Hand Glove Controller Rehabilitation Aids Technology

glove mitt mastery Rehabilitation Aids engineeringDEVELOPMENT OF A HAND GLOVE CONTROLLER REHABILITATION aidMuhammad Hafizudin Bin Abdul Manas AbstractA mountain-glove with a demodulator is developed for renewal aids. The aim of this paper is to demonstrate the flock glove with a sensor that can be pulmonary tuberculosis as an introduce signal for reclamation purpose. This project, the wheelchair is employ as a mechanism. The project pass on be authorization by the turn over sensor. This sensor testament be guide the wheelchair to actuate forward, reverse, right and left thrill by using the algorithmic rule buy the farm gesture. The Arduino UNO (ATmega328) is employ as an interface with the work sensor and wheelchair. This Arduino give transfer safeguard input from sensors with parallel of latitude read to digital read by using ATmega328. Then it bequeath response with the pulse with modulation (PWM) by using number one wood drive to hasten the DC moto r. The output will give the instruction for wheelchair social liftment such as forward, reverse, left and right.Keywords softwood Glove, change form Sensor, Wheelchair, Micro wangleler Arduino UNO, strain GestureINTRODUCTIONIn real life, on that point argon many people who are having disability physically that cannot communicate, listen, paseo and more. For the alter people, rehabilitative aids it important to master(prenominal)tain their effortless activities analogous as normal people. In many years, Stroke affects almost unmatched million people and 80 % survivors are left with weakened limbs and slip bys. thither are many designs and method was developed to regain their strain lawsuit and strength. A rehabilitation proficiency trunk has been intentional to help the patient of or disable people 4. One of the most common homophile physically activities are walking. Walking is an important character look intod in charitable daily. Patient or disable people h ave this problem gather up the rehabilitation aids. For example, wheelchair is one of the mechanisms to help the disable people to continue their daily activities. Current wheelchair that everyone uses nowadays it manually misrepresents it with their bare holded or need helper to egg on the wheelchair. Many evolution has been transform to deem the wheelchair such as powered wheelchair, wheelchair swear by using verbalise omits, wheelchair control by joystick and wheelchair control by conspireing button.Wheelchair control by voice command is one of the methods to help disable people. This mechanism is design ground on vocal command. There are have several delay to move the wheelchair such forward, backward, right, left, stop, light on and light off. Vocal command has limited and must use the same voice to control the drift of wheelchair. Efficiency to control in silent environment is senior higher than psychological disorder environment 1. Pressing button also can be c ontrol the wheelchair, it been setup in broadcastming to move wheelchair in particular place. For example, when disable people press the button 1 it move to the kitchen or press button 2 moves to living room. The wheelchair it helps with a sensor to detect the impedimenta in its path. It follows the line algorithm path based on calamitous and white surface on the floor 2. For this papers and this idea, this project beDevelopment of Control algorithm steep Level computer programming lectureDevelopment of Control AlgorithmThe algorithm referred to any computation performed to a lower place a set of rules that applied to numbers in a decimal fraction form. An algorithm can be represented of a solution to a problem. The control algorithm is the most important characteristic and the one to deem first. The control algorithm interpreted the true nature of output as a function of the input.For example, algorithm is give-up the ghost gesture to vex the output. The upset gestures u se for controlling robots motion, in video games 3High Level programming languageIn order to develop a control algorithm, high take aim programming language is used. High level languages are designed to understand than assembly languages and allow a program to run. The translation of high level languages into object code needs a source code.For example, wheelchair using MEMS sensor has been using c language programming into PIC micro comptroller to control the wheelchair motion 4.LITERATURE REVIEWHand Glove ControlIn modern biomedical technologies, a robotic system has been used in physical abetance and rehabilitation such as quiet robotic glove. Glove is a portable device that patient can be wear for exercise individual fingers to minimize the stresses on their give-up the ghost during therapy. The industry used new technologies in now days such as The PowerFoot