Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer

Malik Haddad; David Sanders; Favour Chidinma Ikwan; Mohamad Thabet; Martin Clifford Langner; Alexander Gegov

doi:10.1109/IS48319.2020.9199841

Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer

Malik Haddad, David Sanders, Favour Chidinma Ikwan, Mohamad Thabet, Martin Clifford Langner, Alexander Gegov

School of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

This paper presents a new technique for controlling powered wheelchairs. A Raspberry Pi microcomputer is used to assist in controlling direction. A Raspberry Pi is inserted between user input switches and powered wheelchair motors to create a more intelligent Human Machine Interface (HMI). An electronic circuit is created that consists of an ultrasonic sensor array and a set of control relays. The sensors provided information about obstacles surrounding the wheelchair. Python programming language was used to create a code that digitized the output from the user switches and assessed information provided by the ultrasonic sensor array. The code was loaded onto a Raspberry Pi and the Raspberry Pi controlled voltages supplied to the motors. Tests were conducted and results showed that the new system can successfully assist a wheelchair user in avoiding obstacles. The system can be used as an intelligent interface between any input device or sensor system and wheelchair motors.

Original language	English
Title of host publication	2020 IEEE 10th International Conference on Intelligent Systems (IS)
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	223-228
ISBN (Electronic)	978-1-7281-5456-5
ISBN (Print)	978-1-7281-5457-2
DOIs	https://doi.org/10.1109/IS48319.2020.9199841
Publication status	Published - 18 Sept 2020
Event	2020 IEEE 10th International Conference on Intelligent Systems - Varna, Bulgaria Duration: 28 Aug 2020 → 30 Aug 2020

Publication series

Name	IEEE IS Proceedings Series
Publisher	IEEE
ISSN (Print)	1541-1672

Conference

Conference	2020 IEEE 10th International Conference on Intelligent Systems
Country/Territory	Bulgaria
City	Varna
Period	28/08/20 → 30/08/20

Keywords

RCUK
EPSRC
EP/S005927/1

Access to Document

10.1109/IS48319.2020.9199841

Intelligent HMI
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Accepted author manuscript (Post-print), 1.23 MB

Top two per cent of researchers in the world
Sanders, D. (Recipient), 2 Nov 0001
Prize: National/international honour

Cite this

Haddad, M., Sanders, D., Ikwan, F. C., Thabet, M., Langner, M. C., & Gegov, A. (2020). Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer. In 2020 IEEE 10th International Conference on Intelligent Systems (IS) (pp. 223-228). (IEEE IS Proceedings Series). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IS48319.2020.9199841

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title = "Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer",

abstract = "This paper presents a new technique for controlling powered wheelchairs. A Raspberry Pi microcomputer is used to assist in controlling direction. A Raspberry Pi is inserted between user input switches and powered wheelchair motors to create a more intelligent Human Machine Interface (HMI). An electronic circuit is created that consists of an ultrasonic sensor array and a set of control relays. The sensors provided information about obstacles surrounding the wheelchair. Python programming language was used to create a code that digitized the output from the user switches and assessed information provided by the ultrasonic sensor array. The code was loaded onto a Raspberry Pi and the Raspberry Pi controlled voltages supplied to the motors. Tests were conducted and results showed that the new system can successfully assist a wheelchair user in avoiding obstacles. The system can be used as an intelligent interface between any input device or sensor system and wheelchair motors.",

keywords = "RCUK, EPSRC, EP/S005927/1",

author = "Malik Haddad and David Sanders and Ikwan, \{Favour Chidinma\} and Mohamad Thabet and Langner, \{Martin Clifford\} and Alexander Gegov",

year = "2020",

month = sep,

day = "18",

doi = "10.1109/IS48319.2020.9199841",

language = "English",

isbn = "978-1-7281-5457-2",

series = "IEEE IS Proceedings Series",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "223--228",

booktitle = "2020 IEEE 10th International Conference on Intelligent Systems (IS)",

address = "United States",

note = "2020 IEEE 10th International Conference on Intelligent Systems ; Conference date: 28-08-2020 Through 30-08-2020",

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Haddad, M, Sanders, D, Ikwan, FC, Thabet, M, Langner, MC & Gegov, A 2020, Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer. in 2020 IEEE 10th International Conference on Intelligent Systems (IS). IEEE IS Proceedings Series, Institute of Electrical and Electronics Engineers Inc., pp. 223-228, 2020 IEEE 10th International Conference on Intelligent Systems, Varna, Bulgaria, 28/08/20. https://doi.org/10.1109/IS48319.2020.9199841

Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer. / Haddad, Malik; Sanders, David; Ikwan, Favour Chidinma et al.
2020 IEEE 10th International Conference on Intelligent Systems (IS). Institute of Electrical and Electronics Engineers Inc., 2020. p. 223-228 (IEEE IS Proceedings Series).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer

AU - Haddad, Malik

AU - Sanders, David

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AU - Thabet, Mohamad

AU - Langner, Martin Clifford

AU - Gegov, Alexander

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AB - This paper presents a new technique for controlling powered wheelchairs. A Raspberry Pi microcomputer is used to assist in controlling direction. A Raspberry Pi is inserted between user input switches and powered wheelchair motors to create a more intelligent Human Machine Interface (HMI). An electronic circuit is created that consists of an ultrasonic sensor array and a set of control relays. The sensors provided information about obstacles surrounding the wheelchair. Python programming language was used to create a code that digitized the output from the user switches and assessed information provided by the ultrasonic sensor array. The code was loaded onto a Raspberry Pi and the Raspberry Pi controlled voltages supplied to the motors. Tests were conducted and results showed that the new system can successfully assist a wheelchair user in avoiding obstacles. The system can be used as an intelligent interface between any input device or sensor system and wheelchair motors.

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Intelligent HMI and control for steering a powered wheelchair using a Raspberry Pi microcomputer

Abstract

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Keywords

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