DESIGN PROJECT

COE 008

HAND GESTURE CONTROLLED WHEELCHAIR

A Project Design proposal presented to the faculty of Engineering Department

In Partial Fulfillment for the requirements in COE 008 (Project Design)

PRESENTED BY:
Gonzales, Christan Mark
Bernardo, Edgardo Jr.
Talledo, Mark Ale
Raymundo, Alvin

SUBJECT INSTRUCTOR:
Prof. Buenafe Camaso
Adviser

TABLE OF CONTENTS

1 INTRODUCTION
1.1 BACKGROUND OF THE STUDY
1.2 STATEMENT OF THE PROBLEMS
1.2.a GENERAL PROBLEM
1.2.b SPECIFIC PROBLEMS
1.3 OBJECTIVES OF THE STUDY
1.3.a GENERAL OBJECTIVE
1.3.b SPECIFIC OBJECTIVES
1.4 SIGNIFICANCE OF THE STUDY
1.5 SCOPES AND LIMITATIONS
1.5.a SCOPES
1.5.b LIMITATIONS

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2 CONCEPTUAL AND THEORETICAL FRAMEWORK

2.1 REVIEW OF RELATED LITERATURE
2.2 CONCEPTUAL FRAMEWORK
2.3 THEORETICAL FRAMEWORK
2.4 DEFINITION OF TERMS

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8
12
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3 RESEARCH METHODOLOGY
3.1 METHOD OF RESEARCH
3.2 SOURCES OF DATA
3.3 DATA GATHERING INSTRUMENT
3.4 DATA COLLECTION PROCEDURE
3.5 STATISTICAL TREATEMENT OF DATA
3.6 ETHICAL CONSIDERATIONS

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4 PRESENTATION, ANALYSIS AND INTERPRETATION OF

DATA
4.1 COMPONENTS OF THE SYSTEM
4.1.1 HARDWARE COMPONENTS

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4.1.2 SOFTWARE COMPONENTS

4.2 BLOCK/CIRCUIT DIAGRAM
4.3 FLOW CHART
4.4 DESIGN CONCEPT
4.5 FUNCTIONALITY TESTING
4.6 SURVEY RESULTS

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5 SUMMARY, CONCLUSION, AND RECOMMENDATION

5.1 SUMMARY
5.2 CONCLUSION
5.3 RECOMMENDATION

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BIBLIOGRAPHY

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APPENDIX A - QUESTIONNAIRE
APPENDIX B USERS MANUAL
APPENDIX C - SOURCE CODES
APPENDIX D BILL OF MATERIALS
APPENDIX E - ORGANIZATIONAL FLOW CHART

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66

CURRICULUM VITAE

67

PREFACE
Incidents happen everywhere, even though we make sure that safety is our main priority,
we dont really know if itll occur or not. Some incidents cause major changes in ones life, he or
she could be physically capable of doing normal things before a road accident happens but will
then be unable to do normal things afterwards such as walking normally. Due to this, it will be hard
for his or her to move from one location to another. Some might buy their personal mobility device
such as a wheelchair which will help them lessen the complexity of moving, but in some cases,
there were some disabled individuals who are not able to attain full functionality of their hands due
to another incident. In such case, the disabled individual will have a hard time using such
wheelchair, either the manually hand driven traditional wheelchair or the conventional joystick
controlled wheelchair. It is due to this case that we have come up with this dissertation which
includes the development wheelchair device which enables a user that could not harness full
functionality of his or her hand to gain full access of the controls of the personal mobility device.

DEDICATION
We dedicate this dissertation to the physically disabled individuals whove served as the
inspiration for us researchers to come up with this project. We would also like to dedicate this
dissertation to the future researchers or students who may want to improve or use this research as
a reference for their own.
We also dedicate this dissertation to the wonderful people who have been the constant
source of knowledge and idea. To our instructor Ms. Buenafe Camaso who have been very
supportive to us during the creation of this dissertation by giving us ideas and encouraging us
when we have uncertain thoughts.
Most importantly, we would like to dedicate this dissertation to our Lord and Savior, Jesus
Christ. If not for his presence and guidance, we would not have been able to finish this research.

ABSTRACT
The researchers created a prototype project that enables a person with disability to use a
wheelchair with full autonomy. The said wheelchair enables the user to control the movements of
the prototype just by using a specific body parts (in this research studys case it would be the hand
or the head) movement wherein an accelerometer sensor is mounted. The accelerometer sensor is
connected on to the Arduino Uno Microcontroller Board, an open source computing platform based
on simple input/output board and the use of standard programming language, to process the
signals sent by the transmitter in order to manipulate the wheelchairs movement. The wheelchairs
movement is determined via accelerometer sensor which basically measures the amount of static
acceleration due to gravity, by doing this the tilt movement or tilt angle could be measured with
respect to the earth. The data derived from the accelerometer sensor will be passed on to the
Arduino Uno Microcontroller Board for data evaluation and processing. Afterwards, the Arduino
Uno Microcontroller Board will send a command on to the Motor Driver Circuit which will
manipulate the motors movements based on the signal sent by the microcontroller. The Arduino
Uno Microcontroller will also send a signal to the LCD Module in order for it to display the
movement status of the wheelchair. The battery included in this wheelchair could supply power
from 6 12 hours depending on the users discretion of the devices usage.

ACKNOWLEDGEMENT
This project would never become successful without the aid and guidance of the Lord, he
who never fails to do amazing things to the group. To God be all the glory!
The researches also wanted to express their sincerest gratitude to the following people
who accompanied them and nevertheless showed an unending support throughout the completion
of this project:
To their parents and other family members, for giving us full support on both moral and
financial aspect. The people who continuously encourage us to achieve greater heights.
Prof. Buenafe Camaso, for her full support, effort, and guidance as this dissertations
adviser.
To their classmates and friends, for the encouragement especially when times get rough
and almost seem unbearable.
To all those who have helped directly and indirectly whose names were not mentioned, the
researchers wish to extent their full gratitude and appreciation.

CHAPTER I
PROBLEM AND ITS BACKGROUND
This chapter will discuss the studys background, the statement of the different problems,
the different objectives of the project, the scope and limitation of the project, the significance of the
study, and the distribution of tasks among the members of the group.

Background of the Study

A wheelchair is a device or apparatus, basically a chair that has several wheels attached to
it. Wheelchairs are used primarily by physically challenged individuals who could not walk or stand.
Most of the time, there are handles located at the back of a wheel chair that could be used by
another person to help the user of the wheelchair for maneuvering and navigation. Although there
were still traditional manually operated variants of such device, the advancement of technology had
also been attached to this kind of device. The newer variants of these devices basically use
batteries and motors for the pushing capability. Such variants are known as electric powered
wheelchairs.
In recent times there have been a wide range of assistive and guidance systems available
in wheelchair devices to make their life less complicated. In recent times there have been various
control systems developing specialized for people with various disorders and disabilities. The
systems that are developed are highly competitive in replacing the old traditional systems. There
are many assistive systems using visual aids like smart wheelchair systems, using joystick and
much more. There are even systems based on voice recognition too. The basic assisting using
voice control is to detect basic commands using joystick or tactile screen. These applications are
quite popular among people with limited upper body motility. There are certain drawbacks in these

systems. They cannot be used by people of higher disability because they require fine and
accurate control which is most of the time not possible.
The proponents of this prototype project wishes to help these disabled individuals by
providing a new means or way of controlling a wheeled chair or seat. The overall aim of this project
prototype is to restore the autonomy to disabled individuals, enabling them to independently use an
electric powered or motorized wheelchair. Thus, this prototype project is conceptualized by the
researchers to let the target users to freely control the wheelchair by just the use of his or her
hands or head. Aside from that, this wheelchair can be controlled or maneuvered into four different
directions by means of tilting as a command for movement, then it could therefore be said that the
hand or head gesture controls the wheelchair itself.

