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NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010


         AUTOMATION OF WHEEL CHAIR USING ULTRASONICS AND BODY
                             KINEMATICS

                         Preethika Britto,Indumathi.J,Sudesh Sivarasu,Lazar Mathew
                                        School of Biosciences and Technology
                                               VIT University-Vellore
                                            preethikabritto@yahoo.co.in

 Abstract— Physically disabled persons find their movements very tough with the existing assistive devices. Though
there are many robotics available in recent times to enable their motility they require fine and accurate control which
is most of the times not possible in cases of higher disability. These robots are very efficient and enable the user to
move around with ease. In recent times there have been various control systems developing specialized for people
with various disorders and disabilities. This paper reports the preliminary work in developing a robotic wheelchair
system that involves the movement of eyeball and shoulder kinematics in directing the wheel chair. The system
enables the patient to have command over the robot, its direction of movement and will also sense and alarm the user
about the obstacles in the path to avoid collision. This wheelchair helps the patient to move in environments with
ramps and doorways of little space. This work is based on previous research in robot path planning and mobile
robotics, generally a robot should be interactive, and robotic wheelchairs must be highly interactive to enable the
system to work most efficiently.

Keywords: eyeball control, wheel chair automation, rehabilitation, IR sensing, shoulder control, capacitive sensing,
Hemiplegic rehabilitation, ultrasonic intruder sensing.


                 1. INTRODUCTION                                 the movement of eyeball and shoulder kinematics in
Assistive robotics is improving the lifestyle of the             directing the wheel chair.
physically challenged people to a great extent. In recent        The system enables the patient to have command over
times there have been a wide range of assistive and              the robot its direction of movement and will also sense
guidance systems available in robotics to make their             and alarm the user about the obstacles in the path to
life less complicated and motile. These robots in are            avoid collision.
very efficient and enable the user to move around with           This wheelchair helps the user to move in environments
ease. In recent times there have been various control            with ramps and doorways of little space. This work is
systems developing specialized for people with various           based on previous research in robotics, generally a
disorders and disabilities. The systems that are                 robot should be interactive, and robotic wheelchairs
developed are highly competitive in replacing the old            must be highly interactive to enable the system to work
traditional systems.                                             most efficiently.
  There are many assistive systems using visual aids             The whole paper is divided into the following sections.
like videooculography systems, infrared oculography,             Section 2 describes the principle behind the eye ball
eyeball sensing using electrooculography and much                sensing, Section 3 about principle behind the shoulder
more. There are even systems based on voice                      movements, Section 4 shows the ultrasonic intruder
recognition too. The basic assisting using voice control         sensing mechanism. In Section 5 the overall control
is to detect basic commands using joystick or tactile            system is commented with results.
screen. These applications are quite popular among
people with limited upper body motility. There are                     2. PRINCIPLE OF EYEBALL SENSING
certain drawbacks in these systems. They cannot be               The basic principle of this direction sensing is the
used by people of higher disability because they require         colour of the eyes. There are two main colour pigments
fine and accurate control which is most of the time not          in the human eyes. i.e., black and white. The colours
possible. This paper reports the preliminary work in             show different wavelengths in the spectrum. White
developing a robotic wheelchair system that involves             being the      farthest   colour in emits the lowest
                                                                 wavelength. So the wavelength of white light is chosen


                                                            37
NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010

as the standard parameter. White light can be measured             The Eye ball position is detected with reference to the
by infrared sensors. The wavelength of the white                   Iris. Harmless 950nm wave length IR Transmitter and
portion if the eye varies from 600nm to 640 nm.[2] The             IR detectors are used to sense the position of the Eye
infrared light ray measures and reflects the wavelength            ball. The Tx , Rx sensors are positioned in such a way
emitted by the white portion and based on that the                 to sense the position of Iris Up/Down, Left/Right
eyeball sensor is constructed.




