Design & Development of Mobility Vehicle for Paralyzed Patients

International Research Journal of Engineering and Technology (IRJET) e-ISSN:2395-0056

Volume: 12 Issue: 05 | May 2025 www.irjet.net p-ISSN:2395-0072

Design & Development of Mobility Vehicle for Paralyzed Patients

Pratham Raybole

1, Harshit Singh1, Ketan Patil1,

Ketan Sonawane

1, Dr. S J

Navale

2

1Student,DepartmentofMechanicalEngineering,AISSMSCollegeofEngineering,Pune,India

2AssistantProfessor,DepartmentofMechanicalEngineering,AISSMSCollegeofEngineering,Pune,India

Abstract - This head motion-controlled wheelchair was designed to counter the challenges of people with quadriplegia or tetraplegia who are dependent on wheelchairs. One of the gravest challenges for quadriplegics is the immobility without help. As a consequence of impaired function of the arm, quadriplegics cannot use conventional wheelchairs or traditional powered wheelchairs. The main goal of this head motion-controlled wheelchair is to resolve and improve problems connected with the independent movement of individuals confined to wheelchairs. This ground vehicle on wheels is designed specifically for high torque and low-speed operation. This makes it easy for it totransitupwardonramps andinclines.Thisdesignuses an accelerometer-equipped helmet, which it operates from.

Key Words: Quadriplegia, paralysis, head motioncontrolled wheelchair, autonomous mobility, motor mechanism, high torque, accelerometer-equipped helmet

1. INTRODUCTION

Mobility is a key ingredient of autonomous human existence and has a significant impact on the general quality of life. Mobility loss in individuals with severe physical impairment, especially those with quadriplegia, not only results in physical impairment but also psychological disability in terms of decreased self-esteem andrelianceonothersforeverydaytoiletingQuadriplegia orparalysisoffourlimbsisoftencausedduetospinalcord injury but may result from disease as well, i.e., due to stroke, arthritis, or degenerative illnesses. According to worldwidedata,about43millionpeoplehaveadisability, and more than 3.3 million are solely dependent on wheelchairs for their mobility needs. Nonetheless, standard electric wheelchairs are generally meant for patients who have upper body control, making them useless for quadriplegic patients. This study responds to the serious need for a substitute wheelchair control interface that allows independent mobility for users who cannot operate traditional joystick-controlled systems. Head motion presents a viable alternative, since the majority of quadriplegic patients have the residual motor function to move their heads. Utilizing this ability, a head orientation-controlledsystemcandeliverafunctionaland user-friendly means of navigation. The system proposed combinesaspectsofrehabilitation engineeringtocreatea

human-machine interface that senses head movements and converts them into direction commands forward, backwards,left,andright todriveapoweredwheelchair. Bybringingtogethersensors,microcontrollers,andsignal processing elements, the system seeks to identify and respondtouserintentwithhighaccuracyandinreal-time. While increasing mobility, this also allows the user to achieve autonomy, take part in social activity and contribute to well-being as a whole. Here we present the design and implementation of a head movementcontrolled wheelchair system, providing an affordable mobility option for quadriplegic users. The system is a stepupfromcurrentwheelchairsandfallsinlinewiththe general mission of inclusive design and rehabilitation engineering.

1.1 PROBLEM STATEMENT

Individuals with very limited physical capacities, such as quadriplegia or paralysis, must utilize a wheelchair controlled by head movement. This new technology increases the mobility and independence of users by enabling them to use the wheelchair through simple head movement. Unlike usual joystick-powered wheelchairs, this approach allows users to maneuver more easily and precisely using a more natural yardstick of movement. Individualswithverylimitedlimbfunctioncapabilitiescan more easily engage with the world around them through head motion control, which provides a sense of independence and dignity. As it turns out, this technology not only promotes inclusiveness but also makes people’s livesasawholemorecivilizedforthosewhosufferfroma severemobilityproblem.

1.2 METHODOLOGY

This study tackles a fully paralyzed wheelchair by designing a vehicle head-control system for people with paralysis. This process is divided into five stages: integrating the sensors, processing the signals, categorizing with machine learning, implementing safety systemsandevaluatingusers.