Statement of the Problems

The researchers developed this design project in order to help the disabled individuals with
their personal mobility. The researchers started this study due to the fact that the current system
was not that sufficient to supply the needs of many. Thus, this study will provide a better or
improved idea for the current system. This study will provide a solution for the complications found
on the current implemented system that is available throughout the market. The complications or
problems will be elaborated below.

General Problem
The fatigue on the muscles of a disabled individual due to the prolonged use of his
or her upper body muscles in order to maneuver or control the movements of a

traditional manually operated wheelchair.

Specific Problems
The inability of a disabled individual with a weak upper body to become self-reliant
in his or her personal mobility muscles, due to the fact that he or she cannot exert
enough force in order to operate a traditional manually operated wheelchair.
Conventional electronic wheelchairs become unreliable if the user of the chair
cannot accumulate or exert enough force using his or her hands and finger tips.
In some rare cases wherein the user has no fingers available due to an accident,
the use of joystick controller will be unreliable in a sense that no fingers could be
used to properly hold and control it.

Objectives of the Study

The researchers developed this design project idea for the betterment of the current
implemented system throughout the market. It could be said that this study will contain the aid or
solution for such problems present in the current system. As like any other study, this study also
has its own objectives. The objectives of this study will be the known aid or solution for the
elaborated problems or complications found on the current system. The objectives of this study are
the following:

General Objective
To develop an automated wheelchair that will reduce the fatigue on the muscles
experienced by the disabled individual when using a manually operated wheelchair.
Specific Objectives
To develop an automated wheelchair that is easy to use that will enable the user or the
disabled individual to become more self-reliant when it comes to his or her personal
mobility.
To use a controller module which will enable a disabled person with a weak hand force
and no available finger tips.
To develop a full-scale prototype in order to fully test the design functionalities in actual
situations.

Significance of the Study

The project prototype hand or head gesture controlled wheelchair aims to develop an
innovation on electronic wheelchair technology. The hand gesture, or head gesture for a second
option, will be used as the primary direction controller of the project prototype. The proponents

have come up with this project in order to help persons with disability to be slightly independent
when it comes to controlling their personal traveling or strolling companion, the wheelchair. The
findings of this study will benefit the following:

The friends and family of the person with disability:

The patient will become slightly independent or self-reliant, it only means that the
time his loved ones need to watch the patient will be lessened, thus if this
happens, theyll be having more time to do the necessary things that they needed

to do.
The person with disability himself:
This is a project intended to help them become self-reliant, it only means that they
will be the greatest beneficiaries of this project, thus, this project will give them the
autonomy to feel or feel once more that they are somewhat independent, that they

are free in a way.

The fellow researchers or students:
This project is a final year project, it only means that they could read this study as
part of their reference. Thus, if theyre interested to somewhat add an extra
feature, they could be able to more easily innovate this project since they have a
reference.

Scopes and Limitations

Scopes
The research covers up the creation of an automated wheelchair system that will
benefit the disabled individuals.
The controller uses the movements of a certain body part wherein the sensor is
located for control or movement, for example the hand.
A specific movement of the a body part (i.e. the hand) could initiate one of four
different states of movement, namely forward, reverse, left turn, right turn, and

stop. In order to ensure the safety of the user, the researchers have chosen a low
speed but high torque motor, it means that the movement speed will be slow, but
still, due to this the motors wheelchair could carry a bigger weight.
For users who wanted to lay down, the hand or head gesture controlled wheelchair

also has a reclining back support.

Limitations
The design project prototype hand or head gesture controlled wheelchair could not
be used as a means of transportation for long distances such going from one town
to another, but it could be used for personal, outdoor and short distance
transportations.
It is also not advisable to be used by fully paralyzed individuals that could not
move any parts of his or her body, but it could be used by individuals who are
physically incapable of standing up or walking as long as they can move one of
their hands or head.
Unlike other conventional electric wheelchairs, the hand or head gesture controlled
wheelchairs speed could not be adjusted because the researchers prefer a low
speed operation than an adjustable speed control operation to ensure the rider or
users safety.
The hand gesture controlled wheelchair is not recommended to be used by
persons with severe hand shakiness as it could trigger the sensor to calculate
unwanted movement.
The hand gesture controlled wheelchair is not recommended to be used by
persons with mental illnesses as it is too dangerous to be used by persons that
are not mentally capable or fit.
The proposed wheelchair system is not advisable to be used on inclined surfaces
or paths and rocky terrains as the wheelchair might not be able to move.

Chapter II
CONCEPTUAL AND THEORETICAL FRAMEWORK
This chapter will discuss the review of related literature, the conceptual framework of the
project, the theoretical framework of the project and the definition of each terms included in this
chapter.

Review of Related Literature

Wheelchair is a chair that has a wheel attached to it. The wheelchair device comes in
different variations allowing either manually propelled by the occupant of the device or electrically
propelled which uses motors and circuitry. Most wheelchairs have handle attachments at the back
in order for others to be able to push the wheelchair whenever the occupant cannot do it by his or
her own. Wheelchairs are used by individuals who find it hard to walk due to an illness, accident, or
disability.

According to an article written by Jackie Rosenhek, the first recorded use of the wheelchair
could be dated back on the 6 th century A.D., wherein it could be seen from a Chinese engraving
that a man is depicted to be riding a chair with three wheels attached to it. Afterwards, during the
16th century A.D., a German watchmaker named Steven Farler had a unique idea which introduced
the self-propelled model of a wheelchair. Farlers invention was basically a wooden box on wheels
with hand cranks. During the mid-18 th century, James Heath from Bath, England invented the bath
chair. The bath chair has a steering wheel for the occupant and can be pushed by a friend or
servant. It also has an incorporated hook in front in case that only donkey or pony power was
available. The bath chair became the rickshaw of England streets during the 19 th century. In 1783,
an English inventor John Dawson created a commercially viable, user friendly version of the
wheeled chair.1
According to Carmen P. DiGiovine, the first motor powered wheelchairs appeared in the
early 1900s; however, demand for them did not exist until after World War II. The first commercially
produced electric wheelchairs were merely heavy-duty manual folding-frame wheelchairs that were
powered by lead-acid batteries, motors, drive belts, and pulleys. Those systems, known as
conventional power wheelchairs, were very simplistic. They required the use of a joystick to control
the wheelchairs movement, and programmability did not exist. The seating system typically
consisted of a sling seat and back upholstery, which significantly limited postural support for the
individual.2

1 Jackie Rosenhek, Doctors Review|Before Wheelchairs,

http://www.doctorsreview.com/history/feb07-history_medicine/
2 Carmen P. DiGiovine, Electric Wheelchair, http://www.britannica.com/topic/electricwheelchair

