HMC Presentation

5/27/2018 HMC Presentation

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Universiti Teknologi Malaysia

Head Movement ControlWheelchair

(HM Wheelchair)

Agilent Malaysia Innovator Award 2007

Team Members:Mohd Adib bin SarijariSyed Norazizul bin Syed NasirAbdul Rahman Bin M.Asmuei

Team Supervisor:Assoc. Prof. Dr. Rosbi Mamat


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Background of the Problem Objectives Target Users Product Descriptions Product Features Market Potential RAC-Technological Aspects RAC-Tests Results

Conclusion



Presentation Layout

Cari gamba said tgh wat

mekanikal


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Background of Problem


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To assist severely disabled1 person tocontrol their wheelchair with headmovements.

To grant the severely disabledpersonbecoming more mobile and enjoy a betterlife.

1severely disabledmeans physically challenge people thatcannot use their hands and legs in normal life



Objectives


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Cap with movementdetection & wirelesscomm.

Wireless commbetween HM(headmovement)controllerand base controller

C for headmovementprocessing &wireless comm.



Product Descriptions

Motorized platform

with C forintelligence motorcontrol & obstacleavoidance


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Head movement control:Motorizedwheelchair is controlled by the headmovements.

HM part is very small/compact & lightwhich can be mounted easily on cap, headband, ears etc.

Infra Red sensor:For obstacles avoidance.


Product Features



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Safety features:Bumper sensors stop when platform hit

surrounding objects

emergency STOP button useful for emergencycases

Alternativelywheelchair can be controlled byjoystick. Useful for interruption by the trainingsupervisor during the training of using theHMwheelchair.


Product Features cont



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Integrated microcontroller intelligencecontrol Head movements detection & decoded to actual

wheelchair motion

Obstacles detection & avoidance through Infra-redsensors

Handling wireless comm between HM(Headmovement) controller & base controller.





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Wireless communication is used tocommunicate between HM controller & basecontroller therefore:

No direct contact between head movementcontroller and base controller

less wiring and less messy.




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Features ConventionalWheelchair

HMC

Motorize Unmotorized operation: use

hands to operate.

Motorize operation:

fully driven by motor.DirectionControl

Direction is fully controlledby hand.

Directions are controlby head movements.

Obstacleavoidance

No obstacle avoidancefacility

Automatic obstacleavoidance (for safetyreason).

Alternativecontrol

Has to be manually pushed Alternative controlusing joystick.


Conventional VS HM



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Paraplegia:BOTH LEGS are paralysed.

Quadriplegia:ALL FOUR LIMBSi.e. arms and legs are paralysed.

SPINAL COLUMN STUCTURE


Target Users


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About12 to 53 new spinal injuries permillion population in the developedcountries every year1.

Current estimates: 250,000 - 400,000individuals living with Spinal Cord Injury.

So there is marketforHM

1www.spinalcord.uab.edu


Market Analysis


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TheseHM wheelchair will be a greatsolutionfor disable people especially forpeople with Quadriplegia& Paraplegia

injuries. We hope that this project will serve as

UTMs & Agilent contribution to thephysically challenged community.


Impact Toward Society



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Process Flow



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Mar April May June July Aug Sept

Mohd Adib Sarijari HMController Part

Design circuit

Test and calibration

Integration with base controller

Abdul Rahman Samuei Base Controller Part

Design circuit

Test and calibration

Integration with upper controller

Syed Norazizul Syed Nasir Mechanical Part

Design wheelchair

Fabrication of all mechanical part

All team members

Discussion

Integration all parts

Tasks Distribution


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Gantt Chart


Actual schedule

Proposed schedule

Minimum activities beingdone due to team members

practical training


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Practical training

Technical problems:

o Learning the technology many unexpected thingshappened

o accelerometer burn

o ATMEGA8 (C) easily burn migrate toATTINY2313

o LM298 motor driver burn develop own high currentmotor driver (60Amp)

o Unreliable RF module migrate to Zigbee module


Causes of Delay



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microcontroller

EmergencyStopButton

Bumper

microcontroller

accelerometer

ZigBee Module ZigBee Module

Motor

InfraredSensor

HMsituated on users head Base Controlleron the wheelchair

Wireless comm

HM


Main Sub Systems In

HM Wheelchair



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TechnologiesInvolve

BaseController

Software

MotorizeWheelchair to

prove theconcept

HMController


Technical Aspect of HM



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ADXL202:LowCost 2g Dual AxisAccelerometerswith used for

detection of HM

IP-Link1270:

2.4GHz zigbeewireless module forcomm between HMcontroller and basecontroller.