          Figure 1: Electromagnetic Spectrum                               Figure 3: connectivity with wheel chair
The Infrared sensors are placed on either side of the                  3. PRINCIPLE OF SHOULDER SENSING
eyes fixed in goggles. The whole circuitry is fitted
                                                                        The overall block diagram of the project is
inside a table-top instrument which is connected to the
spectacles through a long flexible cable which performs
the analysis, processing and amplification of the signals
derived from the sensor’s eye-ball movements. Both
eyes are lit up by the energy from the Infrared Light-
Emitting Diode (IRLED) sections. The silicon
phototransistors and the IR sources are mounted in front
of the eyes so that the obstruction of the field of view is
minimized and the capability to accurately monitor the
position of the eye is maintained




                                                                     Figure 4: Overall block diagram of the intellichair.

                                                                   This sensor is formed by two metallic electrodes wound
                                                                   on a non-metal tube with insulation between electrodes
Figure 2: The Eyeball Sensor on goggles                            to form much like an open capacitor. These electrodes
                                                                   are placed in a feedback loop of a high frequency
                                                                   oscillator. When no material is present inside the tube,
   SPECIFICATION:                                                  the sensor capacitance is low. Therefore, the oscillator
    • Supply 12v DC Ripple free                                    amplitude is small. When any material is present, the
    •  Analog O/P 2-3v variation                                   capacitance value will increase resulting in increased
    • Repeatability 10%                                            amplitude of the oscillator. Depending on the dielectric
    • Switch O/P 100mA NPN switch                                  constant of the material, the amplitude varies. The
    • LED indication for switch O/P                                evaluating circuit will give the analog output
                                                                   proportional to the dielectric constant of the material.


                                                              38
NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010

The amplitude of oscillation is measured by an                     always greater than the capacitance of the circuit in the
evaluating circuit that generates a signal to turn on or           absence of the target.
off the output.
SPECIFICATION
  Supply voltage -          12v DC
  OP switching -           100mA
   OP analog     -         6-12V DC
   Hysterics      -         10%
  Dimension       -         90*63*40mm
Capacitance is a function of the surface area of either
electrode A or B, the distance between the electrodes
(d) and the dielectric constant of the material (E)
between the electrodes.
                  C = (E x A)/d
Where C = capacitance of the sensor
A = surface area of either electrode
d = distance between two electrodes                                        Figure 6: Capacitance sensor (shoulder)
E = dielectric constant of the material between the
                                                                    4. THE OVERALL CONTROL SYSTEM USING
electrodes
                                                                                       MOVEMENTS
                                                                   The eyeball sensor is fitted on to the patient and the
                                                                   wavelength of white portion is recorded. Then when
                                                                   the patient wants to move right side, his left eye shows
                                                                   no variation in wavelength but in the left eye the black
                                                                   portion is sensed by the sensor which leads to decrease
                                                                   in the wavelength which automatically indicates to the
                                                                   wheel chair the direction it has to in. the same
                                                                   mechanism happens in the right eye too.




            Figure 5: Capacitance principle

When the target approaches the sensor’s field, it acts as
an electrode to the face of the sensor, and decreases the
distance between the electrodes (d), thereby it increases
the average surface area of the electrodes.
The capacitance with a metal target is always greater
than the capacitance of the circuit in the absence of the
target. When a non conductive target enters the
                                                                   Figure 7: the overall view of the eyeball sensor
sensor’s field, it acts as an electrical insulator between
electrode A and B.                                                  The wheel chair works in the mechanism of two input
The dielectric constant of the material (E) is a measure           one output. Inputs from the eyeball sensor and the
of its insulation properties. All liquids and solids have a        pressure sensor placed on the shoulder are taken and
greater dielectric constant than air (E air =1). Therefore         antagonistically and fed to the PIC microcontroller
the capacitance with a nonmetallic target present is               which is programmed to move across the direction
                                                                   required.