Given the fact that wheelchairs can really help the disabled individuals become independent when
it comes to mobility, an undeniable fact could not be disregarded. The fact that some disabled
individuals find it hard to control both manual and conventional electric-powered wheelchair makes
it less reliable than it should be. This difficulty could be said as an effect of a weak upper body part,
especially the hands and the arms. If a disabled individual with a weak hand that could not grip
properly is to drive a manually driven wheelchair, it will be obviously difficult for that particular user
and might just end up tiring himself or herself without attaining the desired output in the process.
Given this circumstances, the proponents of this design project came up with an idea. The
idea basically involves the use of tilting as a means of controlling the direction wherein the
wheelchair will be moving. Through building up circuitry connections and creating controlling
software, the project could be made possible. Unlike conventional electric-powered wheelchairs
which use joysticks for control, the proponents of this project have decided to use a body part
mounted (primarily the hands) controller which will enable the use of tilting or gestures as a means
of control. The gesture recognition system will be furtherly explained and elaborated below.
Based on the definition given by Rouse, gesture recognition is the mathematical
interpretation of a human motion by a computing device. Facial recognition, voice recognition, eye
tracking and lip movement recognition, and gesture recognition are considered as the components
of what developers refer to as a perceptual user interface (PUI). The goal of PUI is to enhance the
efficiency and ease of use for the underlying logical design of a stored program, a design discipline
known as usability. Gesture recognition is normally used as input command. Recognition of
gestures as inputs allows computers to become more accessible for physically-impaired individuals
and also makes the interaction more natural in a sense. Hand and body gestures could be

amplified by the use of controllers which may include accelerometers and/or gyroscopes that can
be used to sense tilt, rotation and acceleration of movement or the computer could be equipped
with a camera so that the device will be able to recognize and interpret a specific gesture by means
of a software installed. 3
In general, the gesture recognition system has a vast variety of uses. According to Jones, Hand
gesture recognition could be used on constructions, scientific researches, and any other situations
where there is a need for humans and machines to be separated, most likely on dangerous areas
or fields. Gesture recognition can be used to develop assistive tools or devices for the various
physical and sensory handicaps. The gesture recognition system could also be used in security
systems, for instance the pure facial gesture recognition. 4
The future of the gesture recognition technology is hard to predict because in any
technology, it tends to always change. The horizon is a little blurry but one can make the
assumption that it will only continue to develop and eventually turn into voice command technology.
Though these two have already been integrated together but the point of technology is to be able
to use it without thinking about it. Whatever that secret may be is what the future is going to be. It
will be interesting to see where technology takes us because it is just as important to remember to
stay human. Perhaps there will come a day we will be able to speak things and they will just
happen all in part to devices being able to completely understand our meanings.

3 Margaret Rouse, Gesture Recognition, http://whatis.techtarget.com/definition/gesturerecognition

4 Sue Jones, Analyzing Body Language: Gesture Recognition,
http://www.datehookup.com/singles-content-analyzing-body-language-gesturerecognition.htm

Conceptual Framework

INPUT

Accelerometer
Sensor
Arduino Uno
Microcontroller
Board

Motor Driver Circuit

and Motor

Status indicator via

the LCD module

Knowledge in
Arduino
Programming and

PROCESS
Send sensed or
calculated
movement from the
sensor to the
Arduino.

Arduino evaluates
the data and send
a signal or
command to the
motor driver circuit
as well as to the
status indicator.

Motor driver drives

the motor.

OUTPUT

Head or Hand
Gesture Controlled
Wheelchair

FEEDBACK
Figure 2.1 Conceptual Framework

Theoretical Framework
Using an accelerometer sensor as the controller, the proponents can create their own
automated electric or motor powered wheelchair device. The accelerometer sensor will be
connected to an Arduino Uno Board, an open source computing platform based on simple
input/output board and the use of standard programming language, to process the sensors signal
into a usable data input. The derived data from the accelerometers signal will be passed on to the
motor driver. The motor driver circuit will then control the motors movement according to the sent
signal from the accelerometer sensor. The wheelchairs movement will be based on the
movements of the motors.
The Arduino Uno Microcontroller board has a dedicated amount of power supply it could
take for it to work properly. An unstable amount of power could result to the microcontroller boards
malfunctioning, thus destroying the board entirely. The Arduino Uno Microcontroller board requires

a voltage supply of not less than 6V but not more than 20V. The accelerometer sensor has to be
supply with a proper amount of voltage too, if not, it could also be destroyed. The accelerometer
requires a voltage supply of 1.8 3.6V DC for it to work properly. The Arduino Uno will be the one
providing the necessary voltage supply to the accelerometer sensor. The Motor Driver Circuit also
has a voltage supply limit which is 4.8 35V DC. The Motor Driver Circuit will be receiving the data
or measurement calculated by the accelerometer through the use of Arduino Uno for data
processing. The status would also be indicated by the use of a LCD Module.

Definition of Terms
The terms stated below are conceptually and operationally defined for a better
understanding of the readers.
Terms

Definition

Acceleration

the act or process of moving faster or happening more quickly

Accelerometer

is a device that measures changes in non-gravitational

acceleration in a device it may be installed in

Belt

a continuous band of tough flexible material for transmitting motion

and power or conveying materials

Computer

an electronic machine that can store and work with large amounts of

Computing Device

information
a machine for performing calculations automatically

Crank

a part of an axle or shaft bent out at right angles, for converting

reciprocal to circular motion and vice versa

Data

facts or information used usually to calculate, analyze, or plan

Engraving

something
the art of forming designs by cutting, corrosion by acids, a
photographic process, etc., on the surface of a metal plate, block of
wood, or the like, for or as for the purpose of taking off impressions

Feedback

or prints of the design so formed

something (such as information or electricity) that is returned to a

Gesture

machine, system, or process

a movement or position of the hand, arm, body, head, or face that is
expressive of an idea, opinion, emotion, etc.

Gyroscope

is a device that uses Earths gravity to help determine orientation

Handicap
Input

a physical disability
something (such as power or energy) that is put into a machine or

Microcontroller

system
a microprocessor that controls some or all of the functions of an
electronic device (as a home appliance) or system

Module

one of a set of parts that can be connected or combined to build or

Motor

complete something
a machine that produces motion or power for doing work

Occupant

a person who resides or is present in a house, vehicle, seat, etc., at

Output

a given time
something (such as power, energy, or information) that is produced

by a machine or system
Perceptual User Interface allows a computer user to interact with the computer without having
(PUI)

to use the normal keyboard and mouse

Power

a source or means of supplying energy

Pulley

a wheel or set of wheels that is used with a rope, chain, etc., to lift

Rickshaw

or lower heavy objects

a small, light vehicle with two wheels that is pulled by one person on
foot or on a bicycle and that is used in some Asian countries

Rotation

the act or process of moving or turning around a central point

Signal

a detectable physical quantity or impulse (as a voltage, current, or

magnetic field strength) by which messages or information can be

Tilt

transmitted
to move into or assume a sloping position

Usability

is the measure of a product's potential to accomplish the goals of

Voltage

the user.
the force of an electrical current that is measured in volts

Chapter III
Research Methodology
This chapter of the study is intended to describe the methodology of research used in the
study.

Method of Research
This study uses a descriptive method of research. As widely accepted, the descriptive
method of research is a fact-finding study that involves adequate and accurate interpretation of
findings. Descriptive research describes a certain present condition. Relatively, the method is
appropriate to this study since it aims to describe the present condition of technical analysis as it
may be released in the stock market or industry someday. The technique that was used under
descriptive method is the normative survey approach and evaluation, which is commonly used to
explore opinions according to respondents that can represent a whole population. The surveyquestionnaire is appropriate in this study because it enables the researcher in formulation of
generalizations.

Sources of Data
The respondents for this study may be either normal or disabled individuals or both
because the proponents believe that one or both could still perceive whether the device is effective
or not. The respondents for this study were randomly selected students from ICCT Colleges. They
shall be selected by non-probability sampling and shall be composed of males and females. Direct
observation of the performance of electric powered wheelchairs is an excellent means of data
gathering. Observation is basically combined with another data gathering method in order to fill the
gaps and weaknesses of one another.

Data Gathering Instrument

Data Gathering will be done by the use of survey questionnaires. These questionnaires
were carefully formulated, arranged and set by the researches of this study. Each question will be
under a certain field or sub-field which will evaluate the effectiveness of the prototype project.
These survey questionnaires will be handed over to the chosen respondents of the study. After the
respondents completed the survey, the questionnaires will be collected back so that the responses
could be systematically evaluated and tabulated. These data collecting instrument is used solely
for the purpose of gathering the needed data for this study.

