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CHAPTER I

THE PROBLEM AND ITS BACKGROUND

INTRODUCTION

An estimated 20 million people worldwide in 2003 needed a wheelchair for

mobility and lacked one (World Health Organization [WHO], 2008). In less-resourced

settings, access to appropriate wheelchairs is limited. An appropriate wheelchair

allows the user to meet his or her mobility needs in the local environment, providing

postural support with proper fit and is durable, safe, available, affordable, and

maintainable by the user (WHO, 2008). Globally, charitable, governmental, and

service organizations provide wheelchairs. However, users in less-resourced settings

often receive inappropriate wheelchairs or wheelchairs with inadequate services.

Awareness is increasing wheelchair provision by trained personnel increases the

chance that wheelchair users receive appropriate wheelchairs. [1]

Versatility gadgets are proper for individuals who experience a broad scope of

portability troubles because of an expansive range of ailments and disabilities,

including removal, joint pain, cerebral paralysis, poliomyelitis, strong dystrophy,

spinal-rope injury, spina bifida, stroke, and are additionally pertinent for more

established individuals who experience versatility challenges. Assistive

advancements, for example, wheelchairs, have been shown that, when proper to the

client and the client's current circumstance, they fundamentally affect the degree of

autonomy and investment that individuals with inabilities could accomplish. [2]

A wheelchair could help a person's well-being in a variety of ways. Increased

physical activity levels could be achieved with a wheelchair that is usable,

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comfortable, and quickly propelled, thereby enhancing both physical and mental

health. Pressure sores, the progression of deformities or contractures, and other

secondary disorders associated with weak postures may all be reduced with a well-

fitting wheelchair with a cushion and proper user training. [3]

There has been expanding interest in the Wheelchair among innovators, plan

engineers, and the overall population in recent years because the Wheelchair has

come to represent the individual with incapacities. For instance, the public image for

crippled admittance is a theoretical picture of an individual in a wheelchair. It is a

definite and reasonable article and, as of late, has become the focal point of a large

number of thoughts and ideas for development. Conversely, the significant makers of

wheelchairs have been somewhat moderate in presenting novel thoughts and have

instead been content with minor item upgrades, especially as to fueled wheelchairs.

[4]

The special case has been the creation of the games type Wheelchair, which

was first imagined and created in light of rivalries in hustling, b-ball, and different

games for competitors with inabilities. Sports-type wheelchairs for general use were

first presented by new organizations like Quadra and Motion Designs, however, they

are currently offered by every significant producer. The unrest in lightweight

wheelchair plan and styling is a good representative for the soul and essentialness of

individuals behind this development, many of whom have disabilities. [5]

Now and again, the issue is that the handicap makes somebody lose the capacity to

walk; subsequently, for this situation, the method of controlling a wheelchair should

be possible utilizing voice orders, manual control, and android control utilizing an

android application. In any case, an electric wheelchair is costly and has a restricted

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control choice. Researchers concocted a plan to construct a wheelchair with many

control choices in this task.

BACKGROUND OF THE STUDY

Many different kinds of disabilities require wheelchairs for mobility, which

are referred to as mobility impairments. Disabilities may be orthopedic (relating to the

bone and muscles), or they may be neuromuscular (relating to the nerves and muscles)

[6] on the other hand, after a certain age, or as researchers refer the senior citizens,

physical problems can prevent people from performing daily activities. Getting

around becomes increasingly complex, even when indoors.[7] WHEELBOT: A

Microcontroller-based Wheelchair with Manual and Mobile-maneuvering Controlled

System through Mobile User Interface Application is intended to give a solution to

people who have mobility disabilities where it is not just an ordinary wheelchair.

Wheelbot is a motorized wheelchair controlled in three ways: Joystick, Voice Control,

and Mobile control. The researchers aim to add a feature that can track the Wheelbot.

Through this project, mobility, disabled people would no longer need extra effort to

control their wheelchairs.

OBJECTIVES OF THE STUDY

The study aimed to develop an efficient WHEELBOT: A Microcontroller-

based Wheelchair with Manual and Mobile-maneuvering Controlled System through

Mobile User Interface Application that would benefit nurses and people with mobility

disabilities by developing a mobility and independence product. The study also

intended to create a wheelchair that would be a useful mode of transportation for the

elderly and disabled.

1. To identify the hardware and software specification and requirements.

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2. To design microcontroller-based wheelchair using designing tools such as

Schematic Diagram and Story Board.

3. To integrate microcontroller, modules and sensors.

4. To create and develop a mobile application that interconnect and controls

hardware products.