                                                              39
NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010

This intellichair is designed to help the paralyzed                 the sensor. They are generated by a transmitter and
person who moves on a wheel chair, instead of the                   reflected by the target. The returning waves are
handicapped person moving the wheel chair by his                    detected by a receiver. The time delay is used to
hand, the chair will automatically move to a particular             measure the distance to the object. The farther away an
direction as the patient moves his eyes towards a                   object is, the longer it takes the sound wave to
direction, with the help of Eye ball movement detection             propagate.
sensor and lifts his shoulder by the shoulder sensor.
The chair will also sense the obstacles in front of it and
gives a beep sound and stop before it automatically.
This is sensed by the ultrasonic sensor. The details
regarding the construction of this chair includes the
following
Model: A prototype model which symbolizes the
wheel chair is constructed using the MS Sheet

Master Controller: A Micro controller will act as a
master controller for the movement of the robot. It is
responsible for all the decisions taken by the robot.

Eye ball Movement Sensor: This is used to sense the
movement of the eye ball’s direction and converts it
into digital data and transfers it to the Master controller.
(Straight Command, Left/Right Command, Stop
Command)
                                                                                 Figure8: Ultrasonic principle

Shoulder Movement Sensor: This is used to sense the                 This sensor senses the obstacle in the way and stops 30
movement of the shoulder. This is tuned to receive two              cm before it. So the wheel chair is fool proof against
commands i.e., up and down. This signal is transferred              obstacles on the way of the wheel chair. This enables
to the Master controller.                                           the disabled person to move freely around in the
                                                                    environment without any dangers. The patient can be
OptoCoupler with Stepper Driver Board. The need                     left on their own to move freely in the limited area.
of Opt coupler is to isolate the Interface Board form the
Stepper Motor to restrict any high voltage to the                                        5 RESULTS:
Interface board. And this board also contains stepper               The eyeball sensor was tested with various samples
Driver circuit to amplify the Voltage and to withstand              against normal and hemiplegic patients. The following
high current because the pulse coming out from the                  results were obtained, they were found to be almost
Interface is not tough enough to drive the Motor.                   stable and reliable.
Stepper Power Supply. This board contains the power                 Case 1:
Supply for the stepper motor and relay driver.                      Subjects of different age groups were subjected to the
                                                                    eye ball sensor and results are plotted.
Software Driver in Hitech C. This is a software tool
used to control the angular position i.e., to send
specified pulses with controlled timing to vary the
speed as when and where require

Ultrasonic sensor: Ultrasonic sensor is another way to
 make non-contact distance measurements. It works by
the principle of measuring the time a sound wave takes
 to propagate from the sensor, to an object and back to




                                                               40
NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010

                                                               Case 1(a):
                                                               Subjects of different age groups were subjected to the
                                                               shoulder sensor and results are plotted.



                                                                                           32
                                                                                                             Normal subjects

                                                                              31.5




                                                                Muscle response in mv
                                                                                           31

                                                                              30.5

                                                                                           30

                                                                              29.5

                                                                                           29

                                                                              28.5
                                                                                                         20    22      24   32    43
                                                                                                               Age of subjects


Case 2:                                                        Case 2: The shoulder sensor was tested on a
The eye ball sensor was tested on a hemiplegic patients        hemiplegic patients and the results were plotted as
and the results were plotted as


                                                                                                               Paralysed Subjects
                                                                                                      30.2

                                                                                                       30

                                                                                                      29.8
                                                                              Muscle response in mv




                                                                                                      29.6

                                                                                                      29.4

                                                                                                      29.2

                                                                                                       29

                                                                                                      28.8

                                                                                                      28.6

                                                                                                      28.4
                                                                                                                  27             35    37
The shoulder sensor was tested with various samples
against normal and hemiplegic patients. The following                                                               Age of subjects
results were obtained, they were found to be almost
stable and reliable.