Data Collection Procedure

Random people will be asked to answer the survey questionnaires upon their approval.
These survey questionnaires will be helpful to seek the significance of the study to be conducted.
The results or findings of collected after the said process was conducted will enable the
researchers to make proper or appropriate generalizations by evaluating peoples specific opinions
and ideas about the study. After the creation of the prototype, the testing phase will undergo. In
case there were no disabled individual present in the vicinity, the researchers could ask a
physically capable person to try and test the prototype so that it could still be evaluated properly.

Statistical Treatment of Data

The Likert scale was used to interpret items in the questionnaire. The responses were
based on the respondents assessment about the study. The range and interpretation of Likert
scale are given at the table below.
Scale
Range
Interpretation
5
4.01 - 5.00
Strongly Agree
4
3.01 - 4.00
Agree
3
2.01 - 3.00
Fairly Agree
2
1.01 - 2.00
Disagree
1
0.01 - 1.00
Strongly Disagree
Table 3.1 Statistical Treatment of Data
Weighted mean was used to measure the general response of the survey samples, whether they
agree to a given statement or not. The formula in computing weighted mean is as follows:
WM = fx
xt
Where:
WM = Weighted Mean
f = weight given to each response
x = number of responses
xt = total number of responses

Ethical Considerations
The survey forms were created in a way that is very clear and concise in order to prevent
conflicts among respondents. People who participated in the research were given an ample time
to respond to the questions posed on them to avoid errors and inaccuracies in their answers. The
respondents confidentiality of identity is assured by providing them with identification numbers.
The respondents' cooperation was eagerly sought after, and they were assured that the data
gathered from them would be treated with the strictest confidence, so that they would be more
open. This was done with the hope that this would promote trust between the researchers and the
respondents.

Chapter IV
PRESENTATION, ANALYSIS AND INTERPRETATION OF DATA
This chapter presents the components of the system, circuitry design or diagram, flow of
data and overall cost of the system. This will give an overview of the overall proposed system in
terms of procedures and figures presented.
Components of the System
Hardware Components
1.) ADXL345 3-Axis Accelerometer

Figure 4.1. ADXL345 3-Axis Accelerometer

The ADXL345 is a small, thin, low power, 3-axis accelerometer with high resolution
(13-bit) measurement at up to 16 g. Digital output data is formatted as 16-bit twos

complement and is accessible through either a SPI (3- or 4-wire) or I2C digital interface.
The ADXL345 is well suited to measure the static acceleration of gravity in tilt-sensing
applications, as well as dynamic acceleration resulting from motion or shock. Its high
resolution (4 mg/LSB) enables measurement of inclination changes less than 1.0. The
ADXL345 runs on 2 3.6V DC supply voltage. It has a low current consumption of 40A at
measurement mode and 0.1A at standby mode. It is the main sensing component of the
hand gesture controlled wheelchair which could be either mounted to the users hand or
another part of the body such as the head.

Figure 4.2 ADXL345 Pin Configuration

Table 4.1 ADXL 345 Pin Description Table

2.) Arduino Uno Microcontroller

Figure 4.3 Arduino Uno

The Arduino Uno is a microcontroller board based on the ATmega328. It has 14
digital input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and a reset
button. It has a recommended input voltage supply of 7 12V DC, but operates at 5V DC
and has a limit of 6 20V DC input voltage supply. It has a flash memory of 32KB and a
RAM of 2KB. It contains everything needed to support the microcontroller; simply connect
it to a computer with a USB cable or power it with a AC-to-DC adapter or battery to get
started.

Figure 4.4 Arduino Uno Pins

Input and Output
Each of the 14 digital pins on the Arduino Uno can be used as an input or output,
using pinMode(), digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each
pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor
(disconnected by default) of 20-50 kOhms.
In addition, some pins have specialized functions:
Serial: pins 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data.
These pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL Serial
chip.

External Interrupts: pins 2 and 3. These pins can be configured to trigger an interrupt on a
low value, a rising or falling edge, or a change in value. See the attachInterrupt() function
for details.
PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.
SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication
using the SPI library.
LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, its off.
The Uno has 6 analog inputs, labeled A0 through A5, each of which provide 10
bits of resolution (i.e. 1024 different values). By default they measure from ground to 5
volts, though is it possible to change the upper end of their range using the AREF pin and
the analogReference() function. Additionally, some pins have specialized functionality:
TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the Wire library.
There are a couple of other pins on the board:
AREF. Reference voltage for the analog inputs. Used with analogReference().
Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset button
to shields which block the one on the board.

3.) LCD Module

Figure 4.5 LCD Module

LCD (Liquid Crystal Display) screen is an electronic display module and find a
wide range of applications. A 16x2 LCD display is very basic module and is very commonly
used in various devices and circuits. These modules are preferred over seven segments
and other multi segment LEDs. The reasons being: LCDs are economical; easily
programmable; have no limitation of displaying special & even custom character
animations.
A 16x2 LCD means it can display 16 characters per line and there are 2 such
lines. In this LCD each character is displayed in 5x7 pixel matrix. This LCD has two
registers, namely, Command and Data.
The command register stores the command instructions given to the LCD. A command is
an instruction given to LCD to do a predefined task like initializing it, clearing its screen,
setting the cursor position, controlling display etc. The data register stores the data to be
displayed on the LCD. The data is the ASCII value of the character to be displayed on the
LCD.

Table 4.2 LCD Pin Description

4.) Motor Driver
The output provided by the microcontroller is not sufficient to drive the actuators in
both directions at high current. Hence, the motor driver is used to control the actuators in bi
direction. This unit takes the input from microcontroller and provides high current for
actuators to rotate the actuators in both directions.

Figure 4.6 Motor Driver

Specifications:

Input Voltage: 4.8 ~ 35V

Maximum output current: 15A @ 13.8V per channel
Peak output current: 20A @ 13.8V per channel

PWM capability: up to 25 kHz

Interfaces: 4 digital IO (2 PWM output include)
Driving mode: Dual high-power H-bridge driver

5.) 12V DC Motor

Figure 4.7 Motor

Motors are the most essential part of the power wheelchair as they provide motion
to the system. The operation of motor is based on simple electromagnetism. The current
carrying conductor generates magnetic field; when this is placed in an external magnetic
field, it will experience a force proportional to the current in the conductor, and to the
strength of the external magnetic field. In any electric motor, operation is based on simple
electromagnetism. A current-carrying conductor generates a magnetic field; when this is
then placed in an external magnetic field, it will experience a force proportional to the
current in the conductor, and to the strength of the external magnetic field. As you are well
aware of from playing with magnets as a kid, opposite (North and South) polarities attract,
while like polarities (North and North, South and South) repel. The internal configuration of
a DC motor is designed to harness the magnetic interaction between a current-carrying
conductor and an external magnetic field to generate rotational motion. By using a low

speed but high torque motor, the users safety was increased. The motor used runs on 12
V DC supply.

6.) 12V Lead Acid Battery

Figure 4.8 Lead Acid Battery

12V, 32Ah battery supply is used to power the whole system.
It is a lead acid battery which needs to be recharged periodically.

Software Components
1.) Arduino IDE

Figure 4.9 Arduino IDE

The open-source Arduino Software (IDE) makes it easy to write code and upload it
to the board. It runs on Windows, Mac OS X, and Linux. The environment is written in Java
and based on Processing and other open-source software. This software can be used with
any Arduino board.