5. To test the mobile application and product system functionality and

operability using researchers made test case.

SCOPE AND DELIMITATION

The study would be covering the development of the WHEELBOT: A

Microcontroller-based Wheelchair with Manual and Mobile-maneuvering Controlled

System through Mobile User Interface Application. The researchers research what

tools or specifications of the software require building an automatic wheelchair and

needing to use Arduino, a microcontroller and modules connected to Arduino and a

sensor, and the software the researchers use to build codes Arduino is Arduino IDE.

Based on the wheelchair, the researchers checked a design of a regular wheelchair that

can make it an automatic wheelchair. The researchers also used a schematic diagram

to see the connection of the module's wirings and a storyboard for mobile application

design. The researcher also develops a mobile application in MIT app Inventor. In this

app, the user would allow controlling the wheelchair using the mobile application, and

it can also be managed via a mobile application designed for the caretaker's

convenience in controlling the WHEELBOT's wireless maneuvering. The wheelchair

has an ultrasonic sensor that stops when the ultrasonic detects a blockage. The mobile

application is accessible through Bluetooth, allowing users to use it at their leisure. It

has login features, whereas only authorized users can control the wheelbot.

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Due to design limitations, the voice control would not detect any other

languages besides English. The researchers use test case questioners to ensure that

each functionality of the hardware and software is working correctly, and Appendices

L and M provide a list of references.

The WHEELBOT has three speed options in mobile application (Low Speed,

Medium Speed, and High Speed).

 Low speed 75rpwm is equal to 2.4m/h.

 Medium speed 90rpwm is equal to 2.8m/h.

 High speed 175rpwm is equal to 3.4m/h.

It also has 175rpwm for joystick speed, which is 3.2m/h as users could see in

appendix I.

The researchers have seen that the wheelchair has a limitation that the system

cannot do, and these are, The WHEELBOT cannot be controlled through Wi-Fi, and

the mobile app controller is only available for Android users. The WHEELBOT has a

maximum weight and minimum weight that could carry a person.

 Minimum Weight: 40lbs

 Maximum Weight: 60lbs

Wheelchairs could only drive on flat surfaces and cannot drive on high slopes.

Because of the wheelchair design requirements and the need for robust wheels that

could drive on high slope surfaces, the researcher cannot make the wheelchair drive

on high slopes.

The researchers created a test case questionnaire to test the wheelbot's

functionalities. The researcher has ten test trials in each module indicated for the

wheelbot, as shown in appendix B and appendix C.

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SIGNIFICANCE OF THE STUDY

This study was performed to help those elderly and paralyzed persons by using
this project. The study would benefit the following persons:

To the user

This study would help people with mobility disabilities and help them move at

a small distance using this technology. This study would help people who are

assisting patients or in the medical field to lessen their work by pushing the

Wheelchair manually; instead, they could use their android devices to control the

Wheelchair.

To the proponent

This study would help the proponents develop and improve their knowledge

about the things that the Internet of Things (IoT) could do to simplify living and

enhance the skills needed to make good Internet of Things (IoT) projects.

To the Future Researchers

This study could help future researchers improve the system and use it to

reference future research projects.

DEFINITION OF TERMS

The following terms are defined and categorized in conceptual and operational

meanings to understand the study better.

Bluetooth – wireless technology that allows the exchange of data between different

devices.

Controller - is an individual who has responsibility for all accounting-related

activities, including high-level accounting, managerial accounting, and finance

activities, within a company. A financial controller typically reports to a firm's chief

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financial officer (CFO), although these two positions may be combined in smaller

businesses. The duties of a controller include assisting with the preparation of the

operating budgets, overseeing financial reporting and performing essential duties

relating to payroll.[8]

DC Motor – A direct current or DC motor, converts electrical energy into mechanical

energy. It is one of two basic types of motors: the other type is the alternating current

or AC motor. Among DC motors, there are shunt-wound, series-wound, compound-

wound and permanent magnet motors.[9]

Internet of Things – is a system of interrelated computing devices, mechanical and

digital machines, objects, animals or people that are provided with unique identifiers

(UIDs) and the ability to transfer data over a network without requiring human-to-

human or human-to-computer interaction.[10]

Mechanical System - is a set of physical components that convert an input motion

and force into a desired output motion and force.[11]

Mental Health – Mental health includes our emotional, psychological, and social

well-being. It affects how they think, feel, and act. It also helps determine how they

handle stress, relate to others, and make healthy choices. Mental health is important at

every stage of life, from childhood and adolescence through adulthood.[12]

Microcontroller - is an integrated circuit (IC) device used for controlling other

portions of an electronic system, usually via a microprocessor unit (MPU), memory,

and some peripherals. These devices are optimized for embedded applications that

require both processing functionality and agile, responsive interaction with digital,

analog, or electromechanical components.[13]

MIT App Inventor - is a free website in which anyone can create an app using phone

or any other internet-connected device.

