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ABSTRACT

Due to recent advancement of AI and robotics technology, the research of intelligent wheelchair (i WheelChair) begins to draw attention from both scientific community and industry. iWheelchair is a kind of home welfare tools and can help the handicapped and elderly people to gain mobility and lead to independent life. This paper describes a newly developed intelligent wheelchair. The controller of the iWheelChair adopts the advanced DSP technology, and plays the role of data acquisition and processing of joystick and ultrasonic sensors. 8 ultrasonic sensors are mounted on iWheelchair and can detect the environment changes for safe operation. Experiments are presented to show that iWheelChair is able to avoid obstacles autonomously while controlled by its user via the joystick.

electronics projects
Electronics project iWheelchair

Robets are confind and handicapped people at a high speed, and will be acertain key area in the next 10 years. Since the average agein our society is increasing notably in recent years the numbeof people with severe motion impairments is increasing. The expenditure for health care and nursing is becoming a big burden for our society.

On the other hand, the nursing staff is continuously reduced by the government and health authority in order to cut the cost.Therefore individual healthcare is becoming more expensive than before and people with medium and lower income are unable to afford such service.

Intelligent wheelchairs, as a kind of rehabilitation robots,play an important role in helping the handicapped and the elderly people to live more independently at home and have a low cost on their healthcare. By equipping a wheelchair with an intelligent controller, the control of the wheelchair is shared by the user and the controller. The user performs the global planning by indicating to the wheelchair where he wants to go; the wheelchair avoids dangerous obstacles and performs local planning autonomously. As a semi-autonomous robot, iWheelChair has the responsibility of providing autonomy to its users.

Various research projects on intelligent wheelchair have been executed in the last decade, such as Wheelesley and so on. However, all of these projects only represent the outgrowths of mobile robot research and few have made the transition to a commercial product.

The motion control of most intelligent wheelchairs normally relies on a laptop computer as the central controller, and with the help of multiple sensors such as a ring of sensors (ultrasonic sensors, infrared sensors, etc) or cameras. Obviously, this kind of structure is effective in doing some specified research, but it is not proper for a commercialized product. In 2003, the sale of iBot wheelchair (Independence Technology, 2003) was authorized by the Food and Drug administration of United Sates of America. The iBot wheelchair uses sensors and gyroscopes to climb up and down stairs. It can also lift its occupant to standing height. To some degree, iBot wheelchair is unable to autonomously navigate in the real world.

In this paper, we develop an intelligent wheelchair,namely iWheelchair. A DSP device is adopted as the center processor of the controller, 8 ultrasonic sensors mounted around the iWheelchair for obstacle detection. The system is low-power consumption and high computation performance with comparison to that on Windows, which is very competitive in the commercial market as a product.

The rest of this paper is organized as follows. Section II describes its hardware architecture of iWheelchair that has been recently built In Section III the development of the control software of the system is described. The experiment setup and results of our iWheelchair are outlined in Section IV. Finally, a brief conclusion and future research are summarized in Section V.

CONCLUSION

This presentation paper describes the hardware architecture and control strategy of a newly developed intelligent wheelchair,iWheelchair. Based on the DSP techniques, the controller of iWheelchair is quite compact and has a good performance and real-time response. Our iWheelChair has a high performance-price ratio and is competitive in the commercial market.

In the future work, more functions, such as door-passing,wall-following, etc. will be developed in order to make iWheelchair fully autonomous and adaptive to environment changes. Also, multi-mode communication will be used for users to control iWheelchair via voice, hand gesture, facial expression and head movements. In this way, the user of iWheelchair will be able to focus on high-level tasks such as shopping and going home, and the iWheelchair motion is controlled by dsp based controlled autonomously.

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JJ

This is Mr.Jose John, 21 yrs old guy, currently pursuing final year mechanical engineering, now become an enthusiastic blogger and a successful entrepreneur.
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3 Comments

  1. Maria Moura says:

    very useful article..

  2. Araújo says:

    this is perfect, i am looking to do something similar very soon and this article makes perfect sense.

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