Block/Circuit Diagram

Figure 4.10 Block/Circuit Diagram

Description:
The voltage input is given by the accelerometer using hand gestures. This is given to the
analog pin 4 (SDA) of the Arduino Uno Microcontroller. After the voltage input is accepted by the
Arduino Uno, it will now evaluate that voltage or signal. Based on these voltages, the directions are
displayed on LCD 16X2.If the accelerometer faces the forward direction, the wheelchair will move
forward and so on. Speed and direction control is done by using two DC motors that are interfaced
into a motor driver that could provide an output current of 15A per channel. The system uses a 12V
32Ah battery in order to run.
Data Flow Chart

Figure 4.11 Data/System Logic Flow Chart

Design Concept
The hand gesture controlled wheelchair is basically a modified manual wheelchair. The
manual wheelchair is modified to become an electric or automated wheelchair. The notable
difference between the hand gesture controlled wheelchair and a conventional electric wheelchair,
aside from the physical appearance, is the controller. Conventional electric wheelchair uses a
joystick controller in order to manipulate or control the movements of the wheelchair while the hand
gesture controlled wheelchair uses the hand movements of the person in order to control the
movements of the wheelchair. Although it is stated that the hand gesture controlled wheelchair
uses hand movements, it could be modified. It could be modified in a sense that the controller
could be mounted on a different part of the users body if ever his or her hand is unable to be
moved. It could therefore be said that the hand gesture controlled wheelchair could be also called
as the gesture controlled wheelchair since it is not really limited to be operated by the users hand.
Aside from the gesture control, it also has a reclining feature which enables the user to bend the
wheelchairs back for up to 180 degrees. Aside from that, since it was a manual wheelchair
modified to become an electric or automated wheelchair, it could be controlled manually if ever the
controller becomes unreliable or damaged.

Figure 4.12 Hand gesture controlled wheelchairs design

Functionality Testing
Upon interfacing the components together and uploading the source code for the control
mechanism, the prototypes functionality had been tested. During the testing phase, the
researchers tested how much current is required to run the motor. Also, during this phase, the
researchers identified how much weight the wheelchair could carry or take on as load. One motors
starting current consumption was around 7 8 A and its constant consumption was around 3 4
A, this was done by letting one of the proponents to ride the wheelchair during the testing phase.
The wheelchair could carry up 50 kgs. of weight.
The researchers also test the correctness of each movement conditions of the wheelchair
such as forward, reverse, left turn, right turn, and standby, if it is being executed properly. The
testing of each movement conditions was done by testing the controller of the hand gesture
controlled wheelchair. This was done by moving or bending the backhand of the user towards the
intended direction to which the wheelchair must move. The results was actually quite good, the
wheelchair was quite responsive.

Survey Results
The survey was done on August 19, 2015 at ICCT Colleges Cainta Campus. The students
of the said institution served as the respondents of the conducted survey, most of which are 2 nd and
3rd year Bachelor of Science in Information Technology. The total number of participants was 85, 46
of them are from the 2nd year BSIT and 39 of them are from the 3rd year BSIT. A five category
survey questionnaire was developed in order to evaluate the project prototype. Each category
contains four different statements which will primarily evaluate the students perception regarding
the project prototype. The surveys aim is to get information from the idea or perception of the
respondents about the functionality, efficiency, reliability, usability and marketability of the device.
The following table and graph below summarizes the result of the conducted survey.
For the 2nd Year BSIT Students:

Categories
Functionality
Efficiency
Reliability
Usability
Marketability

Strongly
Agree
86
74
88
85
81

Strongly Total No. of

Agre Fairly Disagre Disagre Responses
e
Agree
e
e
184
62
32
4
0
78
28
1
0
184
184
70
25
1
0
184
76
20
3
0
184
67
29
7
0
Table 4.3 Total Tally of Responses

Total No. of
Respondent
s
46
46
46
46
46

25
20
15
Functionality

10

Effeciency
Reliability

Usability
0

Marketability

Figure 4.13 Bar Graph Representation of Students Responses

Categories
Functionali
ty
Efficiency
Reliability
Usability
Marketabili
ty

Strong
ly
Agree

Agree

Fairly
Agree

Disagr
ee

Strongly
Disagre
e

Total No.
of
Students

22
19
22
21

16
20
18
19

8
7
6
5

1
0
0
1

0
0
0
0

46
46
46
46

20

17

46

Table 4.4 Tabular Representation of Students Responses

Categories
Functionali
ty

Weighted
Mean
4.25

Efficiency

4.25

Reliability

4.33

Usability
Marketabil
ity

4.32
4.21

Interpretatio
n
Stongly
Agree
Stongly
Agree
Stongly
Agree
Stongly
Agree
Stongly
Agree

Table 4.5 Generalization of the Response for 2nd year BSIT Students

For 3rd year BSIT:

Categories
Functionali
ty
Efficiency
Reliability
Usability
Marketabil
ity

Strong
ly
Agree

Agre
e

102
100
100
101

43
40
47
41

11
15
9
13

87

56

10

Strongly
Disagre
e

Total No.
of
Response
s

Total No.
of
Responden
ts

0
1
0
1

0
0
0
0

156
156
156
156

39
39
39
39

156

39

Fairly Disagre
Agree e

Table 4.6 Total Tally of Responses

30
25
20
15

Functionality

10

Efficiency
Reliability

Usability

Marketability

Figure 4.14 Bar Graph Representation of Students Responses

Categories
Functionali

Strongl
y
Agree
26

Agree
11

Fairly
Agree
3

Disagr
ee
0

Strongl
y
Disagre
e
0

Total No. of
Students
39

ty
Efficiency
Reliability
Usability
Marketabil
ity

25
25
25

10
12
10

4
2
3

0
0
0

0
0
0

39
39
39

22

14

39

Table 4.7 Tabular Representation of Students Responses

Categories
Functionali
ty

Weight
ed
Mean
4.58

Efficiency

4.53

Reliability

4.58

Usability
Marketabil
ity

4.55
4.46

Interpretation
Strongly
Agree
Strongly
Agree
Strongly
Agree
Strongly
Agree
Strongly
Agree

Table 4.8 Generalization of the Response for 3rd year BSIT Students
Based on the findings of the conducted survey, the respondents from the higher year level
have a higher acceptance rate of the presented statements than those from the lower year level.
The researchers presumed that this may be because the students from the 3 rd year levels
technical knowledge were better or advanced than those from the 2 nd year level. It means that they
have a better understanding of the technical knowledge that we have shared during the brief
introduction of our prototype project before we started the survey. Also, the researchers presume
that the students from the higher year level have a more mature thinking than those from the lower
year level, thus making them more interested on the prototype project that weve introduced.

CHAPTER V
SUMMARY, CONCLUSION AND RECOMMENDATION
This chapter will represent the final ideas, concepts, and findings as well as the
recommendations for the future developments to be done regarding the whole composition of the
system.

Summary
The study is about an automated wheelchair which is intended to help those individuals
who are physically incapable of standing or walking. The researchers used a sensor that will
enable the wheelchair to move by means of the hand movements or positioning of the user. It was
decided by the researchers to create this kind of control mechanism so that the controllers
flexibility could be expanded which means that it will be dependent on the users disability. The
researchers also came up with a backup plan in case that the user could not be able to move his
hands or arms, if this condition was met, the controller could become hand mounted. The
wheelchair uses a low speed but high torque motor which provide slow movements but a greater
pushing force or power that will ensure a higher safety percentage for the prototypes possible

user. Upon completion of the prototype, the researchers executed some device testing which
includes the accuracy and responsiveness testing of the automated wheelchair device.

Conclusion
Based from the existing method of controlling an automated wheelchair, the researchers
have concluded that a sensor which senses the hand movements of the user would be much more
efficient. Instead of using the existing way of controlling an automated wheelchair which is by
means of a joystick controller attached on to the wheelchair itself, using this device would enable
much more control efficiency for the user. It could enable a user to use the wheelchair without
exerting or accumulating force on their fingers or fingertips, which would be of great help for those
who does not have fingers or could not accumulate force on to their fingertips. By determining the
disability of the user, the controller could be customized to such as either hand mounted or head
mounted. It could be said that an arm to feet paralyzed individual could still use this wheelchair by
means of using the head movements of the user. Therefore, it could be concluded that the hand
gesture control wheelchair have more flexibility, efficiency and reliable as compared to the
conventional automated wheelchair.

