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Hand Gesture Controlled Wheelchair
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Handrörelsestyrd Elektrisk Rullstol (Swedish)
Abstract [en]

Haptical technology is a field that is under constant development and that exists in many of today’s products, for example in VR-games and in the controls for vehicles. This kind of technology could in the same way simplify for disabled people by their being able to control a wheelchair using hand gestures. The purpose of this project is to research if a wheelchair can be controlled with hand gestures, and in that case, in which way that would be the most optimal.

To answer the research questions in the project, a small scale prototype wheelchair was developed. This prototype is based on a microcontroller, Arduino, that is controlled by a sensor, IMU, that reads the angle of the user’s hand. Together, the components control two motors and steer the wheelchair.

The result shows how hand gestures can steer the wheelchair forward, backward, left and right under constant speed, as well as making it stop. The prototype is able to follow the movements of the user’s hand, but reacts more slowly than would be desirable in a real situation. In spite of the fact that there are many different aspects to haptical steering of a wheelchair, this project shows that there is a large potential in implementing this kind of technology in an actual wheelchair.

Abstract [sv]

Haptiskt styrning är en teknologi som utvecklas snabbt och inkorporeras i många av dagens produkter, till exempel i allt från VR-spel till styrning av fordon. På samma sätt skulle denna teknologi kunna underlätta för rörelsehindrade genom att erbjuda styrning av rullstol med hjälp av handrörelser. Syftet med detta projekt var därför att undersöka om en rullstol kan styras med handrörelser och i så fall vilket sätt som är optimalt.

För att besvara rapportens frågeställning har framtagningen av en prototyp av en rullstol i liten skala gjorts. Denna är baserad på en mikrodator, Arduino, som styrs av en sensor, IMU, som mäter vinkeln på användarens hand. Med hjälp av dessa kan motorerna styras och rullstolen manövreras.

Resultatet av rapporten har lett till ett förslag på hur handrörelser kan styra rullstolen framåt, bakåt, till vänster och till höger under konstant fart samt få den att stanna. Protypen följer gesterna som användarens hand visar, men reagerar långsammare än vad som vore önskvärt i verkligheten. Trots att många utvecklingsmöjligheter kvarstår för haptisk styrning av en rullstol, visar detta arbete att det finns stor potential i att implementera denna teknik med handrörelsestyrning i en verklig rullstol.

Place, publisher, year, edition, pages
2019. , p. 52
Series
TRITA-ITM-EX ; 2019:23
Keywords [en]
mechatronics, robot, Arduino, wheelchair, haptic steering.
Keywords [sv]
mekatronik, robot, Arduino, rullstol, haptisk styrning.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264512OAI: oai:DiVA.org:kth-264512DiVA, id: diva2:1373889
Supervisors
Examiners
Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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