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Muscular Dystrophy - Muscular dystrophy refers to a set of hereditary disorders that

cause muscular degeneration and weakness over time This damage and weakness is

due to the lack of a protein called dystrophin, which is necessary for normal muscle

function. The absence of this protein could cause problems with walking, swallowing,

and muscle coordination.[14]

Paraplegia - Paraplegia is a type of paralysis that impairs the bottom half of the

body's capacity to move. It happens when a disease or injury affects the section of the

nerve system that regulates the lower body.[15]

PWDs - Persons with disabilities (PWDs) are those who have long-term physical,

mental, intellectual or sensory impairments which in interaction with various barriers

may hinder their full and effective participation in society on an equal basis with

others.[16]

Quadriplegia - Quadriplegia refers to paralysis from the neck down, including the

trunk, legs and arms. The condition is typically caused by an injury to the spinal cord

that contains the nerves that transmit messages of movement and sensation from the

brain to parts of the body. Quadriplegia is most likely to occur from a spinal cord

injury to the neck at C5 (cervical 5) to C7 (cervical 7). The spinal cord cannot

transmit messages below the damaged area, resulting in the loss of mobility in the

arms and legs and the loss of function in breathing, bowel and bladder control. In

some cases, slight movement could be regained through intensive rehabilitation.[17]

Ultrasonic - An ultrasonic sensor is an electronic device that detects the distance

between a target item using ultrasonic sound waves and converts the reflected sound

into an electrical signal.[18]

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Voice command - Defines an app action that users may start by speaking, as well as

what they can say to start the action. Each Command element in the app could be

linked to a certain page.[19]

Wheelchair – any seating surface (e.g., a chair) that has wheels affixed to it in order

to help an individual move from one place to another.[20]

CHAPTER II

REVIEW OF RELATED LITERATURE AND STUDIES

The chapter contains significantly related ideas, completed theses,

generalizations or conclusions, and methodologies. It discusses the relevant literature

and work that aided the researchers in developing the proposed system.

RELATED LITERATURE

This chapter is about the review of related literature and written works that

were used and read by the researchers. These are significant and related to the study.

Internet of Things

The internet of things helps people live and work smarter and gain complete

control over their lives. Additionally, IoT is important to a business to offer smart

devices to automate homes. IoT provides businesses with a real-time verify how their

systems work, delivering insights into everything from the performance of machines

to provide chain and logistics operations. IoT may use Artificial Intelligence (AI) and

machine learning to help make data collecting processes easier and more dynamic.

[21]

The Internet of Things (IoT) has not been around for very long. However,

there have been visions of machines communicating since the first 1800s. Machines

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provided direct communications since the telegraph (the first landline) was developed

within the 1830s and 1840s. Described as “wireless telegraphy,” the primary radio

voice transmission occurred on June 3, 1900, providing another necessary component

for developing the Internet of Things. The event of computers began in the 1950s.

[22]

With data technology, intelligent applications are expanded from humans to

the items that surround humans. The Internet of Things is not a replacement thing: it

mixes sensor networks, the net, mobile communications, cloud computing, intelligent

informatics, and other developed network and knowledge technologies. The internet

of Things concentrates on information service, integrating the computer system with

the perception, cognition, influence, and control of the physical world by the

isomerous connection between the core and the terminal networks. The physical

world, digital virtual world and human perception are unified. [23]

Wheelchair

The first known wheelchair designed for disability and mobility was called an

“invalid’s chair.” It was invented in 1595 specifically for King Phillip II of Spain.

[24]

Many folks cannot help but think about wheelchairs when spinal cord injury is

mentioned. The two are so closely tied that they almost appear to be one. Granted, the

link between user and wheelchair is a love-hate one—cheers when the wheelchair is

running right and jeers when it bums out. The wheelchair, in some form or other, goes

back and awfully ways and has changed considerably over time. Years ago, the magic

was not finding the proper wheelchair but surviving a spinal cord injury the least bit.