Recommendation
The following are to be recommended by the researchers for the betterment of the study or
project:

This project is highly recommended for disabled individuals that would want to automate
their personal mobility with a lower cost than a conventional automated wheelchair.

This prototype is recommended for the use of disabled people who could not accumulate
enough force on their fingertips, has no fingers or hands, or has weak arms.

The prototypes design could be furtherly enhanced by means of altering the color and
form. It would be a challenge for the future developers to show their artistic side.

It is highly recommended by the researchers that the wheelchairs controller be changed

into a wireless configuration to avoid the strangling of wire connections.

It is recommended that the future developers add a new and unique feature (i.e. obstacle
avoidance or emergency navigation tools) to this project so that they could be able to show
their innovative ideas to help create a better society.

BIBLIOGRAPHY
Rosenhek, Jackie. Doctors Review|Before Wheelchairs
http://www.doctorsreview.com/history/feb07-history_medicine/
DiGiovine, Carmen. Electric Wheelchair http://www.britannica.com/topic/electric-wheelchair
Rouse, Margaret. Gesture Recognition http://whatis.techtarget.com/definition/gesture-recognition
Jones, Sue. Analyzing Body Language: Gesture Recognition http://www.datehookup.com/singlescontent-analyzing-body-language-gesture-recognition.htm
Triple Axis Accelerometer ADXL345 http://www.dfrobot.com/index.php?
route=product/product&product_id=383
Arduino Uno https://www.arduino.cc/en/Main/arduinoBoardUno
LCD http://www.engineersgarage.com/electronic-components/16x2-lcd-module-datasheet

APPENDIX A
QUESTIONNAIRE
Student
Faculty
Others
Respondents Name:

I.T
Engineering

Section:

Project description: The hand gesture controlled wheelchair is an automated wheelchair device
which uses the hand gesture or movements of the user for control or manipulation. This wheelchair
device is a manual wheelchair which is modified or upgraded in order to become an electric or
automated wheelchair. The hand gesture controlled wheelchair has a reclining feature which

enables the user to lay down his or her back at up to 180 degrees or 90 degrees from the original
position of the wheelchairs back. To ensure the users safety the researchers used a motor which
has a low rotational speed but could carry much more weight or load.

Instruction: Put a check () on the number which best describes your position on the statements
given below. Please be reminded that there is no right or wrong answer, and that every data you
will provide will be treated with utmost confidentiality.
Legend:
Point
5
4
3
2
1

Interpretation
Strongly Agree
Agree
Fairly Agree
Disagree
Strongly Disagree

STATEMENTS
A. FUNCTIONALITY
The prototype provides an automated form of mobility.
The prototype is easy to use.
The prototype provides user-friendly means of control.
The prototype's control is absolute to the intended user only.
B. EFFICIENCY
The LCD provides an effective means of status indicator.
The prototype provides the user an accurate control.
The design of the prototye gives the user a backup control.
The prototype wheelchair gives the user a safer means of mobility.
C. RELIABILITY
The prototype creates a better means of control.
The controller of the prototype is flexible.
The user will be able to exert less effort when it comes to control.

The prototype gives the user a more natural way of control.

D. USABILITY
The prototype's controls are easy to understand.
The prototype's controls are easy to memorize or learn.
The user could understand the controls in a short period of time.
Even a person with weak grasp could operate the device.
E. MARKETABILITY
The device would have a good demand on the market.
The device's design was simple yet effective.
The reclining feature of the device would be a hit to the market.
The device's controller provides a new and unique control.

APPENDIX B
USERS MANUAL
I.

Introduction
The user manual was created in order to give the possible users of this device information.

The manual gives them a better understanding of how the proposed project prototype works
and what it could do. The user manual will also give warnings or safety precautions regarding
the use of the proposed project prototype. The project prototype focused on the automation
process of driving the mobility companion of the persons with disability known as the
wheelchair.

II.

Summary of Display and Report

This manual contains the information about the different hand gesture (position) control for
the wheelchair, the different messages displayed on the LCD status indicator during the
wheelchairs operation mode, and the use of the wheelchairs reclining feature.

III.

Product Rationale and Overview

The user manual mainly concerns on how the proposed prototype wheelchair could help

the persons with disability to have an easier means of using their mobility companion known as
the wheelchair.

IV.

Safety Reminders
The prototype project focuses on the automation of the wheelchair device. Although it

could be used for personal mobility, the prototype wheelchair is not recommended to be used
as a long distance travel vehicle. The prototype is also not advisable to be used on rocky
terrains or inclined paths of greater than 30 degrees, especially if the occupant of user weighs
more than 50 kg. The users were also reminded that before directly moving or touching any
circuitry or electronics parts ensure that no power supply is connected or the switch is turned
off.

V.

Quick Start
Since the proposed prototype focused mainly on the innovation of wheelchair, it typically

does what an automated wheelchair does, the only difference that this prototype offers is that

the wheelchair could be controlled by the hand movements of the user. Through this prototype,
the users will have a more relaxed and natural way of controlling the wheelchair. The controller
could also enable users with different disability to control the wheelchair.

VI.

Modes of Operation
The user must first switch on the wheelchair device. In order for the wheelchair to operate,

the user must move his or her hand, or other body part wherein the controller could be
mounted to, into a certain angle or position. The message or operation indication will then be
displayed at the LCD Screen while the wheelchair will start moving according to the specific
operation or movement that the user initiated.

VII.

Feature
Aside from being an automated wheelchair, the proposed wheelchair prototype also has a

reclining feature which could enable the user to lie down on the chair itself. It could enable the
user to relax his or her body at 180 degrees of angle.

VIII.

Device Parts and Control

In this part of the manual, the different parts of the device will be elaborated. The device

will be shown in different views or angles and each part would be labeled. The different
controls or positions for controlling the movement of the wheelchair will also be depicted.

Device Controls

Hand Position for Forward Movement Contro

Hand Position for Backward or Reverse Movement Control

Hand Position for Right Turn Movement Control

Hand Position for Left Turn Movement Control

Hand Position for Standby Mode Control

Descriptions:

Forward Movement Control enables the wheelchair to move in forward direction.

The controller circuit (or the users backhand) should face the forward direction to

successfully execute this control.

Backward/Reverse Movement Control enables the wheelchair to move in
backward or reverse direction. The controller circuit (or the users backhand)

should face the backward direction to successfully execute this control.

Right Turn Movement Control enables the wheelchair to move or turn right. The
controller circuit (or the users backhand) should face the right direction to

successfully execute this control.

Left Turn Movement Control enables the wheelchair to move or turn left. The
controller circuit (or the users backhand) should face the left direction to
successfully execute this control.

Standby Mode Control enables the wheelchair to achieve standby or full stop.
The controller circuit should be rightfully upward; this could be achieved by
enabling the users hand to be at neutral position.

Note: Its okay not to duplicate the fingers position as illustrated above. As long as the
hand position is the same, it will work.

Device Parts

Description:

Controlling Module (Microcontroller) the module which controls the flow of

information or data, as well as its evaluation or processing and execution.

Controller (Accelerometer) the circuit which calculates the acceleration in the
users hand gestures or movements in order to be used as reference for 3d

positioning or direction.
LCD Module it displays the information or status regarding the wheelchairs

movements.
Motors responsible for driving the wheels of the wheelchair by means of

applying rotational force on to it.

Motor Driver responsible for manipulating or controlling the motors rotation.
It accepts input commands or signals coming from the controlling module to

manipulate the motors.

