KONTROL KURSI RODA CERDAS MENGGUNAKAN PERGERAKAN KEPALA

Abstract

A wheelchair is a chair with wheels, designed to be a replacement for walking. When some individuals with the limitation of movement (disability) are helped by the usage of standard wheelchair, some other disabled people found difficulties or almost impossible to operate this standard wheelchair. To facilitate this group of disabled individuals, researchers make use the technology which initially developed for mobile robot to create a smart wheelchair, which then dramatically reduces the need of physical gestures, observabilities and skills needed to operate the standard wheelchair. The purpose of this final project is to implement the control system for a smart wheelchair in which could be controlled using head movement that is captured by the webcam, as well as to avoid any obstacles/obstructions with minimum fault. The control system for this smart wheelchair adopts Visual C# 2008 and EmguCV software which act as a library to indentify the head movement. The head movement then will be sent and implemented into a microcontroller system that organize the movement of the motor in the wheelchair. The ultrasonic sensor is used to detect the presence of any obstacles/obstructions. The result of this study concluded that the position and the direction of the ultrasonic sensor is having an influence with the detection of the objects in front of the wheelchair. This smart wheelchair, in addition to joystick, could also be controlled by using head movements. The movement of the wheelchair is in accordance with the movement of the user’s head captured by the webcam. This smart wheelchair is able to detect the presence of any obstacles/obstructions and route to avoid them or to stop in front of them with 45 cm measured in front of the wheelchair. Keywords : Smart Wheel Chair, Head Movement, Webcam, Visual C#, EmguCV, Ultrasonic Sensor