Manuscript Superfinal

Republic of the Philippines
Pangasinan State University

Urdaneta City Campus
VOICE CONTROLLED WHEELCHAIR FOR THE PHYSICALLY DISABLED
PERSONS
A Design Project
Presented To
The College of Engineering and Architecture
Computer Engineering Department
In Partial Fulfillment
Of the Requirements for the Degree
Bachelor of Science in Computer Engineering
Collado, Rizelle B.
Taaca, Marianne Rhyngel G.
Zorilla, Renie Grace C.
May 2016
VOICE CONTROLLED WHEELCHAIR FOR THE PHYSICALLY DISABLED PERSONS
APPROVAL SHEET
The Project Design entitled “VOICE CONTROLLED WHEELCHAIR FOR THE
PHYSICALLY DISABLED PERSONS” prepared and submitted by Rizelle B. Collado,
Marianne Rhyngel G. Taaca, and Renie Grace C. Zorilla in partial fulfillment of the
requirements for the degree of Bachelor of Science on Computer Engineering is hereby
recommended for acceptance and approval.
ENGR. KENNETH OLIVER S. LOPEZ
Adviser
Accepted and approved by the panel on final defense held on May 18, 2016, with a grade
of ______ in partial fulfillment of the requirements for the degree of BACHELOR OF SCIENCE
IN COMPUTER ENGINEERING.
ADVISORY COMMITTEE
ENGR. ALEXANDER A. GABIOLA ENGR. RODERICK L. CALAGUIO
Advisory Committee Advisory Committee
ENGR. CHRISTIAN LOUWIS D. SALAZAR ENGR. EMMERSON A. CANUEL
Advisory Committee Advisory Committee
DR. VICTOR SHERWIN G. GALAMGAM
Department Chairman
Noted by:
ENGR. RESURRECCION V. GARROTE
Dean, College of Engineering and Architecture
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ACKNOWLEDGEMENT
For a whole academic year spent by the researchers in making this study, there are
several individuals who, in one way or another, contributed and extended assistance in the
preparation and completion of this study. With the help of those individuals, the researchers are
able to meet their objectives. And for that, the researchers would like to express their deepest and
sincerest gratitude to the following people for their help and unending support.
To their adviser, Eng. Kenneth Oliver S. Lopez, for being as patient and understanding as
he could be and for all the support and knowledge he has wholeheartedly shared.
To Engr. Alexander A. Gabiola, for being the best critic reader who has patiently and
persistently helped in improving the manuscript.
To the members of the advisory committee, Engr. Roderick L. Calaguio, Dr. Victor
Sherwin G. Galamgam, Engr. Christian Louwis D. Salazar and Engr. Emmerson A. Canuel, for
all their assistance, consideration, understanding and sympathy they‟ve shared and given during
the process of making this project.
To their ever-loving friends, especially Rhea D. Sanchez, Abby S. Espinoza, Dasyl
L.Ocay, and Romielyn T.Lacaden, who are always there, consistently supporting and giving the
most cherished helping hand and encouragement a friend could ever receive and for making their
college year a worthwhile and unforgettable one as well.
To their classmates and colleagues, who made their stay at the university more
memorable and valuable experience.And also to Danjie Catalan and Andrew Fernandez, all their
ideas and advices they enthusiastically offered are very much appreciated.
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To their family, for their unconditional genuine love and unfailing support morally,
financially and spiritually, for being their immeasurable source of strength, for their constant
prayers, and for inspiring and motivating them, particularly at times when the researchers are on
the verge of losing hope. Without them, this study would not be possible.
And most especially, to the Almighty God, for never leaving their side, continuously
enlightening them, bestowing divine guidance, wisdom and knowledge, and for keeping them
strong at all times, so that they could courageously believe in themselves and do all things
possible. And lastly, for all the countless great blessings that made this study successful.
The Researchers
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DEDICATION
This research study is wholeheartedly dedicated
to our Almighty God,
our family,
friends
and advisory committee
who supported and helped us
in making this research possible.
Collado, Rizelle B.
Taaca, Marianne Rhyngel G.
Zorilla, Renie Grace C.
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TABLE OF CONTENTS
APPROVAL SHEET .......................................................................................................... ii
ACKNOWLEDGEMENT ................................................................................................. iii
DEDICATION .................................................................................................................... v
TABLE OF CONTENTS ................................................................................................... vi
LIST OF FIGURES ........................................................................................................... ix
LIST OF TABLES .............................................................................................................. x
ABSTRACT ....................................................................................................................... xi
Chapter I.............................................................................................................................. 1
PROBLEM AND ITS BACKGROUND ........................................................................ 1
Introduction ................................................................................................................. 1
Statement of the Problem ............................................................................................ 3
Objectives of the Study ............................................................................................... 4
Significance of the Study ............................................................................................ 4
Scope and Limitation of the Study.............................................................................. 5
Definition of Terms..................................................................................................... 6
Chapter II ............................................................................................................................ 8
REVIEW OF RELATED LITERATURE AND STUDIES ........................................... 8
Related Literature........................................................................................................ 8
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Related Studies.......................................................................................................... 17
Conceptual Framework ............................................................................................. 26
Chapter III ......................................................................................................................... 27
RESEARCH METHODOLOGY.................................................................................. 27
Research Design........................................................................................................ 27
Phases of the Rapid Application Development ........................................................ 29
Sources of Data ......................................................................................................... 31
Data Gathering Techniques....................................................................................... 32
Tools for Analysis ..................................................................................................... 33
Chapter IV ......................................................................................................................... 33
PROJECT PRESENTATION ....................................................................................... 33
Proposed System ....................................................................................................... 33
Description of the Components ................................................................................ 35
Explanation of System Working ............................................................................... 42
Chapter V .......................................................................................................................... 43
PROJECT MANAGEMENT ........................................................................................ 43
Presentation ............................................................................................................... 48
Chapter VI......................................................................................................................... 53
FINANCIAL STUDY ................................................................................................... 53
Chapter VII ....................................................................................................................... 55
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SUMMARY, CONCLUSION AND RECOMMENDATION ..................................... 55
Summary ................................................................................................................... 55
Conclusion ................................................................................................................ 56
Recommendation ...................................................................................................... 57
BIBLIOGRAPHY ............................................................................................................. 58
APPENDICES .................................................................................................................. 60
APPENDIX A. Actual Image of the Voice Controlled Wheelchair ......................... 61
APPENDIX B. Actual Testing ................................................................................. 62
APPENDIX C. User‟s Manual ................................................................................. 65
APPENDIX D. Source Code for Arduino ................................................................ 69
APPENDIX E. Curriculum Vitae ............................................................................. 77
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LIST OF FIGURES
FIGURE 2.1 Conceptual Framework……………………………………………………....... 25
FIGURE 3.1 Rapid Application Development Model………………………………………. 26
FIGURE 3.2 Theoretical Framework……………………………………….……………….. 29
FIGURE 4.1 Block Diagram of the System…………………………………………………. 33
FIGURE 4.2 Arduino Uno R3………………….…………………......…………………….. 34
FIGURE 4.3 EasyVR Module…………………….……………………..…………………... 35
FIGURE 4.4 Stepper Motor Driver DQ542MA 4A…….…………………………………… 36
FIGURE 4.5 Stepper Motor…………………………….…………………...………………. 37
FIGURE 4.6 Power Supply……..……………………….…………………………………... 38
FIGURE 4.7 Arduino IDE 1.6.9…………...…………………………………...…………… 39
FIGURE 4.8 EasyVR Commander………...………………………………………………... 40
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LIST OF TABLES
TABLE 2.1 Syntheses of Related Literature and Studies………..………………………….. 22
TABLE 5.1 Work Plan……………………………………………...……………….………. 43
TABLE 5.2 Gantt Chart……………………….……………………...………………..……. 44
TABLE 5.3 Time delay between voice command and actual evaluation using LED lights
and the controller………………….……………………………………….…………….……47
TABLE 5.4 Time Delay between voice recognition and actual execution (installed in
wheelchair) with no load/own weight of wheelchair………………………………..……......48
TABLE 6.1 Cost of Construction Materials….……………………………………………... 52
TABLE 6.2 Miscellaneous Expenses……………………………………...………………… 53
TABLE 6.3 Total Expenses of the Study……………………………………………………. 53
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ABSTRACT
This research project was focused on designing and creating a voice controlled
wheelchair, developing an algorithm suited for the prototype, determining the level of
effectiveness of the deviceand identifying the problems that occurred during the development of
the overall system. The people who are having problems with mobility will greatly benefit from
this study especially when the prototype has been significantly enhanced.
The researchers gathered information by studying the concepts and components of other
researchers and consulting experts for their suggestions and advices regarding voice controlled
wheelchairs. For a more emphasis on development of the system and achieving the study‟s
objectives, the researchers have used the Rapid Application Development model.
The components included in the development of this project are EasyVR Shield 3.0,
Arduino Uno R3, Stepper Motor Driver Module and a program for driving the stepper motors
which serves as a machine to move the wheelchair.
In the system, there was an incorporated trigger word to be uttered firsthand before
speaking the five commands (Forward, Backward, Left, Right, and Stop) and be
processed.Voicing out the Forward command results to the continuous advancing of the
wheelchair, Backward for a reverse movement, Left and Right for the turning to the left and to
the right direction, respectively, of the wheelchair, and Stop command to put the wheelchair at
rest.When commanding the wheelchair to go left or right, it immediately goes to a stop for
approximately 90° from the wheelchair‟s position.
Isolation testing, the process of breaking down the system into various modules, was
initially done so that defects from the previous trials can be spotted easily. In this case, it was
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broken down into two modules, the voice recognition system and the stepper motors. Then, it
was followed by the actual execution on the wheelchair with no load in order to determine the
level of effectiveness of the proposed system. It was observed that testing on each module
brought about minimal to no difficulty at all. However, inevitable problems occurred while
testing out the modules on the wheelchair such as the chains used didn‟t fit exactly as it should
better be affecting the wheelchair‟s movement, there was a change in the environment as the
wheelchair runs noisily disturbing the accuracy of the voice recognition module.
With the purpose of significantly enhancing the design project and reducing its
constraints, a further research and an upgrade of the components mentioned in this study is
recommended. To extend the usage time of the wheelchair, it is better for the future researchers
to add a solar powered charging system.
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Chapter I
PROBLEM AND ITS BACKGROUND
Introduction
The number of people with mobility impairment is continually increasing. A research
explained that the several physical disabilities/conditions which require the use of a wheelchair
includes brain injury, stroke, fractures, amputation, pulmonary disease, neurological disorders,
musculoskeletal diseases/injuries and spinal cord injuries. Some were due to severe accidents.
They rely on a variety of artificial means. According to a book for the mobility impaired,
such devices range from canes and walkers to wheelchairs.
A wheelchair is a wheeled mobility device in which the user sits. But precisely when the
first wheeled chairs were invented and used for disabled persons is unknown. Some scholars
suspect that the history of the wheelchair begins sometime between the 6th and 4th centuries
BCE, possibly with the development of wheeled furniture and two-wheeled carts.
One of the most-pivotal advances in wheelchair technology in the 20th century was the
invention of the folding wheelchair, initially made with tubular steel, which allowed disabled
individuals to use their wheelchairs outside their homes or care facilities. The first folding
designs and tubular-steel chairs were developed within the first decade of the century.
