SEMINAR REPORT

ON
TONGUE DRIVE SYSTEM
Submitted in Partial Fulfillment of the Requirement for the Award of
the degree of
BACHELOR OF TECHNOLOGY
In Electronics And Communication Engineering
Affiliated to Kurukshetra University, Kurukshetra
(2010-2014)


Submitted To:- SubmittedBy:-
Er. RituKhullar MONA GARG
(HOD In ECE deptt.) 6810215
E.C.E (VIII Sem)
Department of Electronics and Communication Engineering
MAHARISHI VED VYAS ENGINEERING
COLLEGE,JAGADHRI


ACKNOWLEDGEMENT

Before we get into thick of things I would like to add a few heart felt words for the people who
were the part of this seminar report in numerous ways , people who gave unending support right
from the technology idea was conceived
I wish to express our heartfelt gratitude to Er. RituKhhullar, Head Of Department of
Electronics And Communication Engineering , Maharishi VedVyas Engineering College ,
Jagadhri.
There are times in such projects when the clock beats your time and again and again you run out
of energy and just want to finish it once and forever our friends made us endure such times with
their unfailing humor and warm wishes
We Spends Our Days waiting For The Ideal Path To Appear In Front Of Us,
We Forget That Paths Are Making By Walking And Not By Waiting.

MONA GARG
(6810215)










ABSTRACT

This project aims is to give insight of the project and title. This project also aimed for partial
fulfilment of B.Tech Degree course in Electronics and Communication Engineering. Primary
objective is
1. To maintain right blend of theory and practical in mythological way in analyzing a
given circuit.
2. To develop understanding and ability in designing the packet circuit.
3. To express reader the practical circuit which is based & laboratory tested.

A glance at a content relieves that report is logically subdivided into number of topics. The first
chapter gives the basic introduction of the project. The second chapter gives the literature view
about project based on microcontroller 8051. The third chapter gives the description of
components used and working. And the last chapter gives the conclusion and the future scope.








INTRODUCTION

Tongue Drive system (TDS) is a tongue-operated unobtrusive assistive technology, which can
potentially provide people with severe disabilities with effective access and environment control.
It translates users intentions in to control commands by detecting and classifying their voluntary
tongue motion utilizing a small permanent magnet, secured on the tongue, and an array of
magnetic sensors mounted on a headset outside the mouth or an orthodontic brace inside.
Customized interface circuitry had been developed and four control strategies to drive a powered
wheel chair (PWC) using an external TDS prototype is implemented.

Persons with severe disabilities as a result of causes ranging from traumatic brain and
spinal cord injuries (TBI/SCI) to amyotrophic lateral sclerosis (ALS) and stroke generally find it
extremely difficult to carry out daily tasks without receiving continuous help. These individuals
are completely dependent on wheeled mobility for transportation inside and out of their homes.
Many of them use electrically powered wheelchairs (PWC) that are the most helpful tools
allowing individuals to complete daily tasks with greater independence, and to access school,
work, and community environments. Unfortunately, the default method for controlling PWCs is
by operating a joystick, which requires a certain level of physical movement ability, which may
not exist in people with severe disabilities.

The magnetic sensors are nothing but hall-effect sensors. A Hall Effect sensor is a
transducer that varies its output voltage in response to changes in magnetic field. In its simplest
form, the sensor operates as an analogue transducer, directly returning a voltage. With a known
magnetic field, its distance from the Hall plate can be determined.

This Project consists of a Microcontroller Units, Wheel chair and Hall Effect sensor.
Wheel chair is made up of High torque Geared DC Motors, the Motors Directions can be
changed through the set of instructions given from the Hall Effect sensor and the action of these
Instructions is already loaded into the Microcontroller using Embedded C programming.



Project Overview:
The Tongue Drive Assistive technology for paralyzed persons using MSP430
Microcontrollers is an exclusive project that can move the wheel chair according to the
instructions given by the above said microcontroller.

An embedded system is a combination of software and hardware to perform a dedicated
task. Some of the main devices used in embedded products are Microprocessors and
Microcontrollers.