ATTINY2313:High-performanceand Low-powersmall size Cused to decode HMand send to basecontroller

Rechargeable battery9V 150mAh

Average currentconsumption ofHM= x mA


HM Controller



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BASE CONTROLLERmainprocessing unit for intelligence wheelchair motion control

based on received data from HMC & other sensors

Motor driver circuit:provide high current

driver for 2 DC motors

IR sensor & interfacecircuit: For obstacle

avoidance capability

Zigbee WirelessModule: For Commbetween HM & basedcontroller

Ccircuit: mainprocessing unit forintelligencewheelchair motioncontrol



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MOTORIZE WHEELCHAIRAs a platform for evaluating HM

2 DC motors: 24volt,2Amp

Joystick holder:

hold joystick if notbeing use

Safety starter: HMC

will only functioningwhen there is a personon it.

Foot pad: Forcomfortable restingfor userStainless steel:

used to construct

the HM base.



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BASCOM

BASIC language compiler forsoftware development for ATMEL

microcontroller (Attiny2313).Demo (Free) version from MCS

Electronics


Software



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Results



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Help Quadriplegia & Paraplegia to bemobile with the used of HM wheelchair.

Testing results show that this system can be

used with little training (~5min).

The system had been design with safetyconsideration so that it will make the user

feel confident to used it.


Conclusions



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References


Performance of a Head movement Interface for Wheelchair Control,P.B Taylor, H T Nguyen. Faculty of Engineering, Universityof Technology, Sydney, NSW, Australia.

http://www.electropedicbeds.com/Used-Electric-Wheelchairs.html

http://www.adremo.nl/index.phpwww.microchip.com

http://en.wikipedia.org/wiki/Wheelchair

http://www.ti.com/

http://www.sunx-ramco.com/

http://www.analog.com/en/ http://www.atmel.com/

http://www.mcselec.com/
http://www.electropedicbeds.com/Used-Electric-Wheelchairs.htmlhttp://www.electropedicbeds.com/Used-Electric-Wheelchairs.htmlhttp://www.adremo.nl/index.phphttp://www.microchip.com/http://en.wikipedia.org/wiki/Wheelchairhttp://www.ti.com/http://www.sunx-ramco.com/http://www.analog.com/en/http://www.atmel.com/http://www.mcselec.com/http://www.mcselec.com/http://www.atmel.com/http://www.analog.com/en/http://www.sunx-ramco.com/http://www.sunx-ramco.com/http://www.sunx-ramco.com/http://www.ti.com/http://en.wikipedia.org/wiki/Wheelchairhttp://www.microchip.com/http://www.adremo.nl/index.phphttp://www.electropedicbeds.com/Used-Electric-Wheelchairs.htmlhttp://www.electropedicbeds.com/Used-Electric-Wheelchairs.htmlhttp://www.electropedicbeds.com/Used-Electric-Wheelchairs.htmlhttp://www.electropedicbeds.com/Used-Electric-Wheelchairs.htmlhttp://www.electropedicbeds.com/Used-Electric-Wheelchairs.html


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Thank You



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Q & A Session



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Two mode of operation

Head Movement control: wheelchair

can be controlled by HMJoystick Control: wheelchair can be

controlled by joystick.



Operational


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The Adremo wheelchair (Holland) is anelectric wheelchair fitted with speciallycombined head

And foot controls.


Adremo Wheelchair



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A specially constructed adjustablehead support enables steering by wayof a slight head movement.

Currently, Adremo wheelchair is notavailable in Malaysian market so thereare no price could be quoted andMaybe it is very expensive to own.



Adremo Wheelchair cont


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Spastic School Visit JB


Documents

HMC Presentation