Analysis and Design of Eye-Controlled Motorized Pediatric Wheelchair

This project report details the design and implementation of an eye-sensor-controlled motorized pediatric wheelchair. It addresses the limitations of conventional wheelchairs for individuals with limited mobility, focusing on those who can only control their eye movements. The report outlines the problem description, goals, and objectives, and discusses prevailing techniques in motorized wheelchairs. The suggested technology utilizes eye-detection and motion-tracking with a webcam and CPU, leveraging MATLAB for image processing and ATMega1284P for wheelchair control. The implementation section covers system components, implementation strategy, and challenges such as technical hurdles and stakeholder management. Stakeholders are identified, including in-country organizations, developed-world organizations, and strategic alliances. The report also addresses cost considerations and concludes with a summary of the project's potential impact on improving mobility for individuals with severe physical limitations.

Innovation & Technology
Eye Sensor Technology – Motorized Pediatric Wheelchairs
Student Name:
Student ID:
Course Name:
Course ID:
Faculty Name:
University Name:

Table of Contents
Introduction......................................................................................................................................2
Problem Description........................................................................................................................2
Goals and Objectives.......................................................................................................................3
Prevailing Techniques.....................................................................................................................3
Suggested Technology.....................................................................................................................3
Eye-Detection and Motion Tracking............................................................................................4
ATMega1284P controlled Wheel Chair Assembly.....................................................................5
Implementation................................................................................................................................6
Challenges........................................................................................................................................6
Stakeholders.....................................................................................................................................7
In-country organizations..............................................................................................................7
Developed World Organizations..................................................................................................7
In-country Team and Users..........................................................................................................7
Strategic Alliance.............................................................................................................................7
Cost..................................................................................................................................................7
Conclusion.......................................................................................................................................8
References........................................................................................................................................8
Appendix..........................................................................................................................................9

Introduction
Contemporary innovation has witnessed emergence of intelligent wheelchairs that provide
support to the individuals who are unable to move their entire body except few ones. These
wheel chairs are able to detect the movement of the muscles that are still under control of these
individuals and provide movement facilities. However, there are numerous individuals who are
unable to control their entire body except their eyes (Arai and Mardiyanto, 2011). Therefore, it is
important that a wheelchair system should come into existence that can act in accordance with
the eye movement only.
The report is concerned with understanding the existing technology in the motorized pediatric
wheelchairs and the application of innovative eye-sensor technology (also called eye-detective).
The initially the problem concerning the existing wheelchairs have been discussed with the
identification of goals and objectives in light of identified innovative technology. Moreover, the
motorized pediatric wheelchair technology has been discussed under the section of ‘prevailing
techniques’ and then the suggested technology has been discussed in detail. The two crucial
elements of the new system design has been considered, namely, eye detection and motion
tracking, and ATMega1284P controlled wheel chair assembly. The later section discusses the
implementation of the innovative technology along with the probable challenges in conducting
this activity. The stakeholders have also been considered and the strategic alliance that are
imperative for the successful implementation of this technological improvement.
Problem Description
One can witness huge number of individuals who are unable to move their body due to variety of
reasons such as paralysis, loss of body parts, injured nervous system and others. The
conventional wheelchairs were developed to solve this challenge (Kim, 2013). These
wheelchairs work on manual power of individual users or with the help of someone supporting
the wheelchair from behind for desired movement. The assumptions behind this mechanism are
that the users at least have hand to move the chair or have someone always in support for
movement assistance (Simpson, 2005; Borgolte et al, 1998; Buhler et al, 1995). However, it is
well known that this assumption is far from reality. There are individuals who cannot even move
their hands along with the other parts of the body (Ayodeji and Adejuyigbe, 2009). In such cases,
the manually powered wheelchairs prove to be of no use if there is no one to support them.
Scientist Stephen W. Hawking can be considered as one example who cannot utilize manual
wheel chairs or even the motorized wheelchairs that require input from voluntary muscles (B and
Reddy, 2015). However, in majority of these cases, it has been observed that the individuals can
still move their eyes. Therefore, considering these challenges and the requirement of a
wheelchair that asks for minimal movement, the paper has suggested the consideration of eye
sensor technology for the wheelchairs.