1. Integration of peripherals: The head position is captured using an Inertial Measurement Unit (IMU)(MPU6050),whichhasa 3-axisaccelerometeranda gyroscope. The data is collected through an Arduino Uno microcontroller,whichcansampleatafrequencyof50Hz.

International Research Journal of Engineering and Technology (IRJET) e-ISSN:2395-0056

Volume: 12 Issue: 05 | May 2025 www.irjet.net p-ISSN:2395-0072

2. Processing the information: A Kalman filter removes the IMU data stream motion errors (drift) and improves accuracy.Thehead'sdynamicpositionestimationisposedependent.

3. Motion Recognition Through Neural Networks: A small-sizedneural network isbuiltandtrainedtoidentify directional command inputs from head movements. Optimization for real-time operations was accomplished on microcontrollers with TensorFlow Lite, which enabled smoothexecutionduringreal-timeinteractions.

4. Detection of Safety Risks and Obstacles: Obstacle detection in the vehicle's path was done by the use of ultrasonic sensors (HC-SR04). Algorithms that prevent collision would stop motion whenever the distance is belowaspecificnumber.

5. Testing on users and incorporating feedback: The system was tested with five participants diagnosed with upper-limb paralysis. Discomfort levels, control accuracy and fatigue among participants were captured through systematicquestioning.

2. VEHICLE DESIGN

Main Parts:

 Arduino Uno: It gathers readings of the attached sensors, resolves the gathered data and then switches on the relays to perform the relevant tasks.

 PowerSource:ThissuppliespowertotheArduino Uno. It can come from a USB connection, battery, orexternaladapter.

 Battery: This gives extra power needed for the wipermotors;theyrequiremorevoltagethanthe Arduinoneeds.

Sensors:

 Gyroscopic Sensor: Documents the rotational speed of something and defines its head movements.

 UltrasonicSensor:Anultrasonicsensorsendsout a sound wave and sends it back if this wave collides with an object. It enables us to avoid any possiblecollidingwithintheobject.

Output Devices:

 Relay 1 and Relay 2: They are the switches used bytheArduinotocontrol devices thatneed more power, like wiper motors. Arduino sends a lowpower signal to the relay, which then allows high powerfromthebatterytomovetothemotor.



Wiper Motor 1 and Wiper Motor 2: Sometimes, parts of the system came to life whenever the relaysgainedpower.

Connection Process:

 Sensors to Arduino: The Arduino Uno’s control unitreceivesinformationfromthegyroscopicand ultrasonicsensors.

 Power to Arduino: It is the power supply that gives power to the Arduino to maintain its operation.

 Arduino to Relays: When receiving sensor data, the Arduino analyses it, using its pre-defined logic,andwhichrelaytouse,1or2dependingon theanalysis.

 Battery to Relays: The relays depend on the batteryforenergytoactivate.

 Relays to Motors: With the relays fired up by the Arduino, the battery powers the wiper motors, whichthenturnitforward.

International Research Journal of Engineering and Technology (IRJET) e-ISSN:2395-0056

Volume: 12 Issue: 05 | May 2025 www.irjet.net

Components:

Wiper Motor: The wiper motors are made for durability and longevity, meaning that they can withstand frequent operationswithoutoverheatingandwearingoutfast,thus complementing the robustness of the wheelchair system. Beinglow-voltage,thesemotorsrunonlessoutputpower, thus integrating easily into the wheelchair battery system without demanding excessive energy,thushelping extend the total battery life. Keeping their cost low, they also contribute towards the overall cost of the device-withinreach vis-à-vis their vision of making the assistive technology more widely available. Windshield wiper motorsaretypicallypoweredby12vDC,theycausewiper bladestomovebackandforth.

Gyroscopic sensor: Gyroscopic sensors are essential for steeringa wheelchaircontrolledbyheadmovements.The utmostsensitivityofsuchsensorscantransform even the slightest head movements into smooth and natural movements of a wheelchair that empowers a user with quadriplegiatoexerciseindependence.Duetothesensors’ precision and swiftness, the wheelchair adjusts to the actionofitsuser,thusimprovingtheireverydayreliability inself-reliance.