                                                          41
NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010

                                                                  4. Face Tracking using an adaptive skin colour model.
                       6.DISCUSSION                                  L.M. Bergasa et al. Third International ICCS
Based on the results obtained we conclude that the                   Symposia on Intelligent Automation (IIA´99) and
                                                                     Soft Computing (SOCO´99). Genova. Italia. Junio
eyeball response and shoulder towards normal subjects
                                                                     1999.
and hemiplegic patients is very prominent and gives a
wide range of movements. Thus the wheel chair moves               5. EagleEyes Project. James Gips, Philip DiMattia,
in all required directions with good response.                       Francis X. Curran and Peter Olivieri. Computer
     • There is very slight variation in the responses               Science Department, Boston College. Chestnut Hill,
          of eye ball sensor in the case of normal subject           Mass. USA.
          to hemiplegic patient i.e., in the order of 0.5
                                                                  6. Manual de técnicas de Electrofisiología clínica.
          mv                                                         M.C. Nicolau, J. Burcet, R.V. Rial. University of
     • There is no big difference in the shoulder                    Islas Baleares.
          sensor response when tested on normal
          subjects and patients i.e., the activity of the         7. A robust eye gaze tracking method based on a
          sensor depends on the muscle movement of                   virtual eyeball model, Journal Machine Vision and
          the subject so the range can be narrowed                   Applications Publisher Springer Berlin / Heidelberg
                                                                     ISSN 0932-8092 (Print) 1432-1769 (Online)
          according to the subject using the wheel chair.
                                                                  8. Brown, M., Marmor, M. and Vaegan, ISCEV
                   7. CONCLUSION                                     Standard for Clinical Electro-oculography (EOG)
This work forwards towards the development of a                      (2006),    in:   Documenta      Ophthalmologica,
usable, low-cost assistive robotic wheelchair system for             113:3(205--212)
disabled people. This system can be used to control the
handicapped, especially those with only eye-motor and             9. It's in Your Eyes - Towards Context-Awareness
                                                                     and Mobile HCI Using Wearable EOG Goggles,
shoulder coordination, to live more independent lives.               Proc. of the 10th International Conference on
Eye and shoulder movements and require minimal                       Ubiquitous Computing (UbiComp 2008), Seoul,
effort and allow direct selection techniques, this                   South Korea, pages 84-93, ACM Press, September
increase the response time and the rate of information               2008
flow. Some of the previous wheelchair robotics
research are restricted a particular location and in many         10. Robust Recognition of Reading Activity in Transit
                                                                      Using Wearable Electrooculography, Proc. of the
areas of robotics, environmental assumptions can be
                                                                      6th International Conference on Pervasive
made that simplify the navigation problem. However, a                 Computing (Pervasive 2008), Sydney, Australia,
person using a wheelchair and eyeball technique should                pages 19-37, Springer, May 2008
not be limited by the device intended to assist them if
the environment have accessible features.                         11. Wearable EOG goggles: Seamless sensing and
                                                                      context-awareness in everyday environments,
                 8. REFERENCES                                        Journal of Ambient Intelligence and Smart
                                                                      Environments (JAISE), 1(2):157-171, May 2009
1. SIAMO Project (CICYT). Electronics Department.
   University of Alcala. Madrid. Spain.
                                                                  12. Eyeball-Position-controlled      Communication
                                                                     System EPCOS E.E.E. Frietman, F. Bruggeman,
2. Sonar-Based Real-World Mapping and Navigation.
                                                                     C.J. van Spronsen Delft University of Technology,
   Alberto Elfes. IEEE Journal of Robotics and
                                                                     the Netherlands.
   Automation, Vol. RA-3, No. 3, June 1987.
                                                                  13. Mobile Robot with Eyeball Expression as the
3. The Eyegaze Eyetracking System. Joseph A.
                                                                      Preliminary-Announcement and Display of the
   Lahoud and Dixon Cleveland. LC Technologies,
                                                                      Robot’s Following Motion           TAKAFUMI
   Inc. 4th Anual IEEE Dual-Use Technologies and
                                                                      MATSUMARU, KAZUYA IWASE, KYOUHEI
   Applications Conference. Suny Institute of
                                                                      AKIYAMA,TAKASHIKUSADAANDTOMOTAK
   technology at Utica/Rome, New york.
                                                                      A ITO Bio-Robotics & Human Mechatronics Lab.,
                                                                      ShizuokaUniversity,3-5-1Johoku,Hamamatsu,432-
                                                                      8561Japan ttmatum@ipc.shizuoka.ac.jp


                                                             42
NCCI 2010 -National Conference on Computational Instrumentation
CSIO Chandigarh, INDIA, 19-20 March 2010


14. Initial development and testing of a novel foam-
    based pressure sensor for wearable sensing Lucy E
    Dunne, Sarah Brady, Barry Smyth and Dermot
    Diamond, University College Dublin, Belfield,
    Dublin 4, Ireland. J Neuroengineering Rehabil.
    2005; 2: 4.

