android Voice application sends the data
in form of string “forward” to Bluetooth module connected to the
circuit. When Arduino detects “forward”, the motor attached to the
wheelchair moves forward.

When the user says “back” android Voice application sends the data in
form of string “back” to Bluetooth module connected to the circuit.
When Arduino detects “back”, the motor attached to the wheelchair
moves back.

When the user says “left” android Voice application sends the data in
form of string “left” to Bluetooth module connected to the circuit. When
Arduino detects “left” the moves the motor attached to the wheelchair
left side.

When the user says “right” android Voice application sends the data in
form of string “right” to Bluetooth module connected to the circuit.
When Arduino detects “right” the moves the motor attached to the
wheelchair right side.

4.5 Voice module output

46
On different serial commands the behavior/output of the voice module
changes. Some of key serial commands are as follow

Command Descriptions

0x01 Delete Group1

0x02 Delete Group2

0x03 Delete Group3

0x4 Delete Group4

0x11 Record Group1

0x12 Record Group2

0x13 Record Group3

0x14 Record Group4

0x21 Import Group1

0x22 Import Group2

0x23 Import Group3

0x24 Import Group4

0x31 Set baud Rate 2400bps

0x32 Set baud Rate 4800bps

0x3 Set baud Rate 9600bps

47
 CHAPTER 5
ADVANTAGES AND APPLICATIONS
FUTURE SCOPE

CHAPTER 5
Advantages and Limitations

5.1 Advantages

48
 To implement and use the voice based system so that users voice as
an input to control the mobility of wheelchair.
 Helps to implement movement for disabled people and aged people
who can‟t move properly.
 Easy to drive with negligible efforts.
 Less Complexity and Hardware to mount.
 Can be mounted on the existing wheelchair.
 Wireless control helps to monitor the wheelchair.
 Reduces manpower and dependency on other human drive.
 Wheelchair is compact and economical.
 Provides easy movement for physically challenged people.
 Low power consuming and easy to operate the wheelchair.

5.2 Limitations

 It has an operating range of 10 meters. 

 Even the best speech recognition system sometimes make
errors.
 It causes problem during noisy environment.
 One of the common anode 7-sement drivers was damaged.

5.3 Future Scope

 Voice recognition module is used to develop the voice recognition

system. Voice recognition issues a Command to control the
movement of wheelchair. For movement of wheelchair Micro
controller Atmega328 and DC motor circuit were built. For not to
occur disorder during recognize the user voice, this system works in
a quiet environment. Furthermore, the pronunciations accuracy
must be ensured and the word-related (voice) the users voice must

49
 clear in short distance on microphone was essential in this
innovation.
 Using gear box we can produce high speed moving wheelchair.
 PWM modulation can also increase speed.
 Solar Panel can also be used to charge the battery for power supply
to the components required to drive the wheelchair.
 The wheelchair can also include the gesture feature to operate the
wheelchair.
 Wheelchair only can function properly when the weight of the load
for this system must be below 50 kilogram. Obstacle avoidance
sensors are used.
 By designing and implementing a faster voice recognition system and
a faster controller on the wheelchair, the voice controlled wheelchair
may be safer to use by users.
 Work is in progress on voice recognition now voice recognition
system are also using in vehicles, mobile apps are also introduced
that do voice recognition and jets.
 Future scope of the project includes the ability to control various
household devices through voice recognition like TV, air-condition,
microwave oven etc.

50
 CHAPTER 6
CONCLUSION

CHAPTER 6
CONCLUSION
6.1 Conclusion

This project elaborates the design and construction of Smart Electronic

Wheelchair with the help of Bluetooth Module. The circuit works

51
properly to move as the command given by the user .The voice
recognition system worked for most of the commands (over 95%).

Only when a word was not properly vocalized, the system did not
recognize it. After designing this the circuit enables physically disabled
to control their wheel using an android application in their smartphones.
This project contributes to the self dependency of differently abled and
older people.

Our proposed smart wheel chair provides a safe and reliable system with
the presence of line follower and obstacle detector. It provides an easily
accessible and a variety of functionalities.

In this paper, we developed a wheel chair system which includes

ultrasonic and infrared sensors to automatically track the paths provided
and also detects the obstacles in between the track along with a little
intelligence of taking proper care to avoid the accidental mishaps, where
we got the desired results.

Thus, the disabled persons can be self reliable, safe and independent
with the help of this easily controllable wheel chair.Further
improvement to the above implemented system can be done by
providing additional sensors make the system more user friendly and
avoid accidents by self learning.

Also security can be incorporated for accessing with the help of

biometric authentication, or including more control commands to pass
through different types of doorways.

The wheelchair is controlled by the commands from the user as well as

by the using a smartphone which is connected through the Wi-Fi
module.

This helps the disabled or the elderly people to move independently and
thus eliminating the enslavement.

52
Alerts are given if the person falls down from the wheelchair and stops
when an obstacle is detected. The wheelchair also provides vibration
therapy for faster recovery of the patient. The efficiency of voice
command-based wheelchair can be improved by neural based algorithm.

53
 CHAPTER 7
REFERENCES

CHAPTER 7
REFERENCES
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