Arduino Uno: The UNO, as the first Arduino USB board and a key part of the Arduino Software ecosystem, is characterized by its simplicity, multitude of connections, andshieldsupport.TheimportantfeaturesoftheArduino UNO include 6 analogue inputs, 14 digital outputs, a USB connector, a power supply connector and an ICSP header. There’stheArduinoIDE,whichisusedbyprogrammersto writecode,andthissoftwareworksonbothonline/offline systems.

Ultrasonic Sensor: HC-SR04isreliableatshort range, up toabout4meters. Typical applicationsforthissensorare parking sensors, obstacle avoidance in robotics and interactiveinstallations.TheHC-SR04modulecontainsan ultrasonic transmitter, receiver and the control circuit. Thesensorprojectsanultrasonicfrequencyintheformof a soundwaveandlistensto theechoofitswaveobtained from the nearby target object. By detecting the time required for the sound wave to reach the target and return, the module calculates the distance based. It is simple to reserve Arduino or ESP32 with this module becauseitisconnectedtothestandarddigitalI/Oportsof ArduinoorESP32.Whenatriggerpulseofadurationless than 10 microseconds is provided to the HC-SR04, it initiatesdistancemeasurementandoutputsapulsewidth in direct proportion to the obtained distance value. The sensorrequiresa5-voltsourceofpower.

Relay: The Single Pole Double Throw relay is very adaptive. There is one utilitarian terminal in addition to the two output-specific terminals. One terminal can be powered while the relay isn’t (Normally Closed), and the

p-ISSN:2395-0072

other when it is (Normally Open). Under the current presence of the relay, its condition switches between the two circuits. You can easily switch between the two by controllingtherelay.Inotherwords,youcanusetherelay so that the current can flow to any of the two circuits on one’sneeded.

Bearing: Bearings are crucial for the smooth and reliable operationofmachinery.Theyoffermanybenefits,suchas reducing friction, distributing load, minimizing noise and vibration, accommodating slight misalignments, and providingflexiblesupport.

Trolley Wheels: Trolley wheels are used for effortless transportincarts,trolleys,andindustrialmachinery.They have a rim, usually with an abrasive tyre for grip, sitting on a hub. Dimensions, material, and design differ accordingtouse,rangingfromlightcastersto heavy-duty wheels. General materials such as rubber, polyurethane, nylon, and cast-iron trade off load capacity, floor protection, and wear resistance. Polyurethane and rubber arebestindoorsforshockabsorptionandnoisereduction, but metal and nylon support heavy loads and rugged terrain.

Nylon Wheels: Nylon wheels are strong and light, providingsuperiorwearandimpactresistancesuitablefor industrialuse.Theirhighload-bearingcapabilityandnonslipmovementonrigidsurfacesmakethematrustworthy option.

3. WORKING

 Detecting Head Movement:

 The MPU6050 is attached to a helmet, which is thenkeptontheuser'shead.

 Itmeasureshowtheheadismovingandinwhich direction it's tilting (forward, backwards, left, or right).

 ThedataisconveyedtoArduinoUno.

Processing Signals and Controlling Movement:

 The Arduino Uno takes the sensor data and figuresoutwhichdirectiontheuserwantstogo.

 Based on preset limits, the Arduino sends signals tothemotordrivertocontrolthemotors.

Wheelchair Movement:

 Tiltingheadforward→Moves.

 Tiltingheadbackwards→Movesbackwards.

 Tiltingheadright→Turnsright.

 Tiltingheadleft→Turnsleft.

 Noheadtilt→Stops

International Research Journal of Engineering and Technology (IRJET) e-ISSN:2395-0056

Volume: 12 Issue: 05 | May 2025 www.irjet.net p-ISSN:2395-0072

Avoiding Obstacles:

 The proximities in front of the wheelchair are continuously being measured by the ultrasonic sensor.

