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Wheelchair and robotic arm controls using gyro sensor

Received Jan 28, 2020 Revised May 1, 2020 Accepted May 19, 2020 Someone who could only move his/her head and could not move his/her limbs needs a wheelchair and robotic arms which could be controlled by the head. Gyro sensor is a sensor that could be controlled according to the tilt in the x, y coordinates which then implemented to measure the tilt of the user’s head. This paper would explain the head detector application to control wheelchairs and robotic arms. They could be controlled using Arduino microcontroller which uses C programming language. Gyro sensor that is put on the head could control wheelchair to move left, right, forward and backward according to the tilt of the head. It is the same with controlling robotic arms. It could rotate left, right, and move up and down. The x and y coordinates are used to determine the tilt of the head for controlling the wheelchair as well as robotic arms’ movements. It is discovered that wheelchairs and robotic arms could be controlled by the head by the use of gyro sensor.


INTRODUCTION
Someone who has limitations in using his/her limbs so that it is only his/her head which still functioning urges him/her to do everything through head movements. A person who has disabilities but could still move his/her head then needs a device in a form of a wheelchair and robotic arms that could be controlled by the user's head. The control of robotic arms by the head using camera or Kinect has been implemented but it is not simple because eyes always look at a camera [1].
A wheelchair controller which uses brainwaves as an input has been developed by [2] and [3]. However, this controller would not work smoothly because if the user is being unfocused [4][5][6], it would lead to erratic movements. The next development regarding the wheelchair and robotic arms controls would be based on the use of gyro sensor which detects the tilt of the head .

RESEARCH METHOD
This paper would explain the methods used in the creation of robotic arms application which uses head detection by gyro sensor.

Head detection
Gyroscope is a type of sensor which is used to determine the orientation of movement using rapid rotating wheels according to the axes [7]. Gyroscope is used to measure the angular velocity in the unit of deg/s (ADC result -Zero goffset )*(Accelerometer resol )=Ax (4) According to I Putu Giovani Eliezer [7], the function of gyroscope is to measure or determine the orientation of an object relative to the conservation of angular momentum. According to another definition, its function is to determine movements relative to gravity. Gyroscope has a very important role in maintaining the balance of an object, for example in airplanes, which makes it possible to determine the tilt on x, y, and z axes.

Microcontroller
Microcontroller is a device which has a similar function to a computer, but it is smaller in size [8]- [9]. In a microcontroller, there are memory and I/O tool in the chip. Example: Figure 1. an Arduino microcontroller. Currently, there are many home appliances or office equipment using microcontroller, such as washing machine, microwave, handphone, PDA, home security system, etc.

Wheelchairs and Robotic Arms Application
When the wheelchair and robotic arms are turned on, gyro sensor, which is shaped so that it looks like a hat, is put on the head and would detect the tilt of the user's head. After the tilt is detected, then the information would be delivered to the wheelchair and robotic arms microcontroller through Wi-Fi signals. After the information is acquired, then the wheelchair or the robotic arms would move according to the tilt.

RESULTS AND ANALYSIS
In this part, the results of gyro sensor implementation on wheelchairs and robotic arms would be discussed.

Wheelchair and robotic arms scheme
The wheelchair and robotic arms scheme has two parts. The first one is the controller that is put on the head and the second one is the wheelchair or robotic arms. In the controller part, there are gyro sensor, Arduino microcontroller and Wi-Fi transmitter. In the wheelchair and robotic arms part, it is equipped with Wi-Fi receiver which would be connected to Arduino microcontroller then wheelchair/robotic arms so that it would move according to the user's will. Figure 4 is a detailed scheme on the controller and the wheelchair/robotic arms.  Table 1 is the specification of the device and software used in the wheelchair/robotic arms application. The wheelchair uses a motor driver to move the motor controlled by Arduino microcontroller, while the robotic arms designed is using acrylic equipped with five servos but it used only two servo. Meanwhile, the list of wheelchair movements based on sent signals delivered through Wi-Fi could be found in Table 2.   Table 2 is a list of wheelchair and robotic arms movement commands. If the Wi-Fi receiver receives F, B, L, R signal, then the wheelchair would move. For example, if the letter "L" is received then the wheelchair would move to the left while letter "R" would make it move to the right. "F" signal makes it move forward and "B" signal makes it move Backward. "X" signal would make the robotic arms move to the left while "Y" signal Comput. Sci. Inf. Technol.

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Wheelchair and robotic arm controls using gyro sensor… (Asep Sholahuddin) 125 would make it move to the opposite direction. "U" signal would make the robotic arms move to the Up while "D" signal would make it move to the opposite direction. Whether to use the wheelchair or robotic arms depends on the time when the user is given a menu to choose between the two. Choosing "wheelchair" is done by a sharp tilt to the left while choosing "robotic arms" is to tilt to the opposite direction. Experiment results could be found in Table 3. Table 3 shows the result of the experiments and all of them have desirable results. Therefore, the success rate of this is 100%.

CONCLUSION
The experiment results of wheelchair and robotic arms using head detection by gyro sensor is a success. Experiments of five movement's shows a desirable result of 100% success rate.