Thankfully that scenario has changed over time. [25]

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Microcontroller

No one needs to comprehend how microcontrollers came to be where they are

now, and it is an intriguing story that can help individuals figure out where an AVR

microcontroller fits into the broader hierarchy of IT and electronics devices. More

importantly, users can make better choices and decisions about when and where to use

a microcontroller instead of other options if they have this knowledge. [26]

A microcontroller is an integrated circuit (IC) device used to control other

portions of an electronic system, usually via a microprocessor unit (MPU), memory,

and peripherals. These devices are optimized for embedded applications that need

both processing functionality and agile, responsive interaction with digital, analog, or

electromechanical components.[27]

Arduino

A famous saying is that “Necessity is the mother of invention.” A number of

the best invention within the history of humanity went on because there was a desire

and no easy solution available to meet that requirement. There was a time before

Arduino that students worldwide had to use BASIC Stamp microcontroller at a value

of $50, a substantial expense for several students. [28]

Within the year 2005, the primary ever Arduino board was born within the

classrooms of the Interactive Design Institute in Ivrea, Italy. If they are not very aware

of the term, an Arduino is an Open-Source microcontroller-based development board

that has opened the doors of electronics to various designers and inventive engineers.

[29]

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Arduino is the world’s leading open-source hardware and software ecosystem.

The corporate offers a variety of software tools, hardware platforms, and

documentation enabling almost anybody to be creative with technology. Arduino

could be a popular tool for IoT product development and united of the foremost

successful tools for STEM/STEAM education. Many thousands of designers,

engineers, students, developers, and manufacturers worldwide use Arduino to

innovate in music, games, toys, smart homes, farming, autonomous vehicles, and

more. [30]

Voice Recognition

Although it should seem that voice recognition and control could be new

technology, it has been within the works since the center of the 20th century. Within

the last five to eight years, voice recognition technology gained mass appeal.

However, that voice recognition had traveled a long road before it reached where it is

today. [31]

Programmers and engineers have made great leaps in voice recognition

science over the past decade. As a result, users be forgiven for assuming that this

technology is still in its infancy. After the advent of Apple's now-ubiquitous personal

assistant, Siri, in 2011, most of the reporting and scholarship on speech recognition

technology focused on the post-2011 Age of Siri. [32]

Voice or speaker recognition is the ability of a machine or program to receive

and interpret dictation or to know and perform spoken commands. Voice recognition

has gained prominence and uses with the increase of AI and intelligent assistants, like

Amazon's Alexa, Apple's Siri, and Microsoft's Cortana. [33]

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Alternatively brought up as speech recognition, voice recognition could be a

computer software program or hardware device to decode the human voice. Voice

recognition is usually used to operate a tool, perform commands, or write without

using a keyboard, mouse or press any buttons. Today, this is often done on a computer

with ASR (automatic speech recognition) software programs. Many ASR programs

require the user to "train" the ASR program to acknowledge their voice to more

accurately convert the speech to text. as an example, users may say "open Internet,"

so the computer would open the internet browser. [34]

Mobility Disability/Mobility Impairment

Mobility impairment is defined as a category of disability that features people

with varying forms of physical disabilities. This sort of disability includes upper or

lower limb loss or disability, adeptness, and disability in coordination with different

body organs. Disability in mobility could either be congenital or acquired with age

problems. This problem could even be the consequence of disease. Those with a

broken bodily structure also fall under this category of disability. [35]

Mobility impairments place severity from limitations of stamina to paralysis.

Some mobility impairments are caused by conditions present at birth, while others

result from illness or physical injury. [36]

Joystick Controller

A joystick is a data input device commonly used to control video games.

Joysticks carry a base and a stick that would be moved in any direction. The stick may

be moved slowly or quickly and in several amounts. Some joysticks have sticks that

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may be rotated to the left or right. Due to the flexible movements, a joystick allows

could provide much greater control than the keys on a keyboard. [37]

There are different types of joysticks such as displacement joysticks, hand-

operated joysticks, finger-operated joysticks, thumb/fingertip-operated joysticks,

hand-operated isometric joysticks. [38]

Jump Wire

Jumper wires are used to connect two points in the same circuit—all

Electronics stocks jumper wires in a very style of lengths and assortments and are

frequently used with breadboards and other prototyping tools to form it easy to vary a

circuit required. Male jumpers are designed to plug securely into the holes in a very

breadboard. Female jumpers help connect male header posts and pin terminals on

components. Jumpers are available in female-female, male-male, and male-female

configurations. [39]

Though jump wires are available in various colors, the colors do not mean

anything. This implies that a red jumper wire is identical to a black one. However,

people can use colors to distinguish between different connections, such as ground

and power. [40]

Breadboard

The breadboard could be a circuit construction technique designed to allow the

rapid creation of circuits without the necessity for soldering or making permanent

connections. Leaded components (i.e., through-hole parts) are inserted into holes

containing metal grips that lightly clamp onto the lead, and breadboards nearly always

have standard rows whereby the holes during a row are electrically connected. [41]