Goals and Objectives
The innovative eye sensor technology for the wheelchairs needs to be implemented. The
construction of wheelchairs is required that can be adaptive to the eye movement of the
individuals. It will be focused towards moving the chair from one place to another only with eye
movement. It is expected to aid in the seamless movement to the individuals who are highly
paralyzed. The integration and implementation of the technology should be cheaper so that it can
be afforded by majority of individuals.
Prevailing Techniques
There are various manual wheelchairs available at present and some technological advancement
in the same has led to the development of Motorized Pediatric Wheelchairs. The motorized
wheelchair provides facility to the individuals to electronically move the chair without any effort
(Geonea et al, 2015). Such kind of wheelchairs is fruitful for the children who will not be able to
move the manual wheelchairs that are harder to move. The wheelchair technology is certain
improve the lives of the differently abled individuals and specifically the children who cannot
handle heavy manual chairs (Geonea et al, 2015; Brubaker, 1988; DiGiovine et al, 2006). The
children with spinal muscular atrophy and those with the genetic challenges hold complete
mobility. However, due to the weak body they fear being easily injured. In these situations, the
motorized pediatric wheelchairs of great help to them.
Despite these improvements, it has been identified that there is no major growth towards the
integration of motorized wheelchairs with the eye sensor technology. The logic behind the same
is that the eye sensor technology will call for minimum possible movement from the individuals
(K.S, 2012). They will be able to ensure that the individuals move the wheelchair with eyes only.
Suggested Technology
The major objective was to suggest a system that is comparatively cheaper and should be
affordable to everyone. Also the safety of the users should be there. The eye detection
technology has been suggested and the design that has been identified is the use of webcam. The
webcam will be connected with the CPU along with the wheelchair. The web camera will be
conducting the detection of the eye movements and it will be taken further for the motor
movement. In the initial phase, the use of microcontroller on the wheel chair and the connection
of the same with the motors to drive the chair will be used (Nguyen and Jo, 2012).

Figure 1: Showing Mechanism Eye and Chair Coordination
The components that have been taken for the design are:
- Eye-detection and motion tracking
- ATMega1284P controlled Wheel Chair Assembly
Eye-Detection and Motion Tracking
The user will be wearing a helmet which will have a webcam attached to it. The webcam will
have internal wiring to the CPU (Yokota et al, 2009). The CPU will be utilizing the MATLAB
mechanism and will be monitoring and reacting to the movements of the eyes of the users. The
webcam will take series of snapshot and then decide the movement of the chair. The direction of
the eye will decide the direction in which the chair needs to be moved. MATLAB will be
processing the images sent to it by the webcam.
Figure 2: Eye Detection Mechanism using Two Scan Lines
The use ‘CascadeObjectDetector’ in the system will detect the eye-shaped objects. Moreover, the
use of Viola Jones Algorithm has been found to be important. The snapshots that will be taken
from the camera will be analyzed at 20th frame. The system will be snapping and counting on at
least one snapshot each subsequent second. The detection of the eye movement and decisions
will be communicated to the chair using the serial port in the system.

ATMega1284P controlled Wheel Chair Assembly
The decisions that will be generated through the above procedure will be taken by the
ATMega1284P. The block diagram below shows the overall mechanism:
Mentioned below are the codes that are utilized and the associated logic:
1. Initialization: The presence of serial communication that will be utilized by the
MATLAB has been considered.
2. Image and Video Processing: The videos will be taken from the camera on continued
frames and the screenshots will be utilized further.
3. Estimation: The detection of the eye is conducted at each of the snapped frame. The
positioning of the eye is picked from here.
4. Detection: The eye movements are detected and the comparison between the current and
previous positioning is done. Situations where camera misses to read one eye, the most
recently detected eye considered for decision making.
5. Error Handling: Mechanics to handle the errors have been utilized.
6. Motion: The eye detection leads to finalizing the direction in which to take the chair.
7. Safety Considerations: There is safety mechanics embedded in the system. For example,
double blink of eye can halt the chair immediately and single blink will slow down for
stopping.
8. Serial Communication: The detection of the command will allow the MATLAB the
transmission of the 0 (straight), 1 (left), and 2 (right).

Figure 3: Flow Chart for the System Mechanism
Overall, the major aspect of the development of this technology and implementation in the
motorized wheelchairs is software design and testing (Perez et al, 2011). Another aspect is the
firmware components that require the capability of taking right signals.
Implementation
The Figure 1 in the appendix shows the structure of the organization through which the new
system will be implemented and tested. There are inclusion of various stakeholders throughout
the development process and providing the system to the users. The implementation requires
various components namely, funding, sales, testing, purchase and orders, design and technical
assistance, and others. These areas are expected to develop the system that is required.
The implementation will be done through development of right form of agreement with the
various stakeholders. Moreover, all the functions will be clearly defined that will be performed
by all the parties so that no conflict arises during the process. There will also be the provision for
penalty so that none of the parties intentionally fall on the wrong foot. The responsibilities
around the organization will be shared on equal basis and right individuals will be taken on board
to ensure that minimum technical challenges are faced during the development.
Challenges
The major challenges that can be expected by the organization in implementing this new system
and selling it to the marketing are from the suppliers and the employees who are operational

