Eye Monitored Wheelchair

Project Title

Eye Monitored Wheelchair

Project Area of Specialization RoboticsProject Summary

An innovative  design and imlementation of a roboust and user friendly smart electric wheel chair  is presented that is controlled by the commands given by eyes of the user. it is specially designed on the bases of image processing techniques to llocate eye position and move the chair to that respective direction. It can be used by persons that suffers from quadarplegia and paraplegia, who are not able to move thier four limbs and head. so here is an annovative design that can make them able to move by using thier eyes.

Project Objectives

An innovative design and implementation of a robust and user-friendly smart electric wheelchair, where the product cost is minimized considering the affordability of masses. Much research has been done on wheelchairs like, the sip and puff wheelchair that makes it difficult to be operated by people with respiratory problems, voice-activated is useless in crowded and overpopulated areas, IR based, which damages the eye of the user more than it helps the user and head-gestured etc. we are aiming to remove the physical efforts as much as possible. The design uses the viola-jones algorithm to detect the movement of the user’s eyes and multiple controllers convert it into the translatory movement of the wheelchair.

Project Implementation Method

A webcam is mounted on a distance, continuously staring at the user’s right eye. The camera takes 50fps (frames per sec), continuous snapshots of every 50th frame are taken and feature points extracted are saved . Based on the position of the feature points in previous snapshot and current snapshot, a movement is detected. The webcam wired to the raspberry-pi which is programmed to monitor and react to eye movements. Based on a series of snapshots taken and thereafter processed by the help of Algorithms such as Viola Jones Algorithm, Canny Edge detection and Hough transform, the motion of the user’s eyes are detected, decision to move the Wheel Chair in a particular direction is taken and communicated to Arduino microcontroller.
An H bridge is an electronic circuit that switches the polarity of a voltage applied to a load .  H bridge   is used to control the direction of wheel chair. We connect Arduino with H bridge  to which the motors have been connected for desired motion of the Wheel Chair. Each pin of each motor is connected to a relay and if the logic status is 1 it is connected to positive power if logical status is 0, it connects to ground. If the motor has a contact connected to the negative pole and one to the positive pole then it moves, and if it has both contacts connected to the same pole, it is stopped. Hence, the motor direction is controlled using 2 relays for an individual motor. Note that each relay is connected to an NPN transistor in a common emitter configuration. This configuration allows the transistor to act as a switch. Additional diode, the flywheel diode can be employed to protect the relay circuit, in parallel with the relay. A resistor has also been connected to the transistor, just to limit the base current.
DC motor is the most used motor in Robotics and electronics projects. For controlling the speed of DC motor we have various methods, but we are controlling DC Motor speed using PWM. We generate a PWM signal from Arduino .PWM is a technique control the voltage or power. The speed of motor will depend on applied voltage This concept is used in the project to control the voltage using PWM
To make our project more user-friendly and robust, we added a manual override to our wheelchair. In case of any emergency, or the eye control failure, the wheelchair will be automatically switch to manual override. This adds an additional fail-safe feature along with safety to our wheelchair.

Benefits of the Project

This project is user friendly. it is enviromental friendly. our wheelchair is able to make patients self reliant to some extent who cannot move from one place to another. our roject has used bes image processing techniques that can also be used in many security purposes. 

To make our project more user-friendly and robust, we added a manual override to our wheelchair. In case of any emergency, or the eye control failure, the wheelchair will be automatically switch to manual override. This adds an additional fail-safe feature along with safety to our wheelchair.

Technical Details of Final Deliverable

A webcam is mounted on a distance, continuously staring at the user’s right eye. Based on the position of the feature points in previous snapshot and current snapshot, a movement is detected. The webcam wired to the raspberry-pi which is programmed to monitor and react to eye movements. Based on a series of snapshots taken and thereafter processed by the help of Algorithms such as Viola Jones Algorithm, Canny Edge detection and Hough transform, the motion of the user’s eyes are detected, decision to move the Wheel Chair in a particular direction is taken and communicated to Arduino microcontroller.
H bridge   is used to control the direction of wheel chair. We connect Arduino with H bridge  to which the motors have been connected for desired motion of the Wheel Chair.  The motor direction is controlled using 2 relays for an individual motor. Note that each relay is connected to an NPN transistor in a common emitter configuration. This configuration allows the transistor to act as a switch. Additional diode, the flywheel diode can be employed to protect the relay circuit, in parallel with the relay. A resistor has also been connected to the transistor, just to limit the base current.  To make our project more user-friendly and robust, we added a manual override to our wheelchair. In case of any emergency, or the eye control failure, the wheelchair will be automatically switch to manual override. This adds an additional fail-safe feature along with safety to our wheelchair.

so our deliverable is a wheelchair controlled by eye as well as joystick.

Final Deliverable of the Project HW/SW integrated systemType of Industry Medical Technologies OthersSustainable Development Goals Good Health and Well-Being for PeopleRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	79800
prototype wheelchair	Equipment	1	30000	30000
motors for wheelchair	Equipment	2	5000	10000
ics resistors capacitors diodes transistors crystal oscillator	Equipment	25	200	5000
labour charges for fixing motors	Miscellaneous	2	1000	2000
raspberry pi	Equipment	2	6500	13000
arduino microcontoller	Equipment	2	1000	2000
damage cost	Miscellaneous	3	1000	3000
project circuitry transparent casing	Miscellaneous	1	2000	2000
raspberry pi camera	Equipment	1	1500	1500
webcam	Equipment	1	1000	1000
memory card	Equipment	2	1000	2000
batteries	Equipment	2	2650	5300
printing weekly reports	Miscellaneous	12	200	2400
pcb, ferric chloride soldering iron soldering wires,	Miscellaneous	2	300	600