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RELATED STUDIES

Mudra-Hand Gesture Based Wheelchair Navigation

Figure 1. Mudra-Hand Gesture Based Wheelchair Navigation

(Source: https://www.amrita.edu/research/project/mudra-hand-gesture-based-
wheelchair-navigation)

This project is to create an impact on people's level of independence with

disabilities. To ease the lives of those among us who are unfortunate enough to have

lost the ability to move their limbs due to stroke (SCI - Spinal Cord Injury), old age,

and other disabilities (SSEP Group), Mudra is the perfect solution. The conventional

control mechanism, joystick, is not suitable for SSEP group of people as the joystick

requires the user to hold it and exert some force. [42]

See-Thru: Towards Minimally Obstructive Eye-Controlled Wheelchair Interfaces

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Figure 2. See-Thru: Towards Minimally Obstructive Eye-Controlled

Wheelchair Interfaces
(Source: https://www2.eecs.berkeley.edu/Pubs/TechRpts/2018/EECS-2018-61.pdf)

Eye-tracking interfaces are an active area of interest in human-computer

interaction (HCI) research because their potential to increase the communication

bandwidth between humans and computers when using hands is impossible. For some

people living with severe motor disabilities, eyes are the only available input modality

to control and interact with the various devices that enable their independence. One

particularly enabling gaze-based application that has driven a large body of research is

wheelchair navigation. This work aims to develop and evaluate an eye-controlled

wheelchair interface that improves upon state-of-the-art by considering, first and

foremost, the interaction pattern between the user and the system. They explore

removing a computer screen from the navigation system, which usually provides

feedback to the user. The underlying goal behind this design decision is to avoid

obstructing the user’s field of view, which is inherently limited given the nature of

their disability. They present a novel eye-tracking interface device that provides

feedback to the user without a screen while simultaneously allowing the user to see

through it to provide a clear view of where they are driving. This prototype has been

evaluated against the screen-based state-of-the-art in a preliminary clinical test with

three users. [43]

Design, Manufacture, and Test a ROS Operated Smart Obstacle Avoidance

Wheelchair

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Figure 3. Design, Manufacture, and Test a ROS Operated

Smart Obstacle Avoidance Wheelchair
(Source: http://www.ijmerr.com/uploadfile/2020/0616/20200616050050199.pdf)

This paper will discuss the designing, manufacturing, and testing of a smart

obstacle avoidance wheelchair. The wheelchair is designed to be light-weighted,

maintainable, able to maneuver easily across obstacles along the user path with

minimum commands from the user. The design payload for this smart wheelchair is

120 kg. In order to minimize the weight, the chassis is made of hollow steel pipes.

The user could drive the wheelchair either using a joystick or voice commands. Ultra-

Sonic sensors are used to detect obstacles along the wheelchair path. The motion and

steering action of the wheelchair are controlled using the Robot Operating System

(ROS). The testing of the wheelchair has shown that it can avoid obstacles and could 17
easily reach the destination with minimum commands from the user. [44]

Tongue drive wheelchair

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Figure 4. Tongue drive wheelchair

(Source: https://www.eurekalert.org/multimedia/pub/8853.php?from=117181)

Tongue Drive Wheelchair is a non-invasive development that explores how

technology could be assistive for individuals with severe disabilities to communicate

with their environment. This tongue control system leads to a more self-supportive

independent life. This paper discusses a project based on a contact sensor attached to

a headset that is connected to a circuit. The circuit is triggered by the sensors to

control the wheelchair’s motors. Results occurring from the contact between the

cheek and the sensor, due to the tongue movement, apply order to the motors to work,

allowing the person to move right, left, forward, and even stop according to his needs.

This development was accomplished to make patients feel more satisfied because it is

a safe and accessible technology that does not need any complicated programs to

realize and perform the movements. [45]

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Human-Machine Interface for a Smart Wheelchair

Figure 5. Human-Machine Interface for a Smart Wheelchair

(Source: https://www.hindawi.com/journals/jr/2019/4837058/)

In research from Hartman (2019), the paper describes integrating hardware

and software with sensor technology and computer processing to develop the next

generation of an intelligent wheelchair. The focus is a computer cluster design to test

high-performance computing for smart wheelchair operation and human interaction.