Switch a switch was provided for emergency situations if ever the system
malfunctions during run time. Aside from that, the switch provides the flow of
power on to the circuit which means that it is the one responsible for supplying

power to the circuit in order to stop and start its operation.

Reclining Break/Controller serves as the switch or manipulator for the

reclining feature.
Assistive Handles serves as handles for other persons in order to aid the

mobility of the user if ever the circuitry fails.

Extended Back Support added in order to increase the support up to the
users head.

IX.

Maintenance
The hand gesture controlled wheelchair does not require special maintenance or

calibration of parts or components. Although there is one thing that regularly needs to be done,
that is charging the battery. If you had a lead acid battery charger, you could just charge this for

about 30 minutes to 1 hour. If you dont have a lead acid battery charger, you could go to the
nearest automotive supplies and parts shop near your place and let them charge the battery
for you which actually costs P 30.00. Aside from that you should gradually check the
connections of the wheels just to be sure, if it seems loosen, you should tighten it a bit.

APPENDIX C
SOURCE CODES
#include <Wire.h>
#include <rgb_lcd.h>
#include <HBridge.h>

#define DEVICE (0x53)

#define TO_READ (6)
#define s_rate 5
#define u_limit_adv_stop_back_x 50
#define l_limit_adv_stop_back_x -50
#define u_limit_stop_y 100//-1
#define l_limit_stop_y -100//-80
#define u_limit_adv_y -180
#define l_limit_adv_y -300
#define u_limit_back_y 300
#define l_limit_back_y 180
#define u_limit_left_x 300
#define l_limit_left_x
150
#define u_limit_right_x -150
#define l_limit_right_x -390
#define forward_backward_speed 255
#define turn_speed 255
rgb_lcd lcd;
byte buff[TO_READ];
int regAddress = 0x32;
int x, y, z;
int x_array[s_rate];
int y_array[s_rate];
int z_array[s_rate];
int total_x = 0;
int total_y = 0;
int total_z = 0;
char last_c = 'x';
HBridge motor1(11,6,8);
HBridge motor2(10,5,7);
void writeTo(int device, byte address, byte val);
void readFrom(int device, byte address, int num, byte buff[]);
void action(int x, int y, int z);
void setup() {
Wire.begin();
lcd.begin(16,2);
lcd.setRGB(0,0,150);
lcd.print(F("Wheel Chair"));

lcd.setCursor(0,1);
lcd.print(F("Controller V1.0"));
delay(2000);
writeTo(DEVICE, 0x2D, 0);
writeTo(DEVICE, 0x2D, 16);
writeTo(DEVICE, 0x2D, 8);
lcd.clear();
lcd.print("Current Mode");
lcd.setCursor(0,1);
lcd.print("ON HOLD");
//lcd.setRGB(0,0,0);
motor1.begin();
motor2.begin();
}
void loop() {
for (int a=0; a<s_rate; a++){
readFrom(DEVICE, regAddress, TO_READ, buff);
x_array[a] = (((int)buff[1]) << 8) | buff[0];
y_array[a] = (((int)buff[3])<< 8) | buff[2];
z_array[a] = (((int)buff[5]) << 8) | buff[4];
delay(5);
}
delay(50);
for (int a=0; a<s_rate; a++){
total_x = total_x + x_array[a];
total_y = total_y + y_array[a];
total_z = total_z + z_array[a];
}
x = total_x/s_rate;
y = total_y/s_rate;
z = total_z/s_rate;
action(x, y, z);
delay(50);
total_x = 0;
total_y = 0;
total_z = 0;
}

void writeTo(int device, byte address, byte val) {

Wire.beginTransmission(device);
Wire.write(address);
Wire.write(val);
Wire.endTransmission();
}
//reads num bytes starting from address register on device in to buff array
void readFrom(int device, byte address, int num, byte buff[]) {
Wire.beginTransmission(device);
Wire.write(address);
Wire.endTransmission();
Wire.beginTransmission(device);
Wire.requestFrom(device, num);
int i = 0;
while(Wire.available()){
buff[i] = Wire.read();
i++;
}
Wire.endTransmission();
}
void action(int x, int y, int z){
if (((y<u_limit_stop_y)&&(y>l_limit_stop_y))&&((x>l_limit_adv_stop_back_x)&&(x<u_limit_adv_stop
_back_x))){
if (last_c == 'x'){
}
else{
motor1.Stop();
motor2.Stop();
lcd.clear();
//lcd.setRGB(150,0,0);
lcd.print("Current Mode");
lcd.setCursor(0,1);
lcd.print("ON HOLD");
last_c = 'x';
}
}
if (((y<u_limit_adv_y)&&(y>l_limit_adv_y))&&((x>l_limit_adv_stop_back_x)&&(x<u_limit_adv_stop_
back_x))){

if (last_c == 'w'){
}
else{
motor1.Forward(forward_backward_speed);
motor2.Forward(forward_backward_speed);
lcd.clear();
//lcd.setRGB(0,0,150);
lcd.print("Current Mode");
lcd.setCursor(0,1);
lcd.print("Moving Forward");
last_c = 'w';
}
}
if (((y>l_limit_back_y)&&(y<u_limit_back_y))&&((x>l_limit_adv_stop_back_x)&&(x<u_limit_adv_
stop_back_x))){
if (last_c == 's'){
}
else{
motor1.Backward(forward_backward_speed);
motor2.Backward(forward_backward_speed);
lcd.clear();
//lcd.setRGB(0,0,150);
lcd.print("Current Mode");
lcd.setCursor(0,1);
lcd.print("Moving Backward");
last_c = 's';
}
}
if ((x>l_limit_left_x)&&(x<u_limit_left_x)){
if (last_c == 'a'){
}
else{
motor2.Backward(turn_speed);
motor1.Forward(turn_speed);
lcd.clear();
//lcd.setRGB(0,150,0);
lcd.print("Current Mode");

lcd.setCursor(0,1);
lcd.print("Moving Left");
last_c = 'a';
}
}
if ((x<u_limit_right_x)&&(x>l_limit_right_x)){
if (last_c == 'd'){
}
else{
motor1.Backward(turn_speed);
//turn_R
motor2.Forward(turn_speed);
lcd.clear();
//lcd.setRGB(0,150,0);
lcd.print("Current Mode");
lcd.setCursor(0,1);
lcd.print("Moving Right");
last_c = 'd';
}
}
}

APPENDIX D
BILL OF MATERIALS

Parts
DC Motor Driver 15A x 2
LCD 16 x 2
Arduino Uno
DC Motors 12V
Lead Acid Battery 12V
Manual Wheelchair
Customization Costs
Other Parts' Cost

Php
Php
Php
Php
Php
Php

Price
2,350.00
795.00
1,375.00
2,200.00
800.00
5,500.00

Quantity
1.00
1.00
1.00
2.00
1.00
1.00

Total Price
Php 2,350.00
Php 795.00
Php 1,375.00
Php 4,400.00
Php 500.00
Php 5,500.00
Php 1,500.00
Php 500.00
Php 16,920.00

APPENDIX E
ORGANIZATIONAL FLOW CHART
Programmer &
Leader

Christan
Mark
Gonzales

Edgardo
Bernardo

HAND GESTURE
CONTROLLED
WHEELCHAIR

Materials
Researcher

Alvin
Raymundo

Documents
Mark Ale
Talledo

Prototype
Design

CHRISTAN MARK E. GONZALES

#4 Concepcion St. St.Mary Subd Nangka Marikina City
Mobile Number: 0935-471-5288
Email-ad: Gonzales.christanmark@gmail.com

EDUCATIONAL BACKGROUD
TERTIARY

ICCT COLLEGESFOUNDATION INC.