Subsequent developments in wheelchair design were focused primarily on decreasing
weight and increasing reliability and performance. Many advances came from the use of
wheelchairs in sports, which inspired the development of ultra-lightweight models.
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In the 21st century the incorporation of emerging technologies became an increasingly
important element of wheelchair design. Among new designs introduced in the first part of the
century was the push-rim-activated power-assisted wheelchair (PAPAW). The PAPAW was a
hybrid of electric and manual wheelchair technologies that employed motors to supplement the
power applied by the user to one or both push-rims during propulsion or braking.
With the invention of wheelchair, many of those who suffered physically have become
capable in moving on their own without much help from other people, increasing their quality of
life. Nowadays, electric wheelchairs have been very popular. These kinds of wheelchairs are
propelled by a motor and battery. Some of the innovations were made via various automated
systems. They are operated with a joy stick or push buttons. Some can climb up stairs, move
across gravel and even rise up to give access to high shelves.
Other designs use more advanced technology such as wireless applications and voice
recognition systems. These wheelchairs are generally recommended for people with disabilities
or PWDs who find it difficult using manual wheelchair and prefer independence. At the same
time, using PAPAW include transportation issues such as it takes longer to transfer to and from
the vehicle than a manual one.
In a survey aimed to collect information from patients concerning the usefulness of new
electric wheelchairs. The study concluded that 9 to 10% of patients who use power chairs and
who received appropriate training “find it extremely difficult or impossible to use the wheelchair
for activities of daily living”. Some of the pointed reasons are difficulty on controlling the
wheelchair with a joystick, uncomfortable and inappropriate interface for the disability (because
users with severe motor impairments are unable to operate the joystick smoothly).
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The use of these artificial means should be utilized in order to facilitate these people‟s
integration into the working world. In this way a contribution may be made to facilitate
movement and to make this simpler and vigorous, so that it becomes similar to that of people
who do not suffer deficiencies.
This study will make use of an improved user-dependent voice recognition system
integrated in an assembled alternative wheelchair. This voice recognition system allows a single
person‟s voice to control the movement of the wheelchair.
The major components are the EasyVR Shield 3.0, Arduino Uno R3, Stepper Motor
Driver Module and a program for driving the stepper motors which serves as a machine to move
the wheelchair. The EasyVR Shield 3.0 is a voice recognition shield for Arduino boards
integrating an EasyVR module. It includes all of the features of the EasyVR module in a shield
form factor that simplifies connection to the Arduino main board and PC. Meanwhile, the
Arduino Uno R3 will be used to interface the EasyVR module to the program that will make the
stepper motors run based on the voice command function used. And the motor driver module
makes the controlling of the stepper motors simpler.
Statement of the Problem
This study deals with improving the reliability of existing power wheelchairs with the use
of voice control technology.
Specifically, the study sought to answer the following problems:
1. What would be the design and algorithm needed to develop a Voice Controlled
Wheelchair for Physically Disabled Persons?
2. What is the level of effectiveness of the proposed system in terms of:
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a. Accuracy in maneuvering the wheelchair.
b. Response time in performing the movement command.
3. What are the problems encountered by the researchers?
Objectives of the Study
This study is designed to achieve the following:
1. To design and create a Voice Controlled Wheelchair for the Physically Disabled
Persons and develop an algorithmfor the prototype.
2. To determine the level of effectiveness of the device in terms of:
a. Accuracy in maneuvering the wheelchair.
b. Response time in performing the movement command.
3. To identify the problems encountered during the development of the system.
Significance of the Study
The focus of the study is to develop a voice controlled wheelchair for the people
who are having problems with mobility. These people usually have great impairments which
avoid them from doing their normal daily activities.
This study is undertaken to greatly benefit the following:
The Physically-disabled Persons. The use of a voice recognition system and a
wheelchair interfaced with motors will enable a disabled person to move around independently.
The Students. The research will serve as a guide for the students in understanding voice
recognition modules.
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The Researchers. Throughout the development of the project, the knowledge and
experience the researchers gained will become a way to further improve their skills. And these
can be implemented in handling future projects.
The Future Researchers. This research can be used to develop more advanced ideas
regarding voice recognition systems. It can also be used as a reference for students interested in
or trying to design their own system.
Scope and Limitation of the Study
The aim of this project is to design and test a wheelchair which can be controlled by
using the user‟s voice. An individual‟s recorded voice can only be used in controlling the
wheelchair‟s movements. A microphone will serve as the medium of control for the wheelchair.
Five voice commands will be used for the wheelchair‟s basic motions, namely: (a)
FORWARD, (b) BACKWARD, (c) RIGHT (d) LEFT; and (e) STOP. Particularly, the
wheelchair will turn, LEFT or RIGHT, from its current position. The STOP voice command is
used to stop the wheelchair‟s forward and backward movement. On the other hand, turning left
and right will approximately stop at a 90° angle from the wheelchair‟s current position.
There will be two Stepper Motors on each back wheels while the other front wheels run
at freewill. The motors will serve as the main machine to make the wheelchair move.
A 24V power supply with a minimum of 3A will be used for the stepper motor driver.
The design is incapable of climbing elevated floors or banks and stairs. There will also be no
obstacle detection mechanism that can detect obstacles such as walls.
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Definition of Terms
The following terms are operationally defined to put the reader on a common place of
understanding:
Automated Systems. Automated systems have been incorporated into production lines
and machines for years to help speed up a process. They are developed to handle jobs that would
be difficult for a human to do.
Controller. A controller is a hardware device or a software program that manages or
directs the flow of data between two entities. In a general sense, a controller can be thought of as
something or someone that interfaces between two systems and manages communications
between them.
Interface. (n.) A boundary across which two independent systems meet and act on or
communicate with each other.
(v.) To connect with or interact with by means of an interface.
Joystick.A joystick is a pointing device used to move an object on screen in any
direction. It employs a vertical rod mounted on a base with one or two buttons.
Microcontroller. A microcontroller is a computer present in a single integrated circuit
which is dedicated to perform one task and execute one specific application.
Microphone. A microphone is a device that captures audio by converting sound waves
into an electrical signal.
Response Time. Response time is the elapsed time between the end of an inquiry or
demand on a computer system and the beginning of a response.
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Voice Recognition. It is he process of taking the spoken word as an input to a computer
program. This process is important to virtual reality because it provides a fairly natural and
intuitive way of controlling the simulation while allowing the user's hands to remain free.
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Chapter II
REVIEW OF RELATED LITERATURE AND STUDIES
This chapter is intended for the compilation of the literatures and studies, from local and
foreign authors, taken in relation to the proposed study. These said literatures and studies
provided the researchers as much as necessary knowledge and idea in designing the proposed
project.
Related Literature
The related literatures hereunder are the result of collecting, selecting and reading of
research findings in connection with the proposed system and its components contained in books,
published journals, articles, magazines and internet resources.
Foreign Literature
The book entitled “Medical Legal Aspects of Medical Records”, by Patricia W.
Iyer, Barbara J. Levin, and Mary Ann Shea, 2006, discussed the advantages and
disadvantages of voice recognition software as used for dictation of medical records. The
speech or voice recognition software, which has evolved over the years from its
introduction in 1994, uses a microphone attached to a computer and software that
transfers speech into text. The user of the software has the opportunity to train the
software to recognize words.
Advantages include:
 Documents produced with voice recognition software are immediately available
for review. The user sees the text on the screen and can correct errors and finalize
the report.
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 Use of voice recognition software involves minimal if any typing, making it ideal
for dyslexics and those whose typing abilities are nonexistent or impaired by
disorders of the hand.
 Voice recognition software may be effectively used by visually impaired people,
permitting transmission of electronic information in ways not otherwise possible.
 As the software has evolved, the accuracy of the recognition has improved.
 The software is useful for short memos or letters.
Disadvantages include:
 Many find the software difficult to learn and cumbersome to use. A proficient
typist may initially find that the software is more time consuming to use than a
keyboard. Time has to be devoted to training the software and working through
the learning curve.
 The software requires a powerful computer.
 Some physicians using the voice recognition recognize that their productivity and
efficiency are initially dramatically decreased. A good touch typist can output
eighty to one-hundred words per minute. The typical person speaking clearly will
only say about forty words per minute. The software may actually result in a
decrease in productivity. The physician may see fewer patients because more time
is spent on dictation, resulting in equal or higher costs, reduced revenues, and
increased frustration.
 Dictation increases the noise level in the work environment.
 Sensitive information may be overheard by others in open areas.
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A published review written by Larry Magid, was posted by Scott Conroy, entitled
“Voice Recognition Software Put to Test”. According to Magid, he wasn‟t interested in
voice recognition software before until he broke his elbow and he became physically
challenged, unable to type with both hands. After some healing and a new cast, He again
can type but during the interim he had both an incentive and an opportunity try out
Dragon Systems NaturallySpeaking 9 as well as the speech recognition feature that will
be included in Vista, the Windows operating system popular at that time.
For the most part he found both the Vista application and NaturallySpeaking to be
accurate and easy to use.To their credit both programs are accurate and intelligent in that
they recognize not only words but also allow you to issue commands. And because the
computer is doing the typing it's less likely to misspell words. There's no question that the
Preferred ($199) version of NaturallySpeaking is more sophisticated than the free voice
recognition application that will ship with Windows Vista. It has support for multiple
languages and special vocabularies and works with portable dictation equipment.
Nuance's $99 standard edition also does a good job recognizing speech and lets you
launch, switch between and control programs with the sound of your voice. Both versions
come with a headset that does a good job picking up your voice.
In this review, he wasn‟t writing, he was “speaking” using the application in
Vista.
At first in using the program, he admitted that it was hard to get through a
paragraph without at least one mistake. But now, he gets about 99% accurate, which
actually isn't bad.
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While in the case of Janet Kornblum, a technology writer for USA Today, she has
been using successive versions of NaturallySpeaking for several years. Although she
sometimes does use the keyboard, she prefers to "speak" her articles and email because
she suffers from a repetitive strain injury that makes it harder to type. She said that the
software as improved dramatically over the years but, she tells some funny stories about
mistakes which, if not corrected, could have gotten her into trouble.In addition to training
the software, Kornblum said that she has had to train herself how to write by speaking
which is really different than writing by typing.
From the article, “Time is right for voice recognition”, by Diane Jermyn posted
last March 24, 2010, it talked about the developed Voice on the Go.
The founding employees of the Toronto-based company saw the need coming for
their product - an in-car system that enables a driver to e-mail, text, Facebook, Tweet and
more while driving, hands-free and by voice on any mobile phone - and pounced on it as
a killer idea.
Voice on the Go, which has been in development since 2004, came on the market
in 2009. Voice on the Go is available to consumers and professionals, as well as
telecommunications carriers and resellers, in seven languages and in 60 countries around
the world.
The biggest challenge in developing Voice on the Go was creating high quality
voice recognition and making it so that customers wouldn't need training to use it. Mr.
McLeod stated that voice recognition systems generally get a bad rap. It‟s when people
call big phone companies or airlines for service, they've often had such a bad experience
[with voice recognition] that they fear or loathe voice systems. For him, getting those
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things right so that it would be natural and also to make customers comfortable with the
voice technology was the key.
Getting attention in a crowded marketplace was another challenge since there are
so many applications available, but getting into the app stores themselves was easy due to
positive reviews online from their customer base and reviewers.
Their design was intended for drivers, but they are going to have a small
following among the visually impaired too. For Mr. McLeod they will be able to speak
and listen to their e-mails and communicate with friends and family, even if they've never
had a computer. All they need to do is use their cellphone and talk into it.
The essay, “Speech Recognition Technology and its Benefits to the Disabled
Community”, explained that the speech recognition technology was originally designed
as a tool to ease the often heavy paper work loads in professions such as medicine or law.
