Gyro-Accelerometer based Control of an Intelligent Wheelchair

  • Rafia Hassani Laboratoire de Modélisation des Systèmes Energétiques (LMSE), Université de Biskra, B.P. 145 R.P. 07000, Biskra
  • Mohamed Boumehraz Laboratoire de Modélisation des Systèmes Energétiques (LMSE), Université de Biskra, B.P. 145 R.P. 07000, Biskra
  • Maroua Hamzi Laboratoire de Modélisation des Systèmes Energétiques (LMSE), Université de Biskra, B.P. 145 R.P. 07000, Biskra
  • Zineb Habba Laboratoire de Modélisation des Systèmes Energétiques (LMSE), Université de Biskra, B.P. 145 R.P. 07000, Biskra

Abstract

This paper presents a free-hand interface to control an electric wheelchair using the head gesture for people with severe disabilities i.e. multiple sclerosis, quadriplegic patients and old age people. The patient head acceleration and rotation rate are used to control the intelligent wheelchair. The patient head gesture is detected using accelerometer and gyroscope sensors embedded on a single board MPU6050. The MEMS sensors outputs are combined using Kalman filter as sensor fusion to build a high accurate orientation sensor. The system uses an Arduino mega as microcontroller to perform data processing, sensor fusion and joystick emulation to control the intelligent wheelchair and HC-SR04 ultrasonic sensors to provide safe navigation.The wheelchair can be controlled using two modes. In the first mode, the wheelchair is controlled by the usual joystick. In the second mode, the patient uses his head motion to control the wheelchair. The principal advantage of the proposed approach is that the switching between the two control modes is soft, straightforward and transparent to the user.

Published
2018-06-09
How to Cite
HASSANI, Rafia et al. Gyro-Accelerometer based Control of an Intelligent Wheelchair. Journal of Applied Engineering Science & Technology, [S.l.], v. 4, n. 1, p. 101-107, june 2018. ISSN 2352-9873. Available at: <http://revues.univ-biskra.dz/index.php/jaest/article/view/3883>. Date accessed: 08 dec. 2021.
Section
Section A: Electrical, Electronics and Automatic Engineering

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