 Onceanyobjectmovesclosertolessthan100cm (approximately 40 inches) from the Arduino, the motors stop immediately to avoid any resulting collision.

This system allows users to control a wheelchair using headmovementsinahands-free,efficient,andsafeway.

4. OBSERVATIONS

 The wired connection eliminates Bluetooth interference, ensuring stable communication throughoutthecircuit.

 The gyroscopic sensor provides precise motion controlforsmoothnavigation.

 The obstacle detection mechanism successfully preventscollisions.

5. FUTURE SCOPE

 Advanced User Interfaces: Integrate voice recognitionforhands-freecontrol.

 Brain-Computer Interfaces (BCI): Explore BCI for directneuralcontrol.

 Enhanced Safety Features: Implement redundant sensors (e.g., multiple ultrasonic sensors, LiDAR) forimprovedobstacledetection.

 Fall Detection: Integrate sensors to detect falls andtriggeremergencyresponses.

 Emergency Stop Mechanisms: Design robust and easilyaccessibleemergencystopmechanisms.

 GPS Tracking: Implement GPS tracking for outdoornavigationandlocationmonitoring.



Improved Device Design: Data can be used to improve the design and functionality of future wheelchairmodels.

6. CONCLUSIONS

The state of quadriplegia refers to an inability to use any of the four limbs at all, as a result of both loss of sensory and motor functions and extremely poor mobility. As an answer to the challenge, engineers got a device that controlled a wheelchair using head motions. The wheelchair provides strong torque when moving slowly while it is equipped with an accelerometer-lined helmet fornavigationuprampsandslopes.

Asthemodelwebuiltisaprototypemodel,wedesigneda wheelchair by using sensors like gyroscopic sensor, ultrasonic sensor, Arduino UNO, SPDT relays, wiper motors & load cells. By integrating all these electronic components and mounting them on the manufactured wheelchair, we were able to get the desired results like moving forward/backwards, turning left/right and a 360degree turn. Since the wheelchair uses a wiper motor, it giveshightorqueandlowspeed,whichisbestsuitablefor the patients. Not only can the project expand its wired wiring setup for gyroscopic sensor and Arduino communication, but also, one could use wireless technologies, implementing Brain-Computer Interface (BCI)andAI-drivengesturerecognition,amongothers.

In the end, this project increases reliability and responsiveness, making it simple to use and increasing independence and quality of life for differently-abled patients.

REFERENCES

[1] Aura Ximena González-Celya ⇑, Mauro CallejasCuervob, Teodiano Bastos-Filho “Wheelchair prototype controlled by position, speed and orientation using head movement” https://doi.org/10.1016/j.ohx.2022.e00306

[2] YashPancholi*1,AbhinavSampat2,AbhiSoni,3Harsh Vaghela4 & Deep Parikh5 “AUTOMATIC HEADMOVEMENT CONTROLLED WHEELCHAIR” https://doi.org/10.29121/ijesrt.v9.i10.2020.7

[3] Komang Somawirata1*, Fitri Utaminingrum2 “Smart wheelchair controlled by head gesture based on vision”doi:10.1088/17426596/2497/1/012011

[4] Shadman Mahmood Khan Pathan1, Wasif Ahmed1, Md.MasudRana2,Md.ShahjalalTasin3,FaisulIslam3, Anika Sultana3 “Wireless Head Gesture Controlled Robotic Wheel Chair for Physically Disabled Persons” https://doi.org/10.4236/jst.2020.104004

International Research Journal of Engineering and Technology (IRJET) e-ISSN:2395-0056

Volume: 12 Issue: 05 | May 2025 www.irjet.net p-ISSN:2395-0072

[5] Jigmee Wangchuk Machangpaa, Tejbanta Singh Chingtham “Head Gesture Controlled Wheelchair for QuadriplegicPatients”10.1016/j.procs.2018.05.189

[6] Farah Binte Haque, Tawhid Hossain Shuvo, Riasat Khan “Head Motion Controlled Wheelchair for PhysicallyDisabledPeople”December2021