But it changed to a new technological push which is assisting those with disabilities.
People suffering from a variety of disabilities including muscular dystrophy, spinal cord
injury or cerebral palsy can benefit from such software.
Good speech recognition applications not only allow one to transform the spoken
word into text, but also allows the user to command nearly every program in the
computer; surfing the web and navigating the windows desktop and folder trees are some
examples. Because of this, voice recognition technology can be extremely helpful to
people with disabilities, if they are at all computer-savvy.
In the article entitled, “Talk vs. Type: Taking Another Look at Voice
Recognition”, by Marisa Torrieri, as posted on July 8, 2011, voice recognition technology
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has evolved over the last ten years; today it's much more sophisticated and accurate Like
EHRs and mobile devices. This may be attributed, at least in part, to better microphones
that come with voice recognition software packages. Microphones don't pick up as much
background noise, so what is really being said is actually recorded.
Kutza also said that ambient noise, the nemesis of speech-enabled applications, is
being managed much better due to the development and implementation of smarter noise
reduction technologies. In addition, the technology can also do more things.
Physicians talking at their EHRs will find that voice recognition technology also
responds to vocal commands so a physician can navigate her EHR's fields without lifting
a finger. The technology analyst, West Richel, added that companies making the
technology are working on software they hope will not only transcribe the spoken text,
but also figure out which fields in a patient's chart to fill in.
Nancy Lindo-Drusch, a physician who works at a small practice in Appleton,
Wis., says the voice-activated EHR navigation saves as many as five minutes per visit.
She also added that he more you use it, the more it gets those big words. If it makes a
mistake, you can [program a change].
In addition to having more internal features, the technology is adaptable to a
broader range of external devices, such as smart phones.
Local Literature
Wheelchairs in the Philippines
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In an Inquirer.net article, posted on February 24, 2013, by Nathaniel R.
Melican, entitled, “PWDs can now live life in the fast lane”, NGO introduced a locally
designed e-wheelchair. In marking the 40th anniversary of the
TahanangWalangHagdanInc. (TWH), the introduced their own version of an electricity-
powered wheelchair aimed at increasing the mobility of the differently-abled.
According to the TWH spokesperson MaricelAbaryCandole, it was designed by
Filipino wheelchair users for other Filipino wheelchair users as well. The controls are
easy to reach and also easy to manipulate, the motor is silent and the whole thing is easy
to use.
It is capable, however, of traveling from 15 to 20 kilometers on a single charge of
its zero-maintenance lead-acid gel batteries with a top speed of around 15 kilometers per
hour. It takes around five to eight hours for the batteries to fully charge. Handlebars
enable the user to switch the device on and off, brake and control its direction and speed.
According to her, the e-wheelchair is very much adapted to Philippine conditions, such as
our rugged roads, which could be challenging to navigate sometimes.
Candole said the e-wheelchair would benefit people who travel long distances
every day or those who have difficulty using their hands to turn the wheels such as those
suffering from polio.
Modules for Voice Recognition
A voice recognition module is one product almost all electronics
enthusiasts want to have. However, only a handful of specialty manufacturers build this
kind of board making them hard to find and usually sold expensively.
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According to a blog, a review has been posted on March 23, 2013 by
EnrisonReinier, about the e-gizmo‟s Voice Recognition VR Module. From the last update
of the e-gizmo‟s site on June 3, 2015, the price comes at Php 1,999.00.
Following is a short summary of the VR module features:
 Supports up to 15 speaker-dependent SD voice commands
o Organized as 3 groups of 5 voice commands each. Due to limited capacity
of the on board voice controller, it can only process one group, or 5 voice
commands at a time. The host controller takes the responsibility of loading
the appropriate voice command set. Each SD voice command can be up to
1.3 seconds long.
 Non-volatile voice commands storage
o The module retains all voice commands prints even after power cycling.
Voice commands will only be replaced or erased at the instruction of the
host controller.
 UART TTL interface
o This allows it to connect with any 5V MCU host that is similarly equipped
with UART port. It can even interface with 3.3V MCU host as long as the
host input is 5V tolerant.
He has noted there that the microphone is strangely constructed. The microphone
mouth is directed on a side, instead of at the top. It does not have gain to compensate for
improperly directed voice inputs. And when not using a guide as shown below, the user
will have a hard time training the VR module.
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It also has low sensitivity in that as speaking commands, the mouth should be
kept within an inch or two from the microphone‟s pickup port. So when using this in
applications where the voice commands came from a distant, this is not recommended for
use. But according to the author, it is possible to use a microphone (electret type) other
that one supplied with the kit. A headset with good quality microphone (i.e. gaming
headset) may actually work wonders for this kit.
In his training experience with the device, he noticed that the VR is not as tolerant
as during recognition mode. The VR requires repeating each voice command twice. The
commands should be pronounced in almost exact manner, same loudness, same inflection
same accent and all. In other words, to train it with your voice, you need to train yourself
as well. It was kind of frustrating the first time, but once you got the hang of it, it
becomes pretty easy.
In tinkbox.ph store, they are selling their version of a voice recognition module.
Their product, Voice Recognition Module V3, is described as a compact and easy-control
speaking recognition board. It is a speaker-dependent voice recognition module. Now the
price is already at Php 1,153.00 from the list price of Php 1,680.00 and only 3 are in
stock.
Features of the product include:
16
 Supports up to maximum 80 voice commands, with each voice 1500ms (one or
two words speaking)
 Maximum 7 voice commands effective at the same time
 Arduino library is supplied
 Easy Control: UART/GPIO
 User-control General Pin Output
This board has 2 controlling ways: Serial Port (full function), General Input Pins
(part of function). General Output Pins on the board could generate several kinds of
waves while corresponding voice command was recognized.
Specification:
 Voltage: 4.5-5.5V
 Current <40mA
 Digital Interface: 5V TTL level for UART interface and GPIO
 Analog Interface: 3.5mm mono-channel microphone connector + microphone pin
interface
 Size: 31mm x 50mm
 Recognition accuracy: 99% (under ideal environment)
Related Studies
The related studies present in this chapter focused on the discussion of the previous
studies made by other researchers in relation to the proposed project.
17
Foreign Studies
Under the International Journal of Advanced Research in Computer Science and
Software Engineering, a study by Ms. S.D. Suryawanshi, Mr. J. S. Chitode, and Ms. S. S.
Pethakar entitled, “Voice Operated Intelligent Wheelchair”, dated May, 2013, was made
to provide easy access for patients who are physically disabled which cannot control their
movements especially the hands. The powered wheelchair depends on the motor control
and drive system which consists of ARM Processor LPC2138 and DC Motor.
The patient can give voice commands via a head phone. These commands are
processed in the MATLAB software and according signals are then sent to the
microcontroller on board the wheelchair. About the wheelchair, the researchers created a
motorized miniature model and it is operated by 2 DC Motors. The microcontroller
operates these DC motors and controls the wheelchair accordingly. The voice commands
are: Forward, Reverse, Left, Right, and Stop.
From a contributor on engineersgarage, introduced as AlpeshVirpara, he posted a
project entitled, “Voice Controlled Wheelchair for Physically Disabled People”, it aimed
at controlling a wheelchair by means of human voice. It enables a disabled person to
move around independently, using a voice recognition application which is interfaced
with motors. The voice recognition technology used is the HM 2007 module. This
module is used to convert the voice signal into corresponding binary code that is given to
the microcontroller, and the microcontroller gives the output according to the voice input.
The five voice commands to control the direction of the motors are: Forward, Backward,
Stop, Right and Left.
18
The microcontroller used is a semiconductor chip. It is programmable,
multipurpose and multifunctional. The AT89C51 is a low-power, high-performance
CMOS 8-bit microcomputer with 8Kbytes of Flash programmable and erasable read only
memory (PEROM).
The devices manufactured using Atmel‟s high-density non-volatile memory
technology and is-compatible with the industry-standard 80C51 and 80C52 instruction set
and pin-out. The on-chip Flash allows the program memory to be reprogrammed in-
system or by a conventional non-volatile memory programmer.
Meanwhile, the motor used is procured from AGNI MOTOR, BANGLORE has
the following specifications: 120W, 9.8Nm, and 60rpm with no load. Two 12V, 32Ah
lead acid AMARON batteries were used.
To minimize the occurrence of vehicle accidents due to an eye or hand
movements while driving, an automatic vehicle human-voice-based safety control is
proposed in a paper entitled, “Arduino-Based Automatic Safety Vehicle Control”. This
was done for the 2nd International Conference on Research in Science, Engineering and
Technology on March 2014 by Othman M.K. Alsmadi, Anas A. Al Jallad, Zaer S. Abo-
Hammoud, and Fares J. Al Majali. The design is implemented using the Arduino Mega
system based on the ATmega2560. One of the most important safety control features is
the automotive speed control (ASC). In this safety control function, which prevents a
vehicle sudden hit, the necessary action is issued based on the vehicle-to-vehicle distance
measure. To prevent the driver from attention, withdraw and maintain a proper road and
situation focus (as especially is the case at night), several other automated safety control
19
operations are provided (i.e., radio, flasher, left flasher, right flasher, wipers, drive, and
stop). These features are controlled according to human voice commands with the use of
an EasyVR module. The proposed model has been designed, built, and tested providing
suitable results as desired.
Another study entitled, “Voice Recognition Based Advance Patient‟s Room
Automation”, from the International Journal of Research in Engineering and Technology,
was made by student TejaswinySignh, with assistant professor Nandlal Yadav this June
2015. This is a unique and most useful system for totally or partially handicapped
patients who are unable do basic tasks. Patients who are unable do anything have to
totally depend on nurses. Hospitals have to provide a round-the-clock 24 Hour an
attendant for these patients and hence total fees of hospitals gets increased. The device
that we proposed here can actually help these patients and hospitals without requiring 24-
hour attendant. With this system, patient can call nurse or any attendant at any time
whenever required by simply voice controlled commands. This system listens voice
commands and can call nurse by simply ringing bell. It can also control basic switching
on/off tasks of fan, light and any device by patient voice.
The system consists of two modules: Handheld Microphone Module with a
ZigBee transceiver and a unit for voice recognition. Two microcontrollers are used in this
project. Two ZigBee chips are used to set up wireless communication. One of them
works as transmitter and is connected to the first ATmega328 the other one is connected
to the second ATmega32 working as the receiver.
20
The system gets activated as soon as any the password is spoken. When the user
says a particular voice instruction, it enters the microphone of the Easy VR 2.0 at first
and then the ATmega328 at the transmitting end receives it. The ATmega328 will
transmit a particular command to the ZigBee device at the transmitting end. On enabling
the ZigBee, it will send the corresponding command to the ZigBee device on the
receiving end. On successful establishment of wireless communication, it will instruct the
ATmega328 microcontroller. Consequently, the appliances can be controlled like
increasing or decreasing the speed or turned ON or OFF depending on the control
commands received.
Local Studies
The researchers Rommer Son A. Cañete, Jarrie May C. Lawas and Amilou Jane
D. Suarez made a “Speech-Activated Hotel Room Control System Using VoiceGP
Module” for the Mapua Institute of Technology, School of Electrical Engineering,
Electronics Engineering and Computer Engineering in the year 2011. This system can
manage specific room service calls and appliance control through voice commands. The
design tends to apply voice-command recognition technology in hotel room service
wherein the hotel guest can control the room appliances and make room service calls in
terms of uttering voice commands. The system consists of a VoiceGP voice recognition
module, Arduino microcontroller, led indicators, PC and relay-based AC socket control
circuits.
The system does not function well in a noisy environment and not all accents are
supported by it as tested by the researchers.
21
A high-standard hotel can use this system to further their functionalities,
convenience and thus be considered as a high technology hotel.
Meanwhile, in 2012, from the same school, Mapua Institute of Technology,
School of EECE, there is another research entitled, “Obstacle Detection for a Speech-
Controlled DC Motor Operated Wheelchair with Elevation System”, by Lloyd Edwinson
S. Arellano, Darryll Jade E. Arias, Francis Mark Adriane G. Luna, and Aljon C.
Santillan. This research focused on most handicapped people who suffer mobility
problem primarily depend on using wheelchairs, automated and not. The designs are
made in response to the condition of these target users. Considering the users who
already lost the ability to use their hands, the researchers of this paper believe that
implementing a speech control mechanism and incorporating sensors to the wheelchair
will give solution to this problem. It is also believed that to improve its functionality, a
lifting mechanism should be considered to allow the user to move up by himself into
elevated platforms. As a result, obstacle detection for a speech controlled dc-operated
wheelchair with elevation system is considered in this paper. The wheelchair will use
voice module that will process the user input speech command and a microcontroller to
control the movement of the wheelchair in response to the user input command.
Proximity sensors will also be used to create a system wherein obstacle detection
mechanism is present. Lastly, for the elevation system the wheelchair will be
incorporated by an electric car jack that will allow itself to lift into the elevated platform.
22
TABLE 2.1 Syntheses of Related Literature and Studies
Related Literature and Studies Reason for Including as Reference