BACHELOR OF SCIENCE IN COMPUTER ENGINEERING
Cainta, Rizal
2012 Present

SECONDARY

PARANG HIGH SCHOOL

Parang, Marikina
2007 2011

PRIMARY

PEACEMAKER CHRISTIAN ACADEMY

Nangka, Marikina
2001 2007

SKILLS:

Proficient in windows based computer application

Flexible and adaptable in all working conditions
Good interpersonal skills

SEMINARS/TRAINING ATTENDED:

Web Application Security, Network Security

ICCT Colleges Foundation Inc., Amphitheater
July 12, 2014

Advancement in Electronics Technology

Excel First Review and Training Center
R. Papa, Sampaloc, Manila
June 12, 2015

IBM 5 in 5
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

What is a PH Engineer Doing Now?

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CLOUD
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

ADVANCEMENT IN WIRELESS TECHNOLOGY

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CCTV AND AIPHONE

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

CASIO FX-991 ES PLUS/FX-991EX

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

RASPBERRY PI
ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

BIONICS (BIOMEDICAL ELECTRONICS)

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

ANDROID MOBILE APPLICATION DEVELOPMENT

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

PERSONAL INFORMATION:
NICKNAME
AGE
BIRTHDATE
BIRTHPLACE
GENDER
CIVIL STATUS
NATIONALITY
RELIGION
HEIGHT
WEIGHT
LANGUAGE SPOKEN

:
:
:
:
:
:
:
:
:
:
:

TAN
21
November 25,1993
Marikina City
MALE
SINGLE
FILIPINO
Gospel
56
50Kgs
TAGALOG, ENGLISH

ALVIN M. RAYMUNDO
Lot 2, Block 2, Signal Corps Subd. Cainta, Rizal
Mobile Number: 0929-802-4702
Email-ad: alvin_02_10@yahoo.com

EDUCATIONAL BACKGROUD
TERTIARY

ICCT COLLEGESFOUNDATION INC.

BACHELOR OF SCIENCE IN COMPUTER ENGINEERING
Cainta, Rizal
2012 Present
MINDORO STATE COLLEGE OF AGRICULTURE AND TECHNOLOGY
BACHELOR OF SCIENCE IN COMPUTER ENGINEERING
Bongabong, Oriental Mindoro
2011 2012

SECONDARY

EASTERN MINDORO COLLEGE

Bongabong, Oriental Mindoro
2007 2011

PRIMARY

BAGONG BAYAN CENTRAL SCHOOL

Bongabong, Oriental Mindoro
2001 2007

WORKING EXPERIENCE:
None
SEMINARS/TRAINING ATTENDED:

Web Application Security, Network Security

ICCT Colleges Foundation Inc., Amphitheater
July 12, 2014

Advancement in Electronics Technology

Excel First Review and Training Center
R. Papa, Sampaloc, Manila
June 12, 2015

IBM 5 in 5
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

What is a PH Engineer Doing Now?

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CLOUD
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

ADVANCEMENT IN WIRELESS TECHNOLOGY

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CCTV AND AIPHONE

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

CASIO FX-991 ES PLUS/FX-991EX

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

RASPBERRY PI
ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

BIONICS (BIOMEDICAL ELECTRONICS)

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

ANDROID MOBILE APPLICATION DEVELOPMENT

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

PERSONAL INFORMATION:
NICKNAME
AGE
BIRTHDATE
BIRTHPLACE
GENDER
CIVIL STATUS
NATIONALITY
RELIGION
HIGHT
WEIGHT
LANGUAGE SPOKEN

:
:
:
:
:
:
:
:
:
:
:

VIN
19
OCTOBER 2, 1995
BONGABONG, OR. MINDORO
MALE
SINGLE
FILIPINO
ROMAN CATHOLIC
57
242 lbs.
TAGALOG, ENGLISH

EDGARDO D. BERNARDO JR.

#93 Cambridge St. Cubao, Quezon City
Mobile No.: 0919-527-3678
E-mail Address: bernardoedz@yahoo.com
EDUCATIONAL BACKGROUND
Tertiary

Institute of Creative Computer Technology

Bachelor of Science in Computer Engineering
2011-present
Cainta Main Campus

Associate

Datamex (Nova branch)

2007-2008
Under graduate

Secondary

Tala High School

2003-2007
Bo. San Isidro Tala, Caloocan City

Elementary

Tenejeros Malabon Elementary School

1996-2002
Malabon

SPECIAL SKILLS
Computer Literate
Networking
Troubleshooting (hardware and software)
Flexible
Fast Learner
Can work with a minimum supervision
SEMINARS ATTENDED

Web Application Security, Network Security

ICCT Colleges Foundation Inc., Amphitheater
July 12, 2014

Advancement in Electronics Technology

Excel First Review and Training Center
R. Papa, Sampaloc, Manila
June 12, 2015

IBM 5 in 5
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

What is a PH Engineer Doing Now?

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CLOUD
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

ADVANCEMENT IN WIRELESS TECHNOLOGY

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CCTV AND AIPHONE

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

CASIO FX-991 ES PLUS/FX-991EX

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

RASPBERRY PI
ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

BIONICS (BIOMEDICAL ELECTRONICS)

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

ANDROID MOBILE APPLICATION DEVELOPMENT

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

PERSONAL INFORMATION
NICKNAME
AGE
BIRTHDAY
GENDER
CIVIL STATUS
HEIGHT
WEIGHT
NATIONALITY
RELIGION
LANGUAGES/DIALECTS

:
:
:
:
:
:
:
:
:
:

EDZ
27 YEARS OLD
APRIL 1, 1988
MALE
SINGLE
57
170 lbs.
FILIPINO
ROMAN CATHOLIC
ENGLISH, TAGALOG

MARK ALE P. TALLEDO

57 Sitio Taguete, Cupang Antipolo City
Mobile Number: 0907-289-5089
Email-ad: talledo.mark@yahoo.com

EDUCATIONAL BACKGROUD
TERTIARY

ICCT COLLEGESFOUNDATION INC.

BACHELOR OF SCIENCE COMPUTER ENGINEERING
Cainta, Rizal
2008 Present

SECONDARY

MAYAMOT NATIONAL HIGH SCHOOL

Sumulong High way, Antipolo, Rizal
2004 2008

PRIMARY

MAYAMOT ELEMENTARY SCHOOL

Sumulong High way, Antipolo, Rizal
1998 2004

WORKING EXPERIENCE:
None

SEMINARS/TRAINING ATTENDED:

Web Application Security, Network Security

ICCT Colleges Foundation Inc., Amphitheater
July 12, 2014

Advancement in Electronics Technology

Excel First Review and Training Center

R. Papa, Sampaloc, Manila

June 12, 2015

IBM 5 in 5
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

What is a PH Engineer Doing Now?

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CLOUD
ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

ADVANCEMENT IN WIRELESS TECHNOLOGY

ICCT Colleges Foundation Inc., Amphitheater
July 31, 2015

CCTV AND AIPHONE

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

CASIO FX-991 ES PLUS/FX-991EX

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

RASPBERRY PI
ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

BIONICS (BIOMEDICAL ELECTRONICS)

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

ANDROID MOBILE APPLICATION DEVELOPMENT

ICCT Colleges Foundation Inc., Amphitheater
August 5, 2015

PERSONAL INFORMATION:
NICKNAME
AGE
BIRTHDATE
BIRTHPLACE
GENDER
CIVIL STATUS
NATIONALITY
RELIGION
HIGHT
WEIGHT
LANGUAGE SPOKEN

:
:
:
:
:
:
:
:
:
:
:

MARK
22
AUGUST 24, 1992
ANTIPOLO CITY
MALE
SINGLE
FILIPINO
ROMAN CATHOLIC
54
136 lbs.
TAGALOG, ENGLISH