Microprocessors are commonly referred to as general purpose processors as they simply
accept the inputs, process it and give the output. In contrast, a microcontroller not only accepts
the data as inputs but also manipulates it, interfaces the data with various devices, controls the
data and thus finally gives the result. The project consists of the hall effect sensors (A1231),
msp430 microcontroller, H-Bridge driver (SN754410).
Block diagram

The overview block diagram consists of 4 hall effect sensors that can be placed as an array
outside the mouth , 4 ADC channels of msp430 are used to convert the analog signals from
sensor t o digital values for processing. The MSP430G2252 microcontroller is the main
processing unit. Based on the pr cessing information microcontroller driver the driver IC using
PWM, PWM is used to control the speed of the vehicle. The Driver IC in-turn driver the DC
powered wheel chair.
















Power Supply
The power supply and power regulation is the main part in any project. Lack of atte ntions in the
power supply of the board would damage all the components or may not work properly. We are
usin g a 12V battery with 700mA of current for power supply t o the motherboard. As different
devices work at different voltages we have used some regulator IC and filters for regulating the




power supply to each component. LM78M0 5 is used to regulate the power supply to 5V for all
sensors and driver IC and motors, L1117 is used to regulate the p ower supply to 3.3V, supplied
to msp430 microcontroller.











Sensors
The sensor we have used in out project is a Linear Bipolar Hall effect sensor (A1321). This
sensor runs at voltage of 4.5V-5.5V. This sensor can detect the north pole and south pole as well.
The outpu t of the sensor is an analog voltage value that can vary from 0-5V, that is to be read
and converted to a digital value by ADC of msp430. The Hall effect sensor initially, without any
magnetic field gives an output of VCC/2 i.e. if we are using 5 volts for sensor then the ideal
value is 2.5V. The output value of the sensor gradually increases t o 5V as north pole approaches
the sensor and gradually d ecreases to 0V when south pole approaches. Hence detecting both
north and south pole, but we in this project don't care about north and south pole just magnetic
fiel d is required in one direction.














This is the image of hall-effect sensor that we
have used in our project A1321. The pin
connections are shown in the image red -VCC,
black-GND, gree n-OUTPUT.

H-Bridge Driver
The H-bridge driver is used to drive the wheels of the vehicle. SN7454410 is the Bi directional
H-Bridge driver that we have used in out project. This driver can deliver a maximum current of
1Amp an d Voltage of around 36V. This driver can be used for driving high voltage devices. 5 V
power supply is given to this driver. The speed of the vehicle can be controlled by the PW M
signals from msp430 given to the enable pins of SN7 54410.

The pins of driver IC 1, 9 are connected to the PWM channel of the msp430, VCC1 is the
power supply to the IC VCC2 is the power supply for driven vehicle. A pins are connected to the
microcontroller and y pins are connected to the DC motors or the device which is to be driven.

An H bridge is built with four switches. When the switches A and D are closed (and B
and C are open) a positive voltage will be applied across the motor. By opening A and D
switches and closing B and C switches, this voltage is reversed, allowing reverse operation of the
motor.

DC Motors and Gear Box

We have used a 5V DC motors with a gearbox for driving the vehicle. We used 2 motors
one for left and one for right so that turning might be made easy, left motor at rest and right
motor in motion turns vehicle left and vice versa, for forward and backward motion both the
motors are driven in same direction with same speed.










This is the gearbox we have used for driving our vehicle. The dc motors in this gearbox can be
driven by 5V supply.



Circuit Diagram
The circuit diagram is pretty simple. Power supply and then the motherboard. Sensors and driver
ic acts as peripheral devices and msp430 is the CPU
ss
This is the circuit diagram of our project. Four sensors were used and they were
connected to pins P1.3, P1.4, P1.5, P1.6 of the msp430 microcontroller. P1.2 of microcontroller
generates the PWM signals that is connected to the enable pin of driver IC for speed controlling.
Pins P1.1, P1.0, P2.4, P2.5 are used to control the direction of the individual motors. We have
used the Darlington array of diodes for preventing back emf from DC motors. This was the
major challenge that we have faced.