The LabVIEW cluster is developed for real-time autonomous path planning and

sensor data processing. Four small form factor computers are connected over a

Gigabit Ethernet local area network to form the computer cluster. Autonomous

programs are distributed across the cluster for increased task parallelism to improve

processing time performance. The distributed program operating frequency for path

planning and motion control is 50Hz and 12.3Hz for 0.3-megapixel robot vision

system. To monitor the operation and control of the distributed LabVIEW code,

network automation is integrated into the cluster software along with a performance

monitor. A link between the computer motion control program and the wheelchair

joystick control of the drive train is developed for the computer control interface. A

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perception sensor array and control circuitry is integrated with the computer system to

detect and respond to the wheelchair environment. Multiple cameras are used for

image processing and scanning laser rangefinder sensors for obstacle avoidance in the

cluster program. A centralized power system is integrated to power the smart

wheelchair along with the cluster and sensor feedback system. The onboard computer

system is evaluated for cluster processing performance for the smart wheelchair,

incorporating camera machine vision and LiDAR perception for terrain obstacle

detection, operating in urban scenarios. [46]

SYNTHESIS OF THE STUDY

Based on the Related Literature and Related Studies, The researchers learned

about the wheelchair, and it is one of the many tools used by persons with disabilities

(PWDs). To help researchers think of automating it. Researchers need the knowledge

and skills in Hardware and Software to be used in development one needs to learn the

Arduino, modules, and sensors. Also, knowledge of programming it using Arduino

IDE. The researcher envisioned making a mobile application capable of controlling a

microcontroller device. Through the guidance of the Prototyping, model researchers

would be able to create a product that would call the Wheelbot.

To accomplish this, first, use a schematic design to show how the modules and

sensors are connected to the microcontroller, and then use a storyboard to replicate the

sequence of the mobile application controller. From this process, it could translate

these designing tools into digital code. The researcher would need to do this through

the MIT App Inventor website. The researchers constructed a mobile interface using

Code Blocks to connect and control a microcontroller. Once the researchers have

made the wheelchair product and its mobile app, they would test its quality.

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From the related studies, researchers gathered that the Mudra-Hand Gesture-

Based Wheelchair Navigation product is a wheelchair that could be operated using a

joystick. Researchers could imagine that the researcher would put a joystick feature

on the product to be developed from this product. The See-Thru product is capable of

detecting an obstruction in the passage pathway. The Tongue drive wheelchair the

researchers see that it has a good wheelchair design. As a result, researchers make

every effort to match the wheelchair design. The researcher could use this feature to

protect a person with disabilities (PWDs) that would board the product to be made.

Researchers could ensure that they achieve a quality product through a

researcher-made test case questionnaire that anchors the functionality and operability

to be answered by our quality assurance team. If the panelists agree, Researchers may

say that our product is ready to be released as a marketable product.

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CONCEPTUAL FRAMEWORK

Data Gathering

Design

Building and Prototyping

Prototype Mobile Application

Integrate

Refining Testing Final Product

Figure 6. Conceptual Framework

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Data Gathering

The researchers gathered data from their related literature and related studies

to get an idea of starting the project. The researchers would gather information in

related literature and related studies. The researchers used the researched studies from

the internet.

Design

In this phase, designing the mobile application and prototype model, the

researchers gathered the information through the internet for the requirements needed.

They designed the User Interface of the mobile application using MIT App Inventor

and the prototype model using Arduino modules. The researchers based the

wheelchair design on related studies and related literature, making the wheelchair

look ergonomic and comfortable for the user.

Building and Prototyping

In this phase, the researchers built the prototype model and mobile application

user interface. To build the mobile application, researchers use MIT App Inventor to

build the code blocks see Appendix G. The researchers also use Arduino IDE to code

the Arduino modules for the wheelchair maneuvering. The researchers built the

wheelchair using galvanized pipe through welding and upholstery material for the seat

and backrest for the prototype.

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Integrate

In this phase, the researchers combined the mobile application and the

prototype model to check if the two were working together to control the prototype.

They combined the prototype and mobile application using the Bluetooth module

connected to the microcontroller. The researchers check mobile application and

prototype compatibility before testing.

Testing

The researchers tested both the mobile application and prototype model,

testing the joystick and user interface functionality and testing the joystick and mobile

application HOLD, TOUCH, and VOICE maneuvering if working properly. Both the

mobile application and prototype undergo a series of tests to ensure that they are

working correctly without any problem and gather new information.

Refining

Before declaring a final product, this phase would not be over until all the

user's requirements are met once the user is satisfied with the developed prototype and

mobile application. The researchers were able to resolve the said issue by thoroughly

refining the code blocks of the mobile application's user interface.

Final Product

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When all the previous steps and several initial evaluation repetitions were

completed, the researchers developed a working prototype. Product implementation is

finally achieved. Please see Appendix F and P for the final mobile application

interface and wheelbot prototype products, respectively.