Related Literature
Foreign
To be aware of the advantages and

disadvantages of Voice Recognition at that
Medical Legal Aspects of Medical Records time and to have ideas on how can the
researchers should deal with those
disadvantages.
To be more conscious on how the voice
recognition can help in the life of physically
Voice Recognition Software Put to Test challenged people and to think of solutions to
overcome those troubles they have
encountered.
To know the challenges that the developers
Time is Right for Voice Recognition have experienced in the creation of their
product Voice on the Go.
Speech Recognition Technology and its To have concrete knowledge about the specific
Benefits to the Disabled Community targets of the researcher‟s study.
To have better idea at developing and
Talk vs. Type: Taking Another Look at
implementing a project that is smarter and
Voice Recognition
noise interference can be handled well.
Local
To be aware of the fact that, even the disabled

PWDs can now live life in the fast lane persons themselves are trying to improve and
increase their mobility.
To have comparison between the locally
Modules for Voice Recognition developed modules and the one the researchers
have used.
23
Related Studies
Foreign
This is made to provide easy access for patients

who are physically disabled which cannot
control their movements especially the hands.
Voice Operated Intelligent Wheelchair
The powered wheelchair depends on the motor
control and drive system which consists of
ARM Processor LPC2138 and DC Motor.
The aim of this it to control a wheelchair by
means of human voice. It enables a disabled
person to move around independently, using a
Voice Controlled Wheel Chair for voice recognition application which is
Physically Disabled People interfaced with motors. The voice recognition
technology used is the HM 2007 module. The
researchers included this for additional
information on the dc motors this study used.
The design is implemented using the Arduino
Mega system based on the ATmega2560. Its
features are controlled according to human
Arduino-Based Automatic Safety Vehicle
voice commands with the use of an EasyVR
Control
module. The researchers also used the same
module, so this study serves as a reference for
the module.
The system gets activated as soon as the
password is spoken. When the user says a
particular voice instruction, it enters the
Voice Recognition Based Advance Patient’s
microphone of the EasyVR 2.0 at first then the
Room Automation
ATmega at the transmitting end receives it.
This study is similar to the proposed system
and had given the researchers idea on adding a
24
trigger word.
Local
This system can manage specific room service