15. EMG signs of fatigue in anterior and posterior
    deltoid muscles questioning the role of RMS
    during fatigue J.E. Gnitecki,G.P.S.Kler,and
    Z.Moussavi ,Department of Electrical & Computer
    Engineering ,University of Manitoba, Winnipeg,
    Manitoba, R3T 2N2, Canada

16. Electromyographic analysis of the portions of
    deltoid muscle during shoulder abduction in the
    frontal and scapular plane,Anamaria Siriani De
    Oliveira, Delaine Rodrigues And Fausto Bérzin1
    Universidade Federal de São Carlos, São Carlos,
    São Paulo, Brasil




                                                        43

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Automation of wheel chair using ultrasonics and kinematics03

  • 1. NCCI 2010 -National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, 19-20 March 2010 AUTOMATION OF WHEEL CHAIR USING ULTRASONICS AND BODY KINEMATICS Preethika Britto,Indumathi.J,Sudesh Sivarasu,Lazar Mathew School of Biosciences and Technology VIT University-Vellore preethikabritto@yahoo.co.in Abstract— Physically disabled persons find their movements very tough with the existing assistive devices. Though there are many robotics available in recent times to enable their motility they require fine and accurate control which is most of the times not possible in cases of higher disability. These robots are very efficient and enable the user to move around with ease. In recent times there have been various control systems developing specialized for people with various disorders and disabilities. This paper reports the preliminary work in developing a robotic wheelchair system that involves the movement of eyeball and shoulder kinematics in directing the wheel chair. The system enables the patient to have command over the robot, its direction of movement and will also sense and alarm the user about the obstacles in the path to avoid collision. This wheelchair helps the patient to move in environments with ramps and doorways of little space. This work is based on previous research in robot path planning and mobile robotics, generally a robot should be interactive, and robotic wheelchairs must be highly interactive to enable the system to work most efficiently. Keywords: eyeball control, wheel chair automation, rehabilitation, IR sensing, shoulder control, capacitive sensing, Hemiplegic rehabilitation, ultrasonic intruder sensing. 1. INTRODUCTION the movement of eyeball and shoulder kinematics in Assistive robotics is improving the lifestyle of the directing the wheel chair. physically challenged people to a great extent. In recent The system enables the patient to have command over times there have been a wide range of assistive and the robot its direction of movement and will also sense guidance systems available in robotics to make their and alarm the user about the obstacles in the path to life less complicated and motile. These robots in are avoid collision. very efficient and enable the user to move around with This wheelchair helps the user to move in environments ease. In recent times there have been various control with ramps and doorways of little space. This work is systems developing specialized for people with various based on previous research in robotics, generally a disorders and disabilities. The systems that are robot should be interactive, and robotic wheelchairs developed are highly competitive in replacing the old must be highly interactive to enable the system to work traditional systems. most efficiently. There are many assistive systems using visual aids The whole paper is divided into the following sections. like videooculography systems, infrared oculography, Section 2 describes the principle behind the eye ball eyeball sensing using electrooculography and much sensing, Section 3 about principle behind the shoulder more. There are even systems based on voice movements, Section 4 shows the ultrasonic intruder recognition too. The basic assisting using voice control sensing mechanism. In Section 5 the overall control is to detect basic commands using joystick or tactile system is commented with results. screen. These applications are quite popular among people with limited upper body motility. There are 2. PRINCIPLE OF EYEBALL SENSING certain drawbacks in these systems. They cannot be The basic principle of this direction sensing is the used by people of higher disability because they require colour of the eyes. There are two main colour pigments fine and accurate control which is most of the time not in the human eyes. i.e., black and white. The colours possible. This paper reports the preliminary work in show different wavelengths in the spectrum. White developing a robotic wheelchair system that involves being the farthest colour in emits the lowest wavelength. So the wavelength of white light is chosen 37