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SOFTWARE COMPONENTS

ADC10 (Analog to Digital converter)

MSP430g2252 has 8 ADC channels of 10bit each, this ADC10 of the msp430 is used to
convert the analog signals from the hall effect sensor into digital value. ADC10 is of 10bits
hence we can get the value ranging from 0-1023 depending on the value of voltage supplied to
the ADC pin. 4 ADC channels: A3, A4, A5, A6 on pins P1.3-P1.6 are used for analog input.


Analog Voltage from Sensor(V) Corresponding Digital Value

0 0

2.5 512

5 1023



3.2 PWM (Pulse Width Modulation)

PWM is one of the complex module of our project, we have been struggling for a long er
time in achieving PWM signals. A modulating technique which generates variable width pulses
is used to vary th speed of the motor. The Duty cycle is varied based on the input values at P1.5
and P1.6 from sensors 3 & 4 respectively. The output is driven from P1.2 of controller to the 1,9
enable pins of H-bridge. We can change the duty cy cle of the PWM by changing values in the
TACCR1 regist er in msp430 program.



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Algorithm

The algorithm for this project is very simple. A round robin algorithm that implements polling
technique, the sensor values are always read one after the other in a continuous loop. There are
few three should values set for each sensor, if the actual reading from sensor reaches the
threshold value then program triggers the change of state i.e. the operations on motion and
direction of vehicle.

f
1
- S
1
> 750 //
forward f
2
- S
2
> 600
// backward
f
3
- S
3
> 700 // speed
increase f
4
- S
4
> 700 //
speed decrease

f
5
- S
1
> 600 & S
3
> 600 //
turn left f
6
- S
2
> 600 & S
4
>
600 // turn right


This is the actual alignment of the sensors and the permanent magnet around mouth. The ima ge
is top view of the actual alignment.
S1 & S2 front sensor
S3 & S4 back sensors

The white circle in the middle is the res ting position of the tongue implanted with small perman
nt magnet.

We have used different flag values in the algorithm for each sensor, if a sensor is high then the
flag value of the particular sensor remain high until the operation is performed, then it is again
reset.
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Alternative Assistive Technologies
A large group of assistive devices are available that are controlled by switches. The switch
integrated hand splint, sip and puff device, chin control system, and electromyography (EMG)
switch are all switch based systems and provide the user with limited degrees of freedom.
A group of head-mounted assistive devices has been developed that emulate a computer mouse
with head movements. Cursor movements in these devices are controlled by tracking an infrared
beam emitted or reflected from a transmitter or reflector attached to the users glasses, cap, or
headband. Tilt sensors and video-based computer interfaces that can track a facial feature have
also been implemented. One limitation of these devices is that only those people whose head
movement is not inhibited may avail of the technology. Another limitation is that the users head
should always be in positions within the range of the device sensors. For example the controller
may not be accessible when the user is lying in bed or not sitting in front of a computer.

Another category of computer access systems operate by tracking eye movements from corneal
reflections and pupil position. Electro-oculographic (EOG) potential measurements have also
been used for detecting the eye movements. A major limitation of these devices is that they
affect the users eyesight by requiring extra eye movements that can interfere with users normal
visual activities such as reading, writing, and watching.
The needs of persons with severe motor disabilities who cannot benefit from mechanical
movements of any body organs are addressed by utilizing electric signals originated from brain
waves or muscle twitches. Such brain computer interfaces (BCI), either invasive or noninvasive,
have been the subject of major research activities. BCIs that operate based on
electroencephalography (EEG) signals are very slow and limited in bandwidth. Implantable BCI
technologies, on the other hand, are highly invasive (require a brain surgery) and heavily rely on
signal processing and complex computational algorithms, which can results in delays and bulky
systems that may also be very costly.
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WHY TONGUE ONLY?

In case when a person has a severe spinal cord injure or other damage , the tongue will
remain mobile to activate the system. Scientists chose the tongue to control the system
because unlike the feet and the hands, which are connected by brain through spinal cord ,
the tongue and the brain has direct connection through cranial nerve.
Muscle fibres in tongue is similar to heart muscle fibres.
Low rate of perceived exertion.
Directly connected to the brain.
Hidden inside mouth will give a certain degree of privacy.






