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| Acadêmico(a): Gustavo Klabunde |
| Título: SOLUÇÃO PARA LOCOMOÇÃO DA CADEIRA DE RODAS ATRAVÉS DOS MOVIMENTOS DA CABEÇA |
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| Abstract: |
| This work presents the development of a solution for locomotion of the wheelchair through the movements of the head, aiming to facilitate the mobility of people with motor disabilities, that only have the movements of the head or difficulty in the movements of the hand-arm segment, presenting a different type of control than commercial electric wheelchairs. The work consists of three parts, the prototype of data capture and transmission, the prototype of data reception and motor control and mechanical adaptation of the wheelchair. The movements of the head are captured by a module MPU6050. The microcontroller NodeMCU ESP8266 applying the complementary filter to the captured data module MPU6050 and transmits the data to another microcontroller NodeMCU ESP8266 through a wireless network. The data received by the microcontroller NodeMCU ESP8266 are transmitted to an Arduino UNO through a Serial Communication. The microcontroller NodeMCU ESP8266 operating as Access Point hosts endpoints of services for calibration of the minimum angles of activation of the wheelchair. The Arduino UNO processes the data received and controls the motors through the PWM. The Arduino UNO also checks through a module HC-SR04 if there are objects behind the wheelchair. The solution worked correctly, being possible to control the rotation of the motors through the movements of the head and to identify objects behind the wheelchair to avoid collisions. The use of a complementary filter combining the data of the accelerometer and the gyroscope provided an improvement in the direction of the movements. |
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