  • 2. NCCI 2010 -National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, 19-20 March 2010 as the standard parameter. White light can be measured The Eye ball position is detected with reference to the by infrared sensors. The wavelength of the white Iris. Harmless 950nm wave length IR Transmitter and portion if the eye varies from 600nm to 640 nm.[2] The IR detectors are used to sense the position of the Eye infrared light ray measures and reflects the wavelength ball. The Tx , Rx sensors are positioned in such a way emitted by the white portion and based on that the to sense the position of Iris Up/Down, Left/Right eyeball sensor is constructed. Figure 1: Electromagnetic Spectrum Figure 3: connectivity with wheel chair The Infrared sensors are placed on either side of the 3. PRINCIPLE OF SHOULDER SENSING eyes fixed in goggles. The whole circuitry is fitted The overall block diagram of the project is inside a table-top instrument which is connected to the spectacles through a long flexible cable which performs the analysis, processing and amplification of the signals derived from the sensor’s eye-ball movements. Both eyes are lit up by the energy from the Infrared Light- Emitting Diode (IRLED) sections. The silicon phototransistors and the IR sources are mounted in front of the eyes so that the obstruction of the field of view is minimized and the capability to accurately monitor the position of the eye is maintained Figure 4: Overall block diagram of the intellichair. This sensor is formed by two metallic electrodes wound on a non-metal tube with insulation between electrodes Figure 2: The Eyeball Sensor on goggles to form much like an open capacitor. These electrodes are placed in a feedback loop of a high frequency oscillator. When no material is present inside the tube, SPECIFICATION: the sensor capacitance is low. Therefore, the oscillator • Supply 12v DC Ripple free amplitude is small. When any material is present, the • Analog O/P 2-3v variation capacitance value will increase resulting in increased • Repeatability 10% amplitude of the oscillator. Depending on the dielectric • Switch O/P 100mA NPN switch constant of the material, the amplitude varies. The • LED indication for switch O/P evaluating circuit will give the analog output proportional to the dielectric constant of the material. 38
  • 3. NCCI 2010 -National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, 19-20 March 2010 The amplitude of oscillation is measured by an always greater than the capacitance of the circuit in the evaluating circuit that generates a signal to turn on or absence of the target. off the output. SPECIFICATION Supply voltage - 12v DC OP switching - 100mA OP analog - 6-12V DC Hysterics - 10% Dimension - 90*63*40mm Capacitance is a function of the surface area of either electrode A or B, the distance between the electrodes (d) and the dielectric constant of the material (E) between the electrodes. C = (E x A)/d Where C = capacitance of the sensor A = surface area of either electrode d = distance between two electrodes Figure 6: Capacitance sensor (shoulder) E = dielectric constant of the material between the 4. THE OVERALL CONTROL SYSTEM USING electrodes MOVEMENTS The eyeball sensor is fitted on to the patient and the wavelength of white portion is recorded. Then when the patient wants to move right side, his left eye shows no variation in wavelength but in the left eye the black portion is sensed by the sensor which leads to decrease in the wavelength which automatically indicates to the wheel chair the direction it has to in. the same mechanism happens in the right eye too. Figure 5: Capacitance principle When the target approaches the sensor’s field, it acts as an electrode to the face of the sensor, and decreases the distance between the electrodes (d), thereby it increases the average surface area of the electrodes. The capacitance with a metal target is always greater than the capacitance of the circuit in the absence of the target. When a non conductive target enters the Figure 7: the overall view of the eyeball sensor sensor’s field, it acts as an electrical insulator between electrode A and B. The wheel chair works in the mechanism of two input The dielectric constant of the material (E) is a measure one output. Inputs from the eyeball sensor and the of its insulation properties. All liquids and solids have a pressure sensor placed on the shoulder are taken and greater dielectric constant than air (E air =1). Therefore antagonistically and fed to the PIC microcontroller the capacitance with a nonmetallic target present is which is programmed to move across the direction required. 39