calls and appliance control through voice
commands. The design tends to apply voice-
command recognition technology in hotel
room service wherein the hotel guest can
Speech-Activated Hotel Room Control control the room appliances and make room
System Using Voice GP Module service calls in terms of uttering voice
commands. This study is explained in detail
compared to the foreign studies and gave the
researchers as much as necessary knowledge
on the use of voice recognition to be
implemented on the present study.
This research focused also on most
handicapped people who suffer mobility
problem. The designs are made in response to
the condition of these target users. Considering
the users who already lost the ability to use
Obstacle Detection for a Speech-Controlled
their hands, the researchers of this paper
DC Motor Operated Wheelchair with
believe that implementing a speech control
Elevation System
mechanism and incorporating sensors to the
wheelchair will give solution to this problem.
This study had given the researchers viewpoint
on the incorporation of the components and the
method of testing and acquiring of the results.
25
Conceptual Framework
Figure 2.1 shows the conceptual framework of the study. It consists of the input, process
and output.
Existing
Conventional Voice
Voice Control
Design of Controlled
Technology
Power Wheelchair
Wheelchair
FIGURE 2.1 Conceptual Framework
The conceptual framework as shown in the figure represents the researchers‟ synthesis of
literature on how their system works. It maps out the input, process and output required for the
study based on their previous knowledge of other researchers‟ point of view and observations on
the subject of research.
26
Chapter III
RESEARCH METHODOLOGY
This chapter provides information on how the research is carried out. Especially, the
procedures by which the researchers go about their work of describing, explaining and predicting
phenomena are included herein.
It mainly consists of and tackles the research design used, the phases which the
researchers have followed throughout the course of study, the sources of data gathered and are
included in this study, and the techniques used by the researchers in gathering these data and
lastly the tools used for the determination or analysis of the testing results.
Research Design
REQUIREMENTS
PLANNING
USER DESIGN CONSTRUCTION
27
FIGURE 3.1 Rapid Application Development Model
Rapid application development (RAD) model is a linear sequential software development
process that has much faster development and higher-quality results than those achieved with the
traditional software development life-cycle.
RAD is both a general term used to refer to alternatives to the conventional waterfall
model of software development as well as the name for James Martin's approach to rapid
development. In general, RAD approaches to software development put less emphasis on
planning tasks and more emphasis on development. In contrast to the waterfall model, which
emphasizes rigorous specification and planning, RAD approaches emphasize the necessity of
adjusting requirements in reaction to knowledge gained as the project progresses. This causes
RAD to use prototypes in addition to or even sometimes in place of design specifications. RAD
approaches also emphasize a flexible process that can adapt as the project evolves rather than
rigorously defining specifications and plans correctly from the start.
The researchers used the RAD model as shown on Figure 3.1. It served as a guide for the
researchers to follow and to become organize in the development of the system.
28
Phases of the Rapid Application Development
Below are the various phases or stages involved in the Rapid Application Development
Model and are explained in detail.
A. Requirements Planning Phase
The Requirements Planning stage (also known as the Concept Definition stage)
consists of developing a list of initial requirements as well as setting the project scope.
The objective of this phase is to establish a general understanding of the problems
that surround its development and eventual operation of the proposed project.
During this phase, the researchers gathered information on the Voice Controlled
Wheelchair for Physically Disabled Persons and studied carefully the concepts of other
researchers. This is done to help the researchers understand what particular set of
components are to be used.
B. User Design Phase
In the User Design stage, also known as the Functional Design stage, the
requirements are flushed out in details. Test plans, flow charts and layouts for essential parts
of the system are developed with regards to the Requirements Planning stage.
In order to keep development iterations as short as possible, and to gain the maximum
benefit of RAD's agile nature, core requirements should be identified and targeted for the
initial prototype, and secondary requirements should be identified and targeted for future
development iterations. Limiting of scope should be considered as well.
29
Generally, it is a continuous interactive process that allows users to understand and
eventually approve a working model of the system that meet their needs.
Under this phase, the researchers focus on the software development needed for the
system and the construction of the project's draft design.
HARDWARE
VOICE
ENGINEERING
CONTROLLED
INTEGRATION
SOFTWARE WHEELCHAIR FOR

AND
ENGINEERING THE PHYSICALLY

AUTOMATION
DISABLED
PERSONS
MICROCONTROLLER
TECHNOLOGY
FIGURE 3.2 Theoretical Framework
C. Construction Phase
During the Construction Phase, the project follows iterative cycles of development,
testing, requirements refining, and development again, until it is completed.
The objectives of the Rapid Construction stage are (1) to complete the detailed design
of the proposed system; (2) to create and test the software that implements the proposed
system; and (3) to generate a system that operates at an acceptable level of performance.
30
During the final iterations of development, the design team should update user
documentation, perform testing and define the steps necessary for deployment or
implementation. In this phase, the actual prototype is developed.
The researchers were able to construct an idea that is alternative to those related
studies. Brainstorming was done to come up with a general idea that satisfies the requirement
of the system.
D. Cutover Phase
This phase is also known as the Deployment or Implementation stage. This is where
the final user testing, training of the system takes place in preparation for the deployment of
the project.
The researchers tested the effectiveness of the project in terms of its accuracy in
maneuvering and the time it takes to respond to the voice command uttered. And also
includes final furnishing and documentation.
Sources of Data
There has been a lot of helpful information that surfaced in relation to the proposed
project. These were gathered by the researchers for the sole purpose of giving grounds for this
study.
Listed in the following are the sources of these data:
Internet. With the help of the Internet‟s search engines, such as Google, Bing,
Yahoo! and Ask, the researchers found and collected as much as needed information about
the study. These include all the necessary components, methods, and concepts for the design.
31
And also, most of the related literatures and definitions of terms were taken from different
websites.
eBooks.eBooks, specifically are the files that are in PDF file format, created by
Adobe Systems, typically used for saving documents that are comprised of more than a
simple text element. Ideas, concepts, and other related studies were taken from downloaded
PDFs.
Books.Some data were taken from informative books for a more detailed explanation
of the concepts involved in the study.
Other data came from the problems encountered during the designing and testing of
the design project.
Data Gathering Techniques
Data gathering is an important aspect of any type of research study. It is defined
as the process of collecting and measuring information on targeted variables in an established
systematic fashion, which then enables one to answer relevant questions and evaluate outcomes.
The data gathering techniques which were carried out by the researchers are enumerated below.
Document Analysis
Documents are interpreted by the researchers for giving meaning to the study.
Document analysis was the manner mainly used by the researchers. The documents that
are covered in this analysis are the related studies, both from local and foreign authors.
This is valuable to help the researchers extract the relevant portions that can be deemed
as statement of facts to validate individual research objectives.
32
Expert Advice
The panels‟ suggestions and advices from some of the professionals and
instructors inside and outside the University were acquired for the betterment of the
design project.
Tools for Analysis
In order to determine the proposed project‟s descriptive statistics for the level of
effectiveness, the researchers have used the formula below and some testing for the accuracy in
maneuvering the wheelchair and the response time in performing the movement command.
The effectiveness of the system will be determined by using the formula:
Chapter IV
PROJECT PRESENTATION
In this chapter, the hardware and software components of the developed system are
introduced and described in depth. Afterwards the working system will be explained thoroughly
together with the results that were collected during the testing for the accuracy in maneuvering
the wheelchair and the response time in performing the movement command.
Proposed System
The proposed system made use of the Easy VR Module. It is in-charge for the recognition
of the voice commands as is received on the microphone included with the module. Whenever a
voice command is fed in the microphone, the Voice Recognition Unit assesses this and after
33
being recognized, decisions are formed in the Arduino Microcontroller. Decision-making
involves determining the function to be performed, whether Forward, Backward, Left, Right or
Stop. The decisions made are sent as control signals. From the Microcontroller, control signals
flow into the Motor Driver.
Based on the control signals the Motor Driver has received from the Microcontroller, the
Motor Driver passes these as output signals. These output signals basically answer the question
of how or on what direction the stepper motors move, the output being the movement of the
wheelchair.
EASY VR MODULE
FORWARD
BACKWARD
RIGHT
LEFT
STOP POWER SUPPLY