One and Luke Arm. For The PowerFoot One is an advanced complete ankle and foot prosthesis. The drug user legs move like a normal person walking when their use this product because this product mimic human foot. For Luke Arm device designed to provide a person with a partially articulated robotic lace that uses foot pads to control and move it 4. Moreover, chip in- glove also implemented into control the machine toys such as helicopter and remote car. It uses the same technique that the person wears the glove as the control and use the variables motion to move the machine. The function is similar same as joystick 7. The same opinion applied to this project where the hand glove is used. The hand glove will act as a command in moving the wheelchair consort the movement of fingers. stoop SensorNowadays, high technologies used robot to move something and doing a task to replace the human being. Sensor plays important role in robotic. A sensor is device that can measure the motion in high percentage point. Flex sensors are analog resistors. These resistors work as variable analog voltage divider . In lieu the flex sensor are carbon resistive elements with thin flexible substrate. encounter 1 shows degree of bending for flex sensor. Smaller the radius, higher will be the resistance look upon 8. From this research, design powered wheelchair which control by using hand movement. Used two fingers of hand gloves are needed to control the wheelchair. two photodiodes at upper side and two sensors locate opposite side for these two fingers. Microcontroller is programming for different code combinations, it also know as converters from input signal to output, it decoded the signal into appropriate movement of wheelchair with quicken DC motor. 3 symbol 1 Flex Sensor offers variable resistance readingsRetrieved fromFlex Sensor found Robotic Arm Controller victimisation Micro Controller 8ALOGRITHM HAND GESTURESIn our daily activities, many people frequently used hand gesture to communication such as thumb up for good and two fingers like V shape for peace. Many researchers 4 8 u sed hand gesture to identifying and recognize some form of action without aphorism it to express the action have their do. Joyeeta Singha project for sign language hand gesture shade by step. The system consist five step such as skin filtering, palm cropping, edge detection, feature ancestry and classification. Recognize obtain almost 90% for different symbols. 4. Y Tabata is create hand gesture for spelling in Japanese language. Creating the hand gesture to obtain the alphabet and numbering to get spelling. 8 The same concept hand gesture applied for algorithm to control the wheelchair movement and motion. get in 2 Example of hand gesture that cropping 4METHODOLOGYProject OverviewFigure 3 Block Diagram of Hand Glove SystemFigure 3 shows a block diagram of hand glove system including Flex sensor 2.2 , Amplifier, Atmega 328 (Arduino UNO) microcontroller, Dual vallecula 10A motor driver and DC Motor. The input is flex sensor and the output is DC MotorMicrocontroller is a importa nt core for the whole that will generate Pulse Width passage (PWM) signal to control the dual channel motor driver. Dual channel motor driver produce the output signal to motor from the PWM to accelerate the DC motor slow or fast. The resistance input from sensors will converter from analog read to digital read in binary program number by using Arduino.Flex Sensor with amplifierFigure 4 shows the flex sensor connection circuit for resistance to voltage converter. The surf resistance of input for this flex sensor is 0 to 10K Ohms.Figure 4 Resistance to Voltage converter connectionA negative reference voltage will give a positive output. The output judge is produced when the sensor in school of low degree of bending. The Op-amp is used to produce the signal from the input to the output as a voltage in a wide range. For this project is used is LM324 as amplifier. LM324 consists of four independent, high gains, internally frequency compensated operational amplifiers. Figure 5 shows the performance characteristic of LM324, from this figure 5, the higher supply voltage versus the input voltage.Figure 5 Input Voltage Range vs Supply VoltageAtmega328 MicrocontrollerFigure 6 ATmega 328 microcontrollerFigure 6 shows the ATmega 328 microcontrollers pin which triggers the signal to motor driver. The generated pulse width modulation (PWM) signal is sent to motor driver from specific pin port. This microcontroller also convert the resistance input from the sensors with analog read to digital read in binary number.EXPERIMENT setupFigure 7 Blok diagram hand glove control systemThe hand glove controller has been developing in order to assist disable people to accelerate the wheelchair. Figure 7 shows the 5 main part combine together