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CHAPTER III

METHODOLOGY

This chapter is used to coordinate and demonstrate the analysis plan of the

planned thesis and presents how the implementation of the project is being done

following the methodical practices and techniques.

System Development Methodology

The researchers used the Prototyping Methodology as the software development

model. The prototyping methodology allows the rapid development of the system

while the developer gets valuable feedback from the users early in the project. From

the user feedback, changes to the prototype would be applied to re-align the

requirements given by the user. This cycle repeats until the customer approves the

final requirement specification. It would then be used to develop the final version of

the software.

Figure 7: Prototype Model

The prototype model for Wheelbot: A Microcontroller-Based Wheelchair with Manual
and Mobile Maneuvering Controlled System Thru Mobile User Interface Application.
(Source: https://www.freetutes.com/systemanalysis/sa2-prototyping-model.html)

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Figure 7 shows that the Prototype Model for Wheelbot has six development phases.

These are the: Requirements Analysis, Design, Building or Prototyping, Evaluation

by User, Refining Prototype, and the Final Product. Figure 7 shows that each phase

overlaps another and repeats until the system is built.

Requirements Analysis

In this phase requirement analysis, the researchers discussed what the

system should do in this project. The method of collecting information on the original

collection of specifications, which included a literature analysis, discussions with

future users, and reviews of similar programs, all contributed to a better understanding

of what the system needed to do.

Design

In this phase, designing the project's system, the researchers gathered the

information through the internet for the requirements used to build the project. The

researchers also gathered the user's information to give an idea of what they want, the

project to include the final product. Given below is the storyboard plan for the user

interface design plan.

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Figure 8: Mobile Application Design

Figure 8, as shown above, is the design plan for the mobile application user

interface. The first screen, or home screen, consists of the following: The Login

button indicates in the mobile app and the username and password table that an admin

could log in to their account. The wheelbot title, the Bluetooth connect button, and the

wheelbot image in the middle for a nice-looking representation of the wheelbot

prototype or theme representation. The second screen would appear when the connect

button has successfully connected to the Bluetooth module. After connecting to

Bluetooth, there is a button for the touch, hold, and voice controller options. Minimal

basic buttons would be considered to simplify the only needed functionalities.

Maneuvering buttons would control the mechanism and the motor’s motion. The stop

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button would be placed in the middle of the maneuvering buttons for ease of clicking.

Finally, a disconnect button would let the user return to the main screen.

Figure 9: Schematic Diagram

This diagram shows all the modules and hardware needed and how the

connectivity would connect to the microcontroller. The researcher uses two BTs7960

modules that control the motor of the wheelchair, and the modules are connected to a

12-volt battery. The researcher also uses a joystick to maneuver the wheelchair

manual and Bluetooth HC-05 to control the wheelchair using a mobile application,

and all of the modules are connected to the Arduino mega.

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Figure 10: Design of the Wheelbot

Figure 9 shows the design of the wheelbot, which could be changed depending

on the recommendation. The researchers' tools to build the wheelchair galvanized

pipe to build the main chair and two wheels connected to two DC motors, a caster

wheel attached to the bottom of a wheelchair to enable it to move the object, and a

sprocket connected to a DC motor. The researcher also inserted a footrest in front for

users' comfort.

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Building and Prototyping

In this phase, the researchers would begin designing a prototype or an

updated prototype after new specifications have been settled upon and the original

design or a revision in the design of a new requirement has been completed. The

version has been tweaked to meet current specifications in response to the original

concept.

Table 1 shows the software application used to build the mobile

application and code the microcontroller and other modules of the Wheelbot

prototype.

Table 1: Software Requirements for Wheelbot Prototype.

Software Description

Arduino IDE Open-source compiler used to

code through computer and would be

saved to Arduino Mega or any

microcontroller.

MIT App Inventor Website compiler for android

application drug and drop coding, code

blocks.

The researchers used MIT app Inventor is website compiler researchers use to

build and design the mobile application through the code blocks. For the

microcontroller and other modules, researchers use the Arduino IDE to code the

requirements or control needed of the Wheelbot.

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Table 2 presents all the modules and hardware requirements needed for

building the Wheelbot prototype.

Table 2: Hardware Requirements for Wheelbot Prototype.

Hardware Description

MY1025Z2 DC Motor 12 volts Scooter motor 350 watts that

would provide the movements of the

wheelchair.

Motor Driver BTS7960 43A To allow DC motors to run forwards or

backwards.

Arduino Mega Open source microcontroller board

HC-05 Blueooth Module To control the wheelchair through

mobile application

12volts Battery To supply battery for DC motor, Arduino

UNO, and all modules.

