Development of low cost automatic wheelchair controlled by oral commands using standalone controlling system
01 Dec 2012-pp 1-4
TL;DR: Development of automatic voice activated low cost wheelchair using intelligent standalone controlling system and Interfaces (Embedded LabVIEW and Compact Reconfigurable Input/Output FPGA Card-cRIO-9074) for physically impaired people is presented.
Abstract: Development of automatic voice activated low cost wheelchair using intelligent standalone controlling system and Interfaces (Embedded LabVIEW and Compact Reconfigurable Input/Output FPGA Card-cRIO-9074) for physically impaired people is presented in this paper. Various interfaces to control the powered wheelchair were proposed in the past since the voice is the most natural communication ways for person so our study pays more attention to speech recognition. The voice commands produced by the user are captured and processed by the intelligent system. The system is integrated with Ultrasonic sensor and IR sensor for obstacle detection and path finding.
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01 Jan 2017
TL;DR: This paper implemented design of voice control module for a motorized wheelchair which works based on the speech processing technique and local map navigation system and the simulation result shows the robustness of the voice recognition module.
Abstract: Wheelchair usage in India is increasing rapidly due to higher ageing population, road accidents etc. In case of nuclear families, the elder people those who are unable to do their regular activities without assistance, are left alone at their home. Manual propelling is difficult for aged population for which they employ use of the motorized wheelchair, but their costs is quite high making it difficult for the middle income people to procure it. In order to overcome the above challenge, we proposed a novel wheel chair design "low cost local-mapnavigation based intelligent wheelchair". In this paper, we implemented design of voice control module for a motorized wheelchair which works based on the speech processing technique and local map navigation system. In speech processing, we employed the concept of mel – frequency cepstrum coefficients (MFCCs) and mean squared error (MSE). The simulation result shows the robustness of the voice recognition module. A microphone is provided with the wheelchair, if the user utters the destination i, e, where he/she wants to go, the wheel chair automatically takes to the destination. Based on the result we ensure that the proposed wheelchair will improve the quality of life of this population and helping them in achieving their daily routine tasks with comfort.
19 citations
Cites methods from "Development of low cost automatic w..."
...In real time speaker recognition system using MFCC and vector quantization technique [6] used LBG algorithm along with MFCCs for pattern matching which will take more time for execution....
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TL;DR: The background of the instrumentation and control methods of automatic wheelchairs and prototypes is established, as well as a classification in each category, and the existing limitations and possible solutions in their designs are exhibited.
Abstract: Automatic wheelchairs have evolved in terms of instrumentation and control, solving the mobility problems of people with physical disabilities. With this work it is intended to establish the background of the instrumentation and control methods of automatic wheelchairs and prototypes, as well as a classification in each category. To this end a search of specialised databases was carried out for articles published between 2012 and 2019. Out of these, 97 documents were selected based on the inclusion and exclusion criteria. The following categories were proposed for these articles: (a) wheelchair instrumentation and control methods, among which there are systems that implement micro-electromechanical sensors (MEMS), surface electromyography (sEMG), electrooculography (EOG), electroencephalography (EEG), and voice recognition systems; (b) wheelchair instrumentation, among which are found obstacle detection systems, artificial vision (image and video), as well as navigation systems (GPS and GSM). The results found in this review tend towards the use of EEG signals, head movements, voice commands, and algorithms to avoid obstacles. The most used techniques involve the use of a classic control and thresholding to move the wheelchair. In addition, the discussion was mainly based on the characteristics of the user and the types of control. To conclude, the articles exhibited the existing limitations and possible solutions in their designs, as well as informing the physically disabled community about the technological developments in this field.
18 citations
01 Dec 2017
TL;DR: 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.
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 as obstacle detection for the safe movement and a GSM based navigation system for tracking and sending notifications to increase the usability of the automated wheelchair system To implement the design, Arduino Mega2560, Easy VR3 speech recognition module, SIM900A GSM 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 (ie 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
18 citations
Cites background or methods from "Development of low cost automatic w..."
...In developing and under developing countries, these wheelchairs are neither very much available nor much cost effective [10]....
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...In 2012 J. Kathirvelan et al. developed a system which uses oral command to operate the wheelchair using a FPGA based speech processing device driven by LABVIEW [10]....
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...developed a system which uses oral command to operate the wheelchair using a FPGA based speech processing device driven by LABVIEW [10]....
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TL;DR: The use of natural biological signals and non-biological signal to do the hands-free control of powered wheelchair is presented and it is shown that normal people are capable of manipulating multiple tasks at the same time.
Abstract: A vital perception in designing human-machine interfaces for people with disabilities is hands-free control. It is important in setting up communication among a machine and the part of human body. Nowadays, hands-free control is extensively used to help disabled people to control the wheelchair. The hands-free control functions are not only helpful to elderly and disabled, but also useful for normal people who might require using their hands for other tasks at the same time. As a result, normal people are capable of manipulating multiple tasks at the same time. The wheelchair is manoeuvred using brainwaves, eyes and facial muscles movements, voice, tongue, gesture. The mobility using a powered wheelchair improves the quality of life of the aged people and the people with mobility impairments significantly. These powered wheelchairs can be actuated using various high-level control interfaces. In this review, the use of natural biological signals and non-biological signal to do the hands-free control of powered wheelchair is presented in this article.
10 citations
Cites background from "Development of low cost automatic w..."
...[35] developed an automatic voice activated low cost wheelchair using intelligent standalone controlling system and Interfaces for physically impaired people....