MICROPHONE
USER‟S VOICE
MOTOR DRIVERS
ARDUINO UNO SHIELD
R3
WHEELCHAIR
34
FIGURE 4.1 Block Diagram of the System
Description of the Components
FIGURE 4.2 Arduino Uno R3
Hardware Components
Arduino Uno
35
A microcontroller board based on the ATmega328P, it has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16
MHz quartz crystal, a USB connection, a power jack, an ICSP header and a reset
button. It contains everything needed to support the microcontroller; simply
connect it to a computer with a USB cable or power it with an AC-to-DC adapter
or battery to get started.
FIGURE 4.3 EasyVR Module
EasyVR Module
EasyVR 3.0 is a multi-purpose speech recognition module designed to add
versatile, robust and cost effective speech and voice recognition capabilities to
36
virtually any application. EasyVR is the third generation version of the successful
VRbot module and builds on the features and functionality of its predecessor. In
addition to the EasyVR 3.0 features like up to 32 user-defined Speaker Dependent
(SD) commands and 26 built-in speaker independent (SI) commands for ready to
run basic controls, the shield has an additional audio line-out/headphone jack, and
access to the I/O pins of the EasyVR module.
FIGURE 4.4 Stepper Motor Driver DQ542MA 4A
Stepper Motor Driver DQ542MA 4A
37
The DQ542MA stepper motor driver is a two-phase hybrid stepper driver.
It is designed to be use for 2-phase hybrid stepper motors with 42mm to 86mm
outside diameter and less than 4.0A phase current.
The circuit that it adopts is similar to the circuit of a servo controller
which enables the motor to run smoothly almost without noise and vibration.
FIGURE 4.5 Stepper Motor
Stepper Motor NEMA 23 13.5 kg-cm
38
Stepper motors are great for position control. They can be found in
desktop printers, plotters, 3d printers, CNC milling machines, and anything else
requiring precise position control. These are a special segment of brushless
motors. They are purposely built for high-holding torque. This high-holding
torque gives the user the ability to incrementally “step” to the next position. This
results in a simple positioning system that doesn‟t require an encoder. This makes
stepper motor controllers very simple to build and use.
FIGURE 4.6 POWER SUPPLY
Power Supply24V 3A
39
A power supply is an electronic device that supplies electric energy
to an electrical load. The primary function of a power supply is to convert one
form of electrical energy to another and, as a result, power supplies are sometimes
referred to as electric power converters.
Software Components
40
FIGURE 4.7 Arduino IDE 1.6.9
Arduino IDE 1.6.9
The open-source Arduino Software (IDE) makes it easy to write code and
upload it to the board. It runs on Windows, Mac OSX, 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.
FIGURE 4.8 EasyVR Commander
EasyVR Commander v3.10.2
The EasyVR Commander software is used to easily configure the EasyVR
Module that is connected to a PC through an adapter board, or by using the
microcontroller host board with the provided “bridge” program (available for
ROBONOVA controller board, Arduino 2009/UNO, Parallax Basic Stamp).
41
Explanation of System Working
If a green light can be seen on the EasyVR Module assuming all the necessary
connections are made, then it is ready to listen for incoming voice commands. First, the
incorporated trigger word must be uttered before the five commands (Forward, Backward, Left,
Right, and Stop) can be processed.
Voicing out the Forward command results to the continuous advancing of the wheelchair,
Backward for a reverse movement, Left and Right for the turning to the left and to the right
direction, respectively, of the wheelchair, and Stop command to put the wheelchair at rest.
When commanding the wheelchair to go left or right, it immediately goes to a stop for
approximately 90° from the wheelchair‟s position.
42
Chapter V
PROJECT MANAGEMENT
On this chapter, the project phase is discussed including the development of the system,
from planning, designing and testing of the system.
The approach and the time management the researchers have used in the development
and construction of the project is presented herein, the researchers‟ work plan itself and the Gantt
chart from the beginning up to the study‟s completion.
Project management is the intelligent employment of the related processes and methods,
the researchers‟ combined knowledge, skills and experiences to achieve the project‟s objectives.
Significantly, it provides an excellent opportunity to experience the challenges and benefits of
managing a team-based design project first hand. If management was done accordingly, then the
project is bound to deliver an on-time and on-budget results satisfyingly.
43
Systems which involve uncertainty, a feedback is essential in reaching the desired
outcomes. The researchers should expect a plan to change over the course of the project, as they
learn more about the difficulties they are up against and as they react to unpredictable outcomes
and circumstances. The fact that the plan changes does not necessarily mean that the project‟s
deliverables need change, the researchers may find alternative ways to achieve the original goals
within the original time frame, even if the initial plan goes wrong.
By the start of the academic year on August 2015, the agreement on the Voice Controlled
Wheelchair‟s development was on an eight-month duration basis, ending on the month of April
2016.
Taking into consideration all of a project‟s constraints, time, budget and scope, the
researchers must achieve their project‟s goals and objectives. However, the lack of knowledge on
the nature of voice recognition systems made the researchers to become wary of what
preliminary steps to take. So, a long discussion and familiarization about voice controlled
wheelchairs and a study on other correlated projects was first done before the researchers jump
into the planning phase. They accumulated data from researches and studies and took them a
month to finalize. For the month of September and October, the researchers focused on doing the
first three chapters of the manuscript that will be passed before the end of the semester.
44
After collecting the right amount of data, the researchers started gathering and preparing
the tools and materials needed in the project by the month of October. The construction of the
wheelchair started right away after buying the materials, followed by the completion of the
prototype that began on November. While coding was started on December and at least 20% of
the prototype was presented that same month. Further study was done by gathering additional
data through watching video tutorials, asking experts‟ advices and researching more about the
programming of the modules.
TABLE 5.1 Work Plan
Project Phase Description Specific Outputs
Planning Phase This phase involves:  Knowledge about the use

of microcontrollers and how
voice recognition technology
 Ensuring common works.
understanding on  List of components needed
microcontrollers using for the project.
embedded systems.
 Determining the
tools and materials needed
for the construction of the
system.
Conceptualization and  Constructing the  The draft design of the
Design Phase draft design considering the prototype of the Voice
materials gathered. Controlled Wheelchair.
 Familiarization on
the voice recognition
programming.
Construction and the  Integrating the  Working prototype of the
Development Phase required materials. study.
 Completing time
frame for the research
process.
 Creating and
improving the design.
Documentation and  Presenting and  Manuscript of the project.
Presentation Phase evaluating the manuscript.
45
Testing Phase  Testing and  Final testing.

enhancing the prototype.
TABLE 5.2 Gantt Chart
2015 2016
Project Phase Deliverables
Aug Sep Oct Nov Dec Jan Feb Mar Apr May
Planning Phase Research and

data
gathering.
Studying and
familiarizing
on the Voice
recognition
technology.
Getting
familiar on
the EasyVR
Shield 3.0
and its
programming
environment.
Purchasing
and
preparing
tools and
materials.
Conceptualization Designing
the concept
46
and Design Phase for the

construction
of the Voice
Controlled
wheelchair.
Installing the
EasyVR
Shield.
Construction and Improving
Development Phase the

prototype.
Documentation and Documenting
Presentation Phase the first three

chapters in
the
manuscript
and
presenting
the progress
of the
system.
Documenting
the
remaining
chapters and
presenting
the system.
Testing Phase Enhancing
and testing of
the working
prototype.
47
Presentation
The researchers first tested the voice recognition module on four LEDs. One for each of
the commands Forward, Backward, Left and Right. Whenever one voice command is uttered, the
corresponding LED for it, turns ON. And when any of the other three is uttered, that LED will
turn OFF and the LED for that corresponding command turns ON instantly. To just turn OFF any
LED on an ON state, the Stop command is to be used. Refer to Table 5.3 for the results.
As for the stepper motors, it was tested using push button switches. Four push button
switches were used representing the Forward, Backward, Left and Right. For instance, pressing
on hold the button for the forward command will direct the motors to go forward and stops
whenever the button is no longer pressed.
Lastly, all the components were connected and testing the actual execution were done
with no load or just the weight of the wheelchair. See Table 5.4 for the results of the testing.
For a better understanding of the tests undertaken, see the attached CD for a video of the
results.
TABLE 5.3 Time delay between voice command and actual evaluation using LED lights
and the controller
Trial Forward Backward Right Left Stop
1 2s 2s 2s 2s -
2 2s 2s 2s 1s 2s
48
3 2s 2s 2s 2s 2s
4 1s 2s 2s 2s 2s
5 2s 6s 2s 4s 4s
6 3s 2s 1s 5s 2s
7 2s 4s 4s 6s 2s
8 3s 5s 1s 1s 2s
9 1s 4s 1s 1s 2s
10 1s 2s 3s 1s 2s
TABLE 5.4 Time Delay between voice recognition and actual execution (installed in
wheelchair) with no load/own weight of wheelchair.
Trial Command ‘Command is executed’ ‘Command not executed’
Forward 3s
Backward 2s
1 Right X
Left 1s
Stop X
2 Forward 1s
49
Backward 2s
Right 2s
Left X
Stop X
Forward X
Backward 3s
3 Right 2s
Left X
Stop X
Forward 2s
Backward X
4 Right 1s
Left X
Stop X
Forward 1s
Backward 2s
5
Right 2s
Left X
50
Stop 1s
Forward 2s
Backward X
6 Right X
Left 1s
Stop 1s
Forward 2s
Backward X
7 Right 2s
Left X
Stop X
Forward 2s
Backward X
8 Right X
Left 2s
Stop X
Forward 2s X
9
Backward X
51
Right 2s
Left 1s
Stop 1s
Forward X
Backward X
10 Right 2s
Left 2s
Stop 1s
100% Maximum Load Capacity of Motor (at Low Speed)
52
50%
Maximum
Load Capacity
of Motor
Chapter VI
FINANCIAL STUDY
All of the financial aspects in the development of the Voice Controlled Wheelchair are
covered in this chapter and are broken down into three categories.
Expenses for the Voice Controlled Wheelchair
Shown below in tables are the summarized expenses of the researchers as required in the
project. The total expenses of the study are equivalent to the sum of construction materials cost
and the miscellaneous expenses.
TABLE 6.1 Cost of Construction Materials
Unit Price
Quantity/Unit Description Amount (in Php)
(in Php)
1 pc 685.00 685.00
Arduino Uno Rev3
1 pc 2, 999.00 2, 999.00
EasyVR shield 3.0
53
10 pcs 5 50.00
1 pin Male-to-Male Connector Wire
10 pcs 5 50.00
1 pin Female-to Female Connector wire
2 pcs 1, 799.75 3, 599.50

