Development and analysis of head tracking system for robotic wheelchair control

Yap, Vincent Kinn Sheng (2016) Development and analysis of head tracking system for robotic wheelchair control. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

Quadriplegia patients have restricted limb movements due to injuries in spinal cord or brain. Most of them only able to move their eyes and head partially depends on the level of damages. This project is aimed to develop a hands-free motorized wheelchair controlled by head movement of users to assist the patients for daily movement without the help from others. An Inertial Measurement Unit (IMU) will be attached on user’s head to sense and track user’s head orientation. Inertial Measurement Unit is an electronic device that normally consists of an accelerometer and gyroscope. Different head orientation represents different command such as accelerate, stop, turn right, turn left, and reverse. NI myRIO will be used as controller while LabView software will use to program NI myRIO in this project. Inertial Measurement Unit will be connected to NI myRIO for signal processing before sending command to the wheelchair motors. Algorithm for this project is a signal processing filter named Complementary Filter to process raw signals obtained from Inertial Measurement Unit into a less noisy and more precise data. Signals obtained from the devices will be further analyzed, compared and discussed.

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