  • 4. NCCI 2010 -National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, 19-20 March 2010 This intellichair is designed to help the paralyzed the sensor. They are generated by a transmitter and person who moves on a wheel chair, instead of the reflected by the target. The returning waves are handicapped person moving the wheel chair by his detected by a receiver. The time delay is used to hand, the chair will automatically move to a particular measure the distance to the object. The farther away an direction as the patient moves his eyes towards a object is, the longer it takes the sound wave to direction, with the help of Eye ball movement detection propagate. sensor and lifts his shoulder by the shoulder sensor. The chair will also sense the obstacles in front of it and gives a beep sound and stop before it automatically. This is sensed by the ultrasonic sensor. The details regarding the construction of this chair includes the following Model: A prototype model which symbolizes the wheel chair is constructed using the MS Sheet Master Controller: A Micro controller will act as a master controller for the movement of the robot. It is responsible for all the decisions taken by the robot. Eye ball Movement Sensor: This is used to sense the movement of the eye ball’s direction and converts it into digital data and transfers it to the Master controller. (Straight Command, Left/Right Command, Stop Command) Figure8: Ultrasonic principle Shoulder Movement Sensor: This is used to sense the This sensor senses the obstacle in the way and stops 30 movement of the shoulder. This is tuned to receive two cm before it. So the wheel chair is fool proof against commands i.e., up and down. This signal is transferred obstacles on the way of the wheel chair. This enables to the Master controller. the disabled person to move freely around in the environment without any dangers. The patient can be OptoCoupler with Stepper Driver Board. The need left on their own to move freely in the limited area. of Opt coupler is to isolate the Interface Board form the Stepper Motor to restrict any high voltage to the 5 RESULTS: Interface board. And this board also contains stepper The eyeball sensor was tested with various samples Driver circuit to amplify the Voltage and to withstand against normal and hemiplegic patients. The following high current because the pulse coming out from the results were obtained, they were found to be almost Interface is not tough enough to drive the Motor. stable and reliable. Stepper Power Supply. This board contains the power Case 1: Supply for the stepper motor and relay driver. Subjects of different age groups were subjected to the eye ball sensor and results are plotted. Software Driver in Hitech C. This is a software tool used to control the angular position i.e., to send specified pulses with controlled timing to vary the speed as when and where require Ultrasonic sensor: Ultrasonic sensor is another way to make non-contact distance measurements. It works by the principle of measuring the time a sound wave takes to propagate from the sensor, to an object and back to 40
  • 5. NCCI 2010 -National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, 19-20 March 2010 Case 1(a): Subjects of different age groups were subjected to the shoulder sensor and results are plotted. 32 Normal subjects 31.5 Muscle response in mv 31 30.5 30 29.5 29 28.5 20 22 24 32 43 Age of subjects Case 2: Case 2: The shoulder sensor was tested on a The eye ball sensor was tested on a hemiplegic patients hemiplegic patients and the results were plotted as and the results were plotted as Paralysed Subjects 30.2 30 29.8 Muscle response in mv 29.6 29.4 29.2 29 28.8 28.6 28.4 27 35 37 The shoulder sensor was tested with various samples against normal and hemiplegic patients. The following Age of subjects results were obtained, they were found to be almost stable and reliable. 41