Stepper Motor Driver DQ542MA
2 pcs 1, 199.75 2,399.50

Stepper MotorNema 23
1 pc 3, 150.00 380.00
Power Supply
8 pcs 10.00 80.00

Alligator Clips
12 pcs 10 120.00
1m wire
Total Cost of Construction Materials Php 10, 363.00
TABLE 6.2 Miscellaneous Expenses
Description Amount (in Php)
Shipping Fee 450.00
Total Miscellaneous Expenses Php 450.00
TABLE 6.3 Total Expenses of the Study
Description Amount (in Php)
Cost of Construction Materials 10,363.00
Miscellaneous Expenses 450.00
OVERALL TOTAL Php 10, 813.00
54
Chapter VII
SUMMARY, CONCLUSION AND RECOMMENDATION
This chapter presents and tackles the summary, conclusion and recommendation of the
study made by the researchers.
Summary
The researchers used an alternative wheelchair as the prototype of the design project.
Two stepper motors are installed for each of the two back wheels while the front wheels
remained at free will movement. The system is designed to control the wheelchair using the
voice of the user. The voice recognition module will receive the user‟s voice as an input and will
interpret the data into the microcontroller. The microcontroller will then send this to the motor
driver controller where the two motors are connected, and will perform the command as a
feedback.
In terms of the accuracy in maneuvering the wheelchair, it was found out that the voice
recognition module works dependently on the voice used and the environment where it was first
recorded. Therefore, when controlling the wheelchair, it does not immediately move according to
the voice command due to inevitable changes that occurred during the testing of the prototype, as
can be interpreted on the data present on the tables at chapter 5. The response time in performing
the movement command were affected as well, lengthening the time the wheelchair took before
responding to the voice command uttered. The average level of effectiveness of the time delay
between voice command and actual evaluation using LED lights and the controllerresulted to a
percentage of 98 while the Time Delay between voice recognition and actual execution (installed
in wheelchair) with no load/own weight of wheelchair was calculated 56% effective.
55
The problems encountered by the researchers during the testing of the voice controlled
wheelchair were (a) With no additional load (except for the weight of the wheelchair), the chains
used, which connects the sprocket on the wheels and the smaller sprocket on the stepper motor,
did not fit exactly that it looked a bit loose for it. That‟s why, the researchers have tried to
remove a link from the chain, however, it became too short for the distance of the two sprockets.
(b) The researchers noticed that the voice recognition module is responsive for certain times
only. The accuracy of the recognition was dependent on the voice and environment where the
voice was recorded. Although it has a high range of recording voice commands up to elbow
length, it was proven that it is best to record and use it at an environment with lesser noise. (c) As
for the mic that came with the voice recognition module, it was too short. The user found it
inconvenient holding the module just so the mic is closer to the mouth. (d) The torque of the
installed stepper motor was not enough to run the wheelchair faster than it can when a load is
acting upon the wheelchair. But that‟s due to the unavailability of the stepper motor with higher
specifications (Stepper Motor Nema 23 30kg-cm) that the researchers opted for the next higher
available one (Stepper Motor Nema 23 13.5kg-cm). (e) The power supply used was in AC, so the
distance that the wheelchair can travel is very much limited to the length of the power supply and
the extension used. A battery must have been utilized, if not for the specifications of the motor
driver that is specifically used for the stepper motors.
Conclusion
The design is the most crucial part in making this project. The wheelchair used in the
system is customized. For the motor to be connected on the wheel of the chair, sprockets are
attached on both sides. The bigger sprocket is attached on the wheels while on the motor is a
smaller customized sprocket. A bicycle chain is used as a link.
56
The setting up of the parts to connect the wheels and the motor are tested and various
problems occurred with the customized parts most notably the sprockets used on the motor and
the chain.The voice recognition module used is observed to be very sensitive in its environment.
And as a result, every environment the voice recognition module is used, the user must record or
train again every command to control the wheelchair for a more convenient use of the system.
Overall, the system performed all the commands sent through the voice recognition
module and indicates a success but due to a 56% level of effectiveness when it is directly
connected to the prototype, it is not yet suitable for actual application.
Recommendation
Based on the summary of findings and conclusion of the project the researchers recommend
the following:
1. Conduct a further enhancement and research for the prototype to become more suitable
for actual application.
2. If the same voice recognition module will be used, the microphone that came with it
should be amplifiedto have a higher range on picking up voice commands. If not, choose
a better one.
3. Use a stepper motor with higher specification than what the researchers have for a better
working voice controlled wheelchair or vehicle.
As follows are for the additional recommendations:
1. Add a solar-powered charging system, to extend the usage time of the wheelchair.
2. Conduct a more thorough study to achieve a higher level of user security to avoid
illegible users.
57
BIBLIOGRAPHY
Books
FEMA, (1999) Fire Risks for the Mobility Impaired
Iyer, Levin, Shea, (2006), Medical Legal Aspects of Medical Records
Web Sources
Beal, Vangie, “Interface”
http://www.webopedia.com/TERM/I/interface.html
Dweikat, Yazori, AlDaraghmeh, (2012) “MotorChair: A Fully Motorized Voice-
Operated Wheelchair”, Jordan
http://www.slideshare.net/yazory/wheelchair-is-guided-by-voice-commands-full-
documentation
Reinier, Enrison (2013) “Voice Recognition VR Module Review”
http://e-gizmo.blogspot.com/2013/03/voice-recognition-vr-module-review.html
Rouse, Margaret, (2007) “Response Time”
http://searchnetworking.techtarget.com/definition/response-time
Torrieri, Marisa (2011) “Talk vs. Type: Taking Another Look at Voice Recognition”
http://www.physicianspractice.com/articles/talk-vs-type-taking-another-look-
voice-recognition
Woods, Brian, (2015) “History of the wheelchair”
58
http://www.britannica.com/topic/history-1971423
Disabled World, (2015) “Wheelchairs: Information & Reviews”
http://www.disabled-world.com/assistivedevices/mobility/wheelchairs/
Ask, “Automated System”
http://www.ask.com/technology/automated-system-c85583d0f17a632
Techtarget, (2012) “Controller”, (2012)
http://whatis.techtarget.com/definition/controller
Pcmag, “Joystick”
http://www.pcmag.com/encyclopedia/term/62939/joystick
Techopedia, “Microcontroller”
https://www.techopedia.com/definition/3641/microcontroller
Techterms, (2013) “Microphone”
http://techterms.com/definition/microphone
Megaessays, “Voice Recognition Technology and its Benefits to the Disabled
Community”
http://www.megaessays.com/viewpaper/18519.html
59
APPENDICES
60
APPENDIX A. Actual Image of the Voice Controlled Wheelchair
61
APPENDIX B. Actual Testing
Testing of the Stepper Motors using pushbuttons (for each voice commands namely:
Forward, Backward, Right and Left)
Testing of the Voice Recognition Module on four LEDs (for each voice commands namely:
Forward, Backward, Right, Left and Stop)
Forward Backward
62
Left Right
Stop
63
Testing of wheelchair with no load
(See attached CD for videos of all the actual testing.)
64
APPENDIX C. User’s Manual
For Arduino
Prepare
 Arduino Uno R3
 Arduino IDE
 Easy VR Shield 3.0
 Easy VR Commander
 Easy VR Arduino Library
 Motor Driver Shield
Hardware and Software Preparation
1. Connect your Easy VR Shield with your Arduino.
2. Connect the Motor Driver Controller with your Arduino.
3. Download the Easy VR Commander and the Easy VR Library in zip file at
http://www.veear.eu/downloads/.
4. Then, include the EasyVR Library on the Arduino IDE.
Now, we‟re going to assume here that the EasyVR Commander has been installed with
administrator privileges. And that the needed hardware components are setup properly.
After that, run the EasyVR Commander and connect to the serial port of the Arduino
USB connection.
65
For Training EasyVR Module
Click in the group list on Index 0 – Trigger. Add a new command, as for the researchers,
they named it ARDUINO. Then click on „Train Command‟. Speak the word ARDUINO in the
mic. Then, repeat the word for the second phase when software will ask you to.
66
Click in the group list on Index 1 – Group. The researchers added the five commands
needed in their project and trained these as well, which are, FORWARD, BACKWARD,
TURN_LEFT, TURN_RIGHT and STOP.
67
The EasyVR is configured. After generating the code, it can already be altered for adding
the respective outputs of the five commands.
68
APPENDIX D. Source Code for Arduino
#include "Arduino.h"
#include "Stepper.h"
#if !defined(SERIAL_PORT_MONITOR)
#error "Arduino version not supported. Please update your IDE to the latest
version."
#endif
#if defined(SERIAL_PORT_USBVIRTUAL)
// Shield Jumper on HW (for Leonardo and Due)
#define port SERIAL_PORT_HARDWARE
#define pcSerial SERIAL_PORT_USBVIRTUAL
#else
// Shield Jumper on SW (using pins 12/13 or 8/9 as RX/TX)
#include "SoftwareSerial.h"
SoftwareSerialport(12, 13);
#define pcSerial SERIAL_PORT_MONITOR
#endif
#include "EasyVR.h"
EasyVReasyvr(port);
byte state = 0;
Stepper stepper1(200,3,4);
Stepper stepper2(200,10,11);
//Groups and Commands
enum Groups
69
GROUP_0 = 0,
GROUP_1 = 1,
};
enum Group0
G0_ON = 0,
};
enum Group1
G1_FORWARD = 0,
G1_RIGHT = 1,
G1_LEFT = 2,
G1_BACKWARD = 3,
G1_STOP = 4,
};
int8_t group, idx;
void setup()
// setup PC serial port
pcSerial.begin(9600);
stepper1.setSpeed(200);
stepper2.setSpeed(200);
70
// bridge mode?
int mode = easyvr.bridgeRequested(pcSerial);
switch (mode)
caseEasyVR::BRIDGE_NONE:
// setup EasyVR serial port
port.begin(9600);
// run normally
pcSerial.println(F("---"));
pcSerial.println(F("Bridge not started!"));
break;
caseEasyVR::BRIDGE_NORMAL:
// setup EasyVR serial port (low speed)
port.begin(9600);
// soft-connect the two serial ports (PC and EasyVR)
easyvr.bridgeLoop(pcSerial);
// resume normally if aborted
pcSerial.println(F("Bridge connection aborted!"));
break;
caseEasyVR::BRIDGE_BOOT:
// setup EasyVR serial port (high speed)
port.begin(115200);
// soft-connect the two serial ports (PC and EasyVR)
easyvr.bridgeLoop(pcSerial);
// resume normally if aborted
71
pcSerial.println(F("Bridge connection aborted!"));
break;
while (!easyvr.detect())
Serial.println("EasyVR not detected!");
delay(1000);
easyvr.setPinOutput(EasyVR::IO1, LOW);
Serial.println("EasyVR detected!");
easyvr.setTimeout(1);
easyvr.setLanguage(0);
group = EasyVR::TRIGGER; //<-- start group (customize)
void action();
void loop()
if (easyvr.getID() <EasyVR::EASYVR3)
easyvr.setPinOutput(EasyVR::IO1, HIGH); // LED on (listening)
Serial.print("Say a command in Group ");
Serial.println(group);
easyvr.recognizeCommand(group);
72
do
if(state == 0){
Serial.println("STOP");
if(state == 1){
stepper1.step(1);
stepper2.step(1);
Serial.println("FORWARD");
if(state == 2){
stepper1.step(1);
stepper2.step(-1);
Serial.println("RIGHT");
if(state == 3){
stepper1.step(-1);
stepper2.step(1);
Serial.println("LEFT");
if(state == 4){
stepper1.step(-1);
stepper2.step(-1);
Serial.println("BACKWARD");
while (!easyvr.hasFinished());
if (easyvr.getID() <EasyVR::EASYVR3)
73
easyvr.setPinOutput(EasyVR::IO1, LOW); // LED off
idx = easyvr.getWord();
if (idx>= 0)
// built-in trigger (ROBOT)
// group = GROUP_X; <-- jump to another group X
return;
idx = easyvr.getCommand();
if (idx>= 0)
// print debug message
uint8_t train = 0;
char name[32];
Serial.print("Command: ");
Serial.print(idx);
if (easyvr.dumpCommand(group, idx, name, train))
Serial.print(" = ");
Serial.println(name);
else
Serial.println();
// beep
easyvr.playSound(0, EasyVR::VOL_FULL);
// perform some action
action();
74
else // errors or timeout
if (easyvr.isTimeout())
Serial.println("Timed out, try again...");
int16_t err = easyvr.getError();
if (err >= 0)
Serial.print("Error ");
Serial.println(err, HEX);
void action()
bytetempstate = 0;
switch (group)
case GROUP_0:
switch (idx)
case G0_ON:
// write your action code here
group = GROUP_1;
tempstate = 0;
break;
break;
case GROUP_1:
75
switch (idx)
case G1_FORWARD:
tempstate = 1; // state = 1
break;
case G1_RIGHT:
break;
case G1_LEFT:
break;
case G1_BACKWARD:
break;
case G1_STOP:
group = GROUP_0;
break;
break;
state = tempstate;
76
APPENDIX E. Curriculum Vitae
77
RIZELLE B. COLLADO
EMAIL ADDRESS : rizellecollado@gmail.com
CONTACT NUMBER : 09951189777
ADDRESS : 171 Lomboy, Villasis, Pangasinan
PERSONAL INFORMATION
NICKNAME : Riz
DATE OF BIRTH : April 16, 1995
PLACE OF BIRTH : Dagupan City, Pangasinan
GENDER : Female
CIVIL STATUS : Single
CITIZENSHIP : Filipino
RELIGION : Roman Catholic
HEIGHT : 155 cm.
WEIGHT : 150 lbs.
EDUCATIONAL BACKGROUND
TERTIARY:
2011-PRESENT PANGASINAN STATE UNIVERSITY