to perform hand glove control the wheelchair movement and the Arduino board becomes important electronic device.Figure 8 Hand Glove with Flex SensorFigure 8 shows the assembly hand glove with flex sensor. It is portable and easy to handle. O ne hand is used and there have four flex sensors that attached on the hand glove. separately sensor is fitted with the length of from each one finger except thumb. For each finger has their own function to control the movement of wheelchair and voltage postulate is +5v. It will convert resistance input from sensors with analog read to digital. Each finger for each sensor also has own function to accelerate the wheelchair. Table 1 shows the function and motion for each sensor.Table 1 Function of each sensorNoSensorMotion of wheelcahir1A antecedent2BBackward3CRight4DLeftRESULT AND DISCUSSIONBased on the experiment setup, a new algorithm is developed for the movement of hand glove system to control the wheelchair. The new information of hand glove controller consisted of Arduino, PWM and wheelchair system. In this project, the c language has been used as a medium of language and it already programmed into Arduino Uno. The source code is pen based on the performing work decision an d control algorithm based on hand gesture. Figure 9 shows flowchart for algorithm to accelerate the movement of wheelchair.Figure 9 Flow Chart for Algorithm Hand GestureAfter the source code has been programmed in to Atmega328 microcontroller (Arduino UNO board), the hand glove controller system is test by two different method. The first test of the programming is without DC motor. Second test, the programming will test with DC motor are conducted in order to see either the development of control algorithm is functioning or not. Figure 10 the assembly hand glove system with wheelchairFigure 10 shows the real situation where people seat on the wheelchair with hand controller system. In these experiment two normal male subjects, age 25 with weight range 50-70 kg. For second test, the performance was good and the mechanism in good functional. The DC motor was performed based on the signal provided by dual channel motor drive with algorithm. Table 2 shows that hand gesture and direction of wheelchair movement.Table 2 Hand Gesture and direction of movementHand GestureLCD DisplayDirectionWheelchair forgoWheelchair forward slow or fast followed by degree flex of fingers.Wheelchair reverse slow or fast followed by degree change shape of fingers.Wheelchairright slow or fast followed by degree change form of fingers.Wheelchairleft slow or fast followed by degree bends of fingers.Table 2 shows the hand gesture algorithm and direction of wheelchair when it applied. From this test, the control system implementation using this hand glove system development is quite successful with the wheelchair system. Therefore, it also gives the disable people use wheelchair without care in their daily activities. DC motor has been controlled by motor controller with interface Arduino that was programmed by C language.Table 3 Reading of flex sensor and condition of wheelchairSensorCondition of Wheelchair MovementReading of flex sensor (Hz)A, B, C and DStopA,B,C,D A,B,C,D 150AForwar d50150BBackward50150C work on Right50150DTurn Left50150Table 2 shows the reading of flex sensor and condition of wheelchair when the algorithm is applied. The wheelchair stops when the PWM value for each sensor below 50Hz or more than 150Hz, DC motor stop. For forward slow and fast, sensor A value 50Hz150Hz then motor are accelerate. For sensor B, C and D, PWM value has same as sensor A to produce the different direction. goalIn this project, the development of hand glove controller for rehabilations aids is fancy to assist the disable people that have problem such as walking. It will help them to control the wheelchair more easily. The implementation of control algorithm and device into the system hand glove become succesfull.This application, it will be easier the disable people or patient to control wheeelchair by their self. In addition , the development of algorithm for hand gesture gave some easily to control the system and it comfortable. There, the objectives of this proje ct can be said as successfully, which is algoritm can give instruction the motion of wheelchair.REFERENCESR.Puviarasi, MrithaRamalingam, Elanchezhian Chinnavan (2013), Low Cost Self-assistive verbalise Controlled Technology for Disabled People plane section of Electrical and Electronics technology, Saveetha University, IndiaS.Shaheen1, A.Umamakeswari(2013), INTELLIGENT WHEELCHAIR FORPEOPLE WITHDISABILITie University, Thanjavur, Tamil Nadu, IndiaSolanki Krunal M (2013), Indian Sign Languages using Flex Sensor Glove, part of Biomedical Engineering, Govt. 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