  • 6. NCCI 2010 -National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, 19-20 March 2010 4. Face Tracking using an adaptive skin colour model. 6.DISCUSSION L.M. Bergasa et al. Third International ICCS Based on the results obtained we conclude that the Symposia on Intelligent Automation (IIA´99) and Soft Computing (SOCO´99). Genova. Italia. Junio eyeball response and shoulder towards normal subjects 1999. and hemiplegic patients is very prominent and gives a wide range of movements. Thus the wheel chair moves 5. EagleEyes Project. James Gips, Philip DiMattia, in all required directions with good response. Francis X. Curran and Peter Olivieri. Computer • There is very slight variation in the responses Science Department, Boston College. Chestnut Hill, of eye ball sensor in the case of normal subject Mass. USA. to hemiplegic patient i.e., in the order of 0.5 6. Manual de técnicas de Electrofisiología clínica. mv M.C. Nicolau, J. Burcet, R.V. Rial. University of • There is no big difference in the shoulder Islas Baleares. sensor response when tested on normal subjects and patients i.e., the activity of the 7. A robust eye gaze tracking method based on a sensor depends on the muscle movement of virtual eyeball model, Journal Machine Vision and the subject so the range can be narrowed Applications Publisher Springer Berlin / Heidelberg ISSN 0932-8092 (Print) 1432-1769 (Online) according to the subject using the wheel chair. 8. Brown, M., Marmor, M. and Vaegan, ISCEV 7. CONCLUSION Standard for Clinical Electro-oculography (EOG) This work forwards towards the development of a (2006), in: Documenta Ophthalmologica, usable, low-cost assistive robotic wheelchair system for 113:3(205--212) disabled people. This system can be used to control the handicapped, especially those with only eye-motor and 9. It's in Your Eyes - Towards Context-Awareness and Mobile HCI Using Wearable EOG Goggles, shoulder coordination, to live more independent lives. Proc. of the 10th International Conference on Eye and shoulder movements and require minimal Ubiquitous Computing (UbiComp 2008), Seoul, effort and allow direct selection techniques, this South Korea, pages 84-93, ACM Press, September increase the response time and the rate of information 2008 flow. Some of the previous wheelchair robotics research are restricted a particular location and in many 10. Robust Recognition of Reading Activity in Transit Using Wearable Electrooculography, Proc. of the areas of robotics, environmental assumptions can be 6th International Conference on Pervasive made that simplify the navigation problem. However, a Computing (Pervasive 2008), Sydney, Australia, person using a wheelchair and eyeball technique should pages 19-37, Springer, May 2008 not be limited by the device intended to assist them if the environment have accessible features. 11. Wearable EOG goggles: Seamless sensing and context-awareness in everyday environments, 8. REFERENCES Journal of Ambient Intelligence and Smart Environments (JAISE), 1(2):157-171, May 2009 1. SIAMO Project (CICYT). Electronics Department. University of Alcala. Madrid. Spain. 12. Eyeball-Position-controlled Communication System EPCOS E.E.E. Frietman, F. Bruggeman, 2. Sonar-Based Real-World Mapping and Navigation. C.J. van Spronsen Delft University of Technology, Alberto Elfes. IEEE Journal of Robotics and the Netherlands. Automation, Vol. RA-3, No. 3, June 1987. 13. Mobile Robot with Eyeball Expression as the 3. The Eyegaze Eyetracking System. Joseph A. Preliminary-Announcement and Display of the Lahoud and Dixon Cleveland. LC Technologies, Robot’s Following Motion TAKAFUMI Inc. 4th Anual IEEE Dual-Use Technologies and MATSUMARU, KAZUYA IWASE, KYOUHEI Applications Conference. Suny Institute of AKIYAMA,TAKASHIKUSADAANDTOMOTAK technology at Utica/Rome, New york. A ITO Bio-Robotics & Human Mechatronics Lab., ShizuokaUniversity,3-5-1Johoku,Hamamatsu,432- 8561Japan ttmatum@ipc.shizuoka.ac.jp 42
  • 7. NCCI 2010 -National Conference on Computational Instrumentation CSIO Chandigarh, INDIA, 19-20 March 2010 14. Initial development and testing of a novel foam- based pressure sensor for wearable sensing Lucy E Dunne, Sarah Brady, Barry Smyth and Dermot Diamond, University College Dublin, Belfield, Dublin 4, Ireland. J Neuroengineering Rehabil. 2005; 2: 4. 15. EMG signs of fatigue in anterior and posterior deltoid muscles questioning the role of RMS during fatigue J.E. Gnitecki,G.P.S.Kler,and Z.Moussavi ,Department of Electrical & Computer Engineering ,University of Manitoba, Winnipeg, Manitoba, R3T 2N2, Canada 16. Electromyographic analysis of the portions of deltoid muscle during shoulder abduction in the frontal and scapular plane,Anamaria Siriani De Oliveira, Delaine Rodrigues And Fausto Bérzin1 Universidade Federal de São Carlos, São Carlos, São Paulo, Brasil 43