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...[35] Voice Microphone, analogue input NI-9201(AI0), Compact RIO 9074 integrate system, Relays Forward, back, left, right, and stop....
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TL;DR: A real time software application for disabled subjects, suffering from both motor and speech impairments, that provides message composition and speech synthesis functionalities based on face detection and head tracking based on O.S.’s native computer vision primitives.
Abstract: For the people who are totally or partially unable to move or control their limbs and cannot rely on verbal communication, it is very important to obtain an interface capable of interpreting their limited voluntary movements, in order to allow communications with friends, relatives and care providers, or to send commands to a system. This paper presents a real time software application for disabled subjects, suffering from both motor and speech impairments, that provides message composition and speech synthesis functionalities based on face detection and head tracking. The proposed application runs on portable devices equipped with Android Operating System, and relies upon the O.S.’s native computer vision primitives, without resorting to any external software library. This way, the available camera sensors are exploited, and the device computational requirements accomplished. Experimental results show the effectiveness of the application in recognizing the user’s movements, and the reliability of the message composition and speech synthesis functionalities.
8 citations
References
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TL;DR: In this article, a reactive shared controller is proposed to assist wheelchair users in semi-autonomous navigation of a wheelchair in unknown and dynamic environments, where the user and the vehicle share the control of the wheelchair.
Abstract: This paper describes new results with a Reactive Shared-Control system that enables a semi-autonomous navigation of a wheelchair in unknown and dynamic environments. The purpose of the reactive shared controller is to assist wheelchair users providing an easier and safer navigation. It is designed as a fuzzy-logic controller and follows a behaviour-based architecture. The implemented behaviours are three: intelligent obstacle avoidance, collision detection and contour following. Intelligent obstacle avoidance blends user commands, from voice or joystick, with an obstacle avoidance behaviour. Therefore, the user and the vehicle share the control of the wheelchair. The reactive shared control was tested on the RobChair powered wheelchair prototype [6] equipped with a set of ranging sensors. Experimental results are presented demonstrating the effectiveness of the controller.
163 citations
TL;DR: A dependent-user recognition voice system and ultrasonic and infrared sensor systems has been integrated in this wheelchair which can be driven with using voice commands and with the possibility of avoiding obstacles and downstairs or hole detection.
Abstract: This paper describes a wheelchair for physically disabled people developed within the UMIDAM Project. A dependent-user recognition voice system and ultrasonic and infrared sensor systems has been integrated in this wheelchair. In this way we have obtained a wheelchair which can be driven with using voice commands and with the possibility of avoiding obstacles and downstairs or hole detection. The wheelchair has also been developed to allow autonomous driving (for example, following walls). The project, in which two prototypes have been produced, has been carried out totally in the Electronics Department of the University of Alcala (Spain). It has been financed by the ONCE. Electronic system configuration, a sensor system, a mechanical model, control (low level control, control by voice commands), voice recognition and autonomous control are considered. The results of the experiments carried out on the two prototypes are also given.
85 citations
TL;DR: Block reconfiguration for field-programmable gate array rapid prototyping is employed in this paper, and system fidelity and development efficiency are revealed through the experimental results.
Abstract: The design and implementation of a digital wheelchair controller system is presented in this paper. This novel model depicts an information flow between the driving commands and wheel speed. A command interpreter and two speed processing datapaths are proposed as functionally independent blocks for the controller. The control process consists of the following steps: command decoding, speed estimation, and speed serving. Through proper partitioning to concurrent blocks, the design complexity is reduced significantly. Block reconfiguration for field-programmable gate array rapid prototyping is also employed in this paper, and system fidelity and development efficiency are revealed through the experimental results.
69 citations
07 Jul 1997
TL;DR: The RobChair assistive navigation system is described, including the communication system, a friendly graphical user interface which also works as a simulator and introduces a natural human-machine interface.
Abstract: This paper describes the RobChair assistive navigation system The RobChair project was conceived with the aim to assist disabled people in the difficult task of manoeuvring a powered wheelchair This paper describes the overall hardware and software architecture including the communication system, a friendly graphical user interface which also works as a simulator and introduces a natural human-machine interface The system's architecture follows a behaviour-based control architecture
30 citations
23 Apr 2007
TL;DR: The proposed voice-activated powered wheelchair supplementary with joystick control allows physically disabled person to maneuver the wheelchair easily without the need to use hands and the effect of jerk is reduced.
Abstract: Most of the conventional electric powered wheelchairs are using joystick as a used input mode of control to maneuver the powered wheelchairs. The drawback of joystick control is that it is not suitable for physical disabled person who cannot control their movements especially the hands. The proposed voice-activated powered wheelchair supplementary with joystick control allows physically disabled person to maneuver the wheelchair easily without the need to use hands. The propelling of the powered wheelchair depends on the motor control and drive system which consists of Infineon microcontroller XC886 and Infineon DC chopper power module BTS7970B. Once the voice recognition system recognizes the voice commands in comparison to the prestored memory, the respective coded digital signals would be sent to the microcontroller which then controls the wheelchair accordingly. The prototype powered wheelchair is tested with a pay load of about 120kg. The motor drive circuit can deliver the current up to 37.5A at 12V. In this paper, the joystick control algorithm, closed-loop current control and voice recognition system would be discussed. With the implementation of closed-loop current control, the effect of jerk is reduced.
15 citations
"Development of low cost automatic w..." refers background in this paper
...Powered wheelchairs are easy and comfortable to use for everyone in day to day life [1]-[6]....
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...Now a days, the wheelchairs are operated based on eye movement, electromagnetic signals (EMG), joystick, voice commands and microcontrollers [1]-[10]....
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