Arduino Joystick To control the wheelchair manually (x

axis, y axis).

Breadboard Extension to Arduino UNO and other

modules.

Jump wires An extension wire that connects to

Arduino UNO, breadboard and other

modules.

Ultrasonic A Sensor that used to detect and

determine the distance of the object.

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The researchers used Arduino Mega for the microcontroller, 12 volts battery, and DC

motor for the movements of the Wheelbot. They use a motor driver, a Bluetooth

module and joystick controller, and a breadboard for the wiring connectivity for the

maneuvering.

Table 3 lists the requirements needed for the mobile application.

Table 2: Hardware Requirements for Wheelbot Prototype.

Hardware Description

Android 6 6th major version of the Android mobile

operating system.

2GB RAM 2000MB android RAM storage.

8 GB Internal Storage 8000MB android Internal Storag

Evaluation by User

In this phase, the final prototype goes through a series of testing.

Furthermore, if the user is not satisfied with the outcome, new requirements and

modifications are needed, but the project is complete if the user is satisfied with the

outcome. Table 1 and Table shown below would check the final product

functionalities by answering the individual test cases of the mobile application and the

prototype, respectively.

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Refining Prototype

If the users are not satisfied with the current prototype, the researchers

need to refine the prototype according to the user's feedback and suggestions. This

process would not be completed until all of the user's conditions have been met. A

final system is designed based on the approved final prototype until the users are

pleased with the developed prototype.

Final Product

When all the previous steps and several initial evaluation repetitions
were completed, the researchers developed a working prototype. Product
implementation is finally achieved. Please see Appendix F and P for the final mobile
application interface and wheelbot prototype products, respectively.

34

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Appendix A

Schematic Diagram

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Appendix B

Wheelbot prototype Test Cases

Test Case Result Prototype

Table 4: Mobile Application Test Cases

No. of trials for each test case = 10 YES NO

1. Does the Bluetooth button response to connectivity? 10 0

2. Does the left button activate the left maneuvering motor and
10 0
Mechanism?

3. Does the right button activate the right maneuvering motor 10 0

and mechanism?

4. Does the forward button activate the forward maneuvering motor 10 0

and mechanism?

5. Does the backward button activate the back maneuvering

10
0
motor and mechanism?

6. Does the forward maneuver system react to the left control 0

10

Voice command?

7. Does the right maneuver system react to the right control 10 0

voice command?

8. Does the forward maneuver system react to the forward 10 0

control voice command?

9. Does the backward maneuver system react to the 10 0

backward control voice command?

10. Does the stop maneuver system react to the stop control 10 0

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voice command?

Table 5: Wheelbot prototype Test Cases

No. of trials for each test case = 10 YES NO

1. Does the left maneuver system react to the manual left control 10 0

of the joystick?

2. Does the right maneuver system react to the manual left 10 0

control of the joystick?

3. Does the forward maneuver system react to the manual left

10 0
control of the joystick?

4. Does the backward maneuver system react to the manual 10 0

left control of the joystick?

5.. Does the wheelchair stop when the ultrasonic detects 10 0

an obstacle?

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Appendix C

Hardware requirements

Table 2: Hardware Requirements for Wheelbot Prototype.

Hardware Description

MY1025Z2 DC Motor 12 volts Scooter motor 350 watts that

would provide the movements of the

wheelchair.

Motor Driver BTS7960 43A To allow DC motors to run forwards or

backwards.

Arduino Mega Open source microcontroller board

HC-05 Blueooth Module To control the wheelchair through

mobile application

12volts Battery To supply battery for DC motor, Arduino

UNO, and all modules.

Arduino Joystick To control the wheelchair manually (x

axis, y axis).

Breadboard Extension to Arduino UNO and other

modules.

Jump wires an extension wire that connects to

Arduino UNO, breadboard and other

modules.

Ultrasonic A Sensor that used to detect and

determine the distance of the object.

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Appendix D

Software requirements

Table 1: Software Requirements for Wheelbot Prototype.

Software Description

Arduino IDE Open-source compiler use to

code through computer and would be

save to Arduino Mega or any

microcontroller.

MIT App Inventor Website compiler for android

application drug and drop coding, code

blocks.

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Appendix E

Smartphone Requirements

Table 3: Smartphone Requirements of the Wheelbot Prototype

Smartphone Description
Android 6 6th major version of the Android mobile

operating system.

2GB RAM 2000MB android RAM storage.

8 GB Internal Storage 8000MB android Internal Storag

Appendix F

Story Boa

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