within the organization. There might be some of the employee groups who would prefer to
continue with the development of the previous system. The reason can be various, such as, lack
of desire to come out of the comfort zone, no desire to adapt to other job function, and others.
Apart from that, the as the new system is being integrated with the motorized chairs, the
technical challenges are expected. The developers might have to engage numerous counts of
development, implementation and testing. It may consume more time than the organization have
in its hand.
Stakeholders
There are various stakeholders who would be interested in the new system. Mentioned below are
the potential stakeholders:
In-country organizations
These organizations lack enough fund. However, they have appreciable level of community links
and the knowledge. The use of the system would require the compliance with the governments.
Developed World Organizations
There are countries that have the right to these technologies that are being used in the wheel
chair technology that can be taken into consideration. They can also provide donations and
expertise and related resources for the development of the system.
In-country Team and Users
The workshops within the country and provide enough assistance in the development of the
system. Moreover, they might not call for much wages and they are able to stay close to the
individuals using the chair and can provide better use-assessment.
Strategic Alliance
Partnering with the organizations in the developed countries that can provide the technology for
the wheel chair has been considered. The purpose of the alliance is to gain intellectual products
and build cost-effective wheel chair. It is expected that the alliance will have appreciable impact
on the growth of the organization’s ability to provide more eye-sensor based motorized
wheelchairs to the individuals and children. The organization will also consult with the NGOs
and other charity organizations around the world that can provide enough funds to this project so
that its benefit can reach large scale of benefactors.
Intellectual Property
The intellectual property of the organization will remain within the organization. Various other
intellectual properties will be taken from the other organizations from the developed countries
which can help the company. The purpose would be develop and secure the intellectual property
concerning the development of this innovative machine for the individuals.

Cost
As per the cost is concerned, it is expected that the individual production of such wheel chair will
be costly. On the other hand, the mass production of the wheelchair will reduce the overall cost
to bare minimum and make the chair affordable. The purpose is to benefit from the economies of
scale.
Conclusion
Based on chair designs, mechanisms, and requirements, it is expected that the organization will
be able to meet the local demands cost effectively. Moreover, it has been expected that this
innovative technology will provide required benefits to the differently abled individuals and
make their lives easier.
References
Arai, K. & Mardiyanto, R. (2011). Eyes Based Eletric Wheel Chair Control System- - I (eye) can
control Electric Wheel Chair -. International Journal Of Advanced Computer Science And
Applications, 2(12). http://dx.doi.org/10.14569/ijacsa.2011.021215
Ayodeji, S. & Adejuyigbe, S. (2009). Development of Cad Software for Wheel Chair Design.
Journal Of Science And Technology (Ghana), 28(3). http://dx.doi.org/10.4314/just.v28i3.33110
B, B. & Reddy, T. (2015). Eye Scrutinized Wheel Chair for People Affected with Tetraplegia.
IJCSEIT, 5(2), 15-24. http://dx.doi.org/10.5121/ijcseit.2015.5202
Geonea, I., Dumitru, N., & Dumitru, V. (2015). Design and Motion Analysis of a Powered
Wheelchair. AMM, 772, 613-620. http://dx.doi.org/10.4028/www.scientific.net/amm.772.613
Geonea, I., Dumitru, N., & Margine, A. (2015). Motion Evaluation Of A Wheelchair Prototype
For Disabled People. ACTA Universitatis Cibiniensis, 67(1). http://dx.doi.org/10.1515/aucts-
2015-0062
K. S., K. (2012). Wheelchair Movement Control VIA Human Eye Blinks. AJBE, 1(1), 55-58.
http://dx.doi.org/10.5923/j.ajbe.20110101.09
Kim, J. (2013). Design of Electric Automatic Manual Wheelchair Driving System. Journal Of
The Korea Academia-Industrial Cooperation Society, 14(11), 5392-5395.
http://dx.doi.org/10.5762/kais.2013.14.11.5392
Nguyen, Q. & Jo, S. (2012). Electric wheelchair control using head pose free eye-gaze tracker.
Electron. Lett., 48(13), 750. http://dx.doi.org/10.1049/el.2012.1530

Perez, E., Soria, C., Nasisi, O., Bastos, T., & Mut, V. (2011). Robotic wheelchair controlled
through a vision-based interface. Robotica, 30(05), 691-708.
http://dx.doi.org/10.1017/s0263574711000919
Yokota, S., Hashimoto, H., Ohyama, Y., & She, J. (2009). Electric Wheelchair Controlled by
Human Body Motion Interface. IEEJ Trans. EIS, 129(10), 1874-1880.
http://dx.doi.org/10.1541/ieejeiss.129.1874
Simpson, R. C. (2005). Smart wheelchairs: A literature review. Journal of rehabilitation
research and development, 42(4), 423.
Brubaker, C. E. (1988). Advances in wheelchair technology. IEEE Engineering In Medicine and
Biology Magazine, 7(3), 21-24.
DiGiovine, C., Koontz, A., & Boninger, M. (2006). Advances in manual wheelchair technology.
Topics in Spinal Cord Injury Rehabilitation, 11(4), 1-14.
Borgolte, U., Hoyer, H., Bühler, C., Heck, H., & Hoelper, R. (1998). Architectural concepts of a
semi-autonomous wheelchair. Journal of Intelligent and Robotic Systems, 22(3-4), 233-253.
Bühler, C., Hoelper, R., Hoyer, H., & Humann, W. (1995). Autonomous robot technology for
advanced wheelchair and robotic aids for people with disabilities. Robotics and autonomous
systems, 14(2), 213-222.

Appendix
Figure 4: Organizational Operational Mechanism for the System Development