Tongue Drive System

ss

In the Tongue Drive System (TDS), the motion of the tongue is traced by an array of magnetic
sensors, which measure the magnetic field generated by a small permanent magnet, the size of a
grain of rice, that is embedded in a biocompatible material such as titanium, and attached to the
tongue through piercing, implantation, or adhesion. The magnetic sensors can be either mounted
on a dental retainer and clipped on the outside of the teeth (internal TDS or iTDS) or on a
headset (external TDS or eTDS) positioned near the cheeks. Sensor outputs are amplified,
multiplexed, digitized, and transmitted wirelessly to an external controller unit.



Internal Tongue Drive System (iTDS) consists of a permanent magnet attached to the tongue,
plus an array of magnetic sensors around the lower teeth on a dental retainer.
Signals received by the external controller, which can be a portable computer or a smartphone
are processed to indicate the motion of the permanent magnet and consequently the tongue
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position within the oral cavity. We can assign a certain control function to each particular tongue
movement in software and customize the system for each individual user. These user-defined
control functions may then be used to operate a variety of devices and equipments including
computers, phones, and powered wheelchairs.
The signals from the magnetic sensors are linear functions of the magnetic field, which is a
continuous position-dependent property. Thus a few sensors are able to capture a wide variety of
tongue movements. This mechanism provides a tremendous advantage over switch based devices
in that the user has the options of proportional, fuzzy, or adaptive control, which can offer
smoother, faster, and more natural control over the environment.

Tongue movement




WORKING OF TDS
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Small permanent magnet pierced on the tongue.
Array of Hall-effect magnetic sensors senses the magnetic field.
Sensors mounted on a dental retainer and attached on the outside of the teeth.
Small batteries are intended to power.
Power management circuitry scans through the sensors and turn on one at a time.
TDM analog output are digitized, modulated and transmitted to the external control unit
through a wireless link.
From their signals are demodulated, demultiplexed to extract individual sensor output.
By processing these output command is identified.






Magnetic Tongue Barbell made of Titanium
ss




Prototype Tongue Drive System
We have developed a prototype Tongue Drive System using off-the-shelf commercially available
components to evaluate the feasibility and performance of this approach in developing assistive
devices. The main purpose of this prototype device was to substitute mouse in computer access
by moving the cursor on the computer screen based on the location of the magnetic tracer
relative to the four magnetic sensors. Four ratiometric linear sensors are installed in cavities
created in a mouthguard. The sensors readily provide temperature compensated linear voltage
output proportional to the vertical magnetic field component.



An early prototype of the internal tongue drive syste
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Tongue Drive System for Wheelchair Control
We have developed an interface that allows individuals to use the Tongue Drive System for
controlling electric-powered wheelchairs by substituting the joystick. Similar to cursor
movement on the computer screen, all the users need to do is to touch a predefined set of teeth
with the tip of their tongues to drive the wheelchair forward, backward, turn left, or turn right.
They can accelerate the wheelchair by holding their tongues in the forward position, and
decelerate by returning their tongues back to its resting position. They can even control their
powered seating position by switching the wheelchair control mode from driving to seating
control.


Using the Tongue Drive System Sto drive an electric wheelchair


First clinical trial at Shepherd Center
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ADVANTAGES

Few sensors are able to capture a wide verity of tongue movements.
Adaptive control over the environment.
User convenience and additional power saving.
No surgery needed.
Simple to implement , low cost ,easy to operate , flexible.
Offers better privacy to the user.

DISADVANTAGES

Implementation is slightly harder.
Slightly costlier.
Users should avoid inserting ferromagnetic objects in their mouth.
Magnetic tracer should be removed if the user is undergoing MRI.










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CONCLUSION

It helps people with severe disabilities to lead a self-supportive independent life enabling
them to control their environment using their tongue.
This technology works by tracking movements of permanent magnet, secured on the
tongue, utilizing an array of linear Hall-effect sensors.
Other advantages of the Tongue Drive system are being unobtrusive, low cost, minimally
invasive, flexible, and easy to operate













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REFERENCES
1. www.google.com
2. www.youtube.com/watch?v=_bOlB_G4C2Y
3. www.manpages.info/sunos/eeprom.1.html