Urdaneta City, Pangasinan
SECONDARY:
2007-2011 DON RAMON E. COSTALES MEMORIAL

NATIONAL HIGH SCHOOL
Poblacion Zone II, VillasisPangasinan
PRIMARY:
2001-2007 LOMBOY ELEMENTARY SCHOOL

Lomboy, Villasis, Pangasinan
78
TRAININGS AND SEMINARS
April 7, 2016 Cloud Computing and Android Development

Baguio City
March 14, 2016 Android Mobile Application Development Linked with
Embedded Systems
University of Pangasinan
Dagupan City, Pangasinan
October 30, 2015 Student Leadership Training Caravan 2015

December 13, 2012 GSM Module and Applications, National and International
Certification as Tools for Different Career Paths for Computer
Engineers
79
MARIANNE RHYNGEL GERONA TAACA

Purok Liwliwa, Sto. Domingo, Urdaneta City, Pangasinan
Mobile # Home: (63) – 917-680-4991 CP #: (63) – 906-455-1005
E-mail Address: rhyngeltaaca@gmail.com
PERSONAL BACKGROUND
Nickname Angel
Birth date October 5, 1994
Birth place Marikina, Metro Manila
Gender Female
Citizenship Filipino
Civil Status Single
Weight 46kg
Height 156cm
Religion Roman Catholic
EDUCATIONAL ATTAINMENT
Tertiary Pangasinan State University 2011 – Present

San Vicente, Urdaneta City, Pangasinan
Secondary Our Lady of the Lilies Academy 2007 – 2011

Primary Urdaneta I Central School 2001 – 2007

Alexander St., Poblacion, Urdaneta City, Pangasinan
80
TRAININGS AND SEMINARS ATTENDED
GSM Module and Applications, National and International December 13, 2012
Certification as Tools for Different Career Paths for Computer
Engineers
Venue: Pangasinan State University, Urdaneta Campus
Student Leadership Training Caravan 2015 October 30, 2015

Venue: Pangasinan State University Urdaneta Campus
Android Mobile Application Development Linked with March 14, 2016

Embedded Systems
Venue: University of Pangasinan, Dagupan City, Pangasinan
Cloud Computing and Android Development April 7, 2016

Venue: Baguio City
81
Renie Grace C. Zorilla

#206 Casimiro St. Poblacion West, Asingan, Pangasinan
Contact#: +639051144239
Email Address: rentao_z3@yahoo.com
PERSONAL BACKGROUND:
Nick name: Renie, Eun, Grace

Age: 20 years old
Gender: Female
Weight: 49 kg.
Height: 162 cm.
Civil Status: Single
Religion: Roman catholic
EDUCATIONAL BACKGROUND:
Tertiary:
Pangasinan State University 2011 - Present
San Vicente, Urdaneta City, Pangasinan
Secondary: Luciano Millan National High School 2007 - 2011
Asingan, Pangasinan
Primary: Alcala Central School 2006 - 2007
Alcala Sur, Cagayan Valley
Benito Nieto Elementary School 2005-2006
San Jose Del Monte Bulacan
Congress Elementary School 2001-2005

Novaliches, Caloocan City
82
TRAININGS & SEMINARS ATTENDED:
GSM Module and Applications, National and International Certification as

December 13, 2012
Tools for Different Career Paths for Computer Engineers
Venue: Pangasinan State University, Urdaneta Campus
Android Mobile Application Development Linked with

Embedded Systems
March 14, 2016
Venue: University of Pangasinan, Dagupan City, Pangasinan
83

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Republic of the Philippines

Pangasinan State University

VOICE CONTROLLED WHEELCHAIR FOR THE PHYSICALLY DISABLED

The Project Design entitled “VOICE CONTROLLED WHEELCHAIR FOR THE

PHYSICALLY DISABLED PERSONS” prepared and submitted by Rizelle B. Collado,

requirements for the degree of Bachelor of Science on Computer Engineering is hereby

recommended for acceptance and approval.

ENGR. KENNETH OLIVER S. LOPEZ

ENGR. ALEXANDER A. GABIOLA ENGR. RODERICK L. CALAGUIO

Advisory Committee Advisory Committee

ENGR. CHRISTIAN LOUWIS D. SALAZAR ENGR. EMMERSON A. CANUEL

Advisory Committee Advisory Committee

DR. VICTOR SHERWIN G. GALAMGAM

ENGR. RESURRECCION V. GARROTE

Dean, College of Engineering and Architecture

persistently helped in improving the manuscript.

the process of making this project.

To their ever-loving friends, especially Rhea D. Sanchez, Abby S. Espinoza, Dasyl

college year a worthwhile and unforgettable one as well.

This research study is wholeheartedly dedicated

to our Almighty God,

and advisory committee

who supported and helped us

in making this research possible.

Taaca, Marianne Rhyngel G.

Zorilla, Renie Grace C.

APPROVAL SHEET .......................................................................................................... ii

ACKNOWLEDGEMENT ................................................................................................. iii

TABLE OF CONTENTS ................................................................................................... vi

LIST OF FIGURES ........................................................................................................... ix

LIST OF TABLES .............................................................................................................. x

PROBLEM AND ITS BACKGROUND ........................................................................ 1

Statement of the Problem ............................................................................................ 3

Objectives of the Study ............................................................................................... 4

Significance of the Study ............................................................................................ 4

Scope and Limitation of the Study.............................................................................. 5

REVIEW OF RELATED LITERATURE AND STUDIES ........................................... 8

Conceptual Framework ............................................................................................. 26

Chapter III ......................................................................................................................... 27

Phases of the Rapid Application Development ........................................................ 29

Sources of Data ......................................................................................................... 31

Data Gathering Techniques....................................................................................... 32

Tools for Analysis ..................................................................................................... 33

PROJECT PRESENTATION ....................................................................................... 33

Proposed System ....................................................................................................... 33

Description of the Components ................................................................................ 35

Explanation of System Working ............................................................................... 42

PROJECT MANAGEMENT ........................................................................................ 43

FINANCIAL STUDY ................................................................................................... 53

Chapter VII ....................................................................................................................... 55

SUMMARY, CONCLUSION AND RECOMMENDATION ..................................... 55

APPENDIX A. Actual Image of the Voice Controlled Wheelchair ......................... 61

APPENDIX B. Actual Testing ................................................................................. 62

APPENDIX C. User‟s Manual ................................................................................. 65

APPENDIX D. Source Code for Arduino ................................................................ 69

APPENDIX E. Curriculum Vitae ............................................................................. 77

FIGURE 2.1 Conceptual Framework……………………………………………………....... 25

FIGURE 3.1 Rapid Application Development Model………………………………………. 26

FIGURE 3.2 Theoretical Framework……………………………………….……………….. 29

FIGURE 4.1 Block Diagram of the System…………………………………………………. 33

FIGURE 4.2 Arduino Uno R3………………….…………………......…………………….. 34

FIGURE 4.3 EasyVR Module…………………….……………………..…………………... 35

FIGURE 4.4 Stepper Motor Driver DQ542MA 4A…….…………………………………… 36

FIGURE 4.5 Stepper Motor…………………………….…………………...………………. 37