The wheelchair is used to assist in movement and heavily relied on by people who have significant difficulty in walking. Manual wheelchairs can be used by people with good upper limb strength and dexterity, however people suffering from any kind of locomotive disabilities in the arms would require assistance. This article reports the proof of concept of a smart electric wheelchair that can be controlled by utilizing hand gestures. A prototype with wheeled mobile robot was developed and involved the use of data fusion from sensors mounted on human hand to create a scheme for motor control of the wheels. Hand gesture dependent data from accelerometers and gyroscope were inputs to control the wheelchair in the required direction. The prototype of the wheelchair, PID based controller and a hand mounted sensor unit (HMSU) was able to function reliably and efficiently on urban terrain.
Hand Gesture-Controlled Wheeled Mobile Robot for Prospective Application as Smart Wheelchairs
Lect. Notes Electrical Eng.
12.03.2023
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Electric wheelchair (ECW) , Gesture-controlled/control , IMU (inertial measurement unit) sensor , PID , Filter , Hand mounted sensor unit (HMSU) Engineering , Control, Robotics, Mechatronics , Electronics and Microelectronics, Instrumentation , Signal, Image and Speech Processing , Power Electronics, Electrical Machines and Networks , Physics and Astronomy