Int
ern
at
i
onal
Journ
al of Inf
orm
at
ic
s
and
Co
m
munic
at
i
on
Tec
hn
olog
y (IJ
-
I
CT)
Vo
l.
7
,
No.
2
,
A
ugus
t
201
8
,
pp
.
63
~
66
IS
S
N:
22
52
-
8776
, DO
I:
10
.11
591/iji
ct
.
v7
i
2
.
pp63
-
66
63
Journ
al h
om
e
page
:
http:
//
ia
escore.c
om/j
ourn
als/i
ndex.
ph
p/IJI
C
T
Sm
ar
t Wh
ee
l
ch
air: A Li
teratu
re
Review
Keda
r
Suker
k
ar
*
, Dar
shitk
uma
r
Su
r
at
w
ala
,
Ani
l Sar
avade,
Jair
aj P
at
il
, R
ov
in
a D
’b
ri
t
to
Depa
rtment
o
f
I
nform
at
ion
T
ec
h
nolog
y
,
Ath
arv
a
Coll
ege of
Enginee
ring
,
Ind
ia
Art
ic
le
In
f
o
ABSTR
A
CT
Art
ic
le
history:
Re
cei
ved
A
pr
7,
2018
Re
vised
Jun
14
, 2018
Accepte
d
J
un
2
8
, 201
8
In
today
’s
worl
d
the
re
ar
e
m
an
y
d
isabl
ed
per
s
ons
who
find
it
diffi
cu
lt
to
per
form
m
ovements
or
pe
rform
da
ily
a
ct
iv
it
i
es.
Thi
s
t
y
p
es
of
per
sons
are
m
ai
nl
y
dep
endent
on
o
the
rs
for
their
assistanc
e
.
But
they
ca
n
b
ec
om
e
sel
f
-
inde
pend
ent
and
per
form
som
e
d
ai
l
y
a
ct
iv
it
i
es
on
their
own
with
the
h
el
p
of
assistive
device
s
.
The
m
ost
wid
ely
used
assistiv
e
d
evice
s
are
W
hee
l
cha
irs
.
W
hee
lc
ha
irs
is
basic
a
lly
a
cha
ir
fit
t
ed
wi
th
whe
el
s,
whi
ch
ca
n
hel
p
p
eop
l
e
m
ove
aro
und
who
ca
nnot
wa
lk
be
ca
use
of
i
ll
ness,
disabi
lit
y
or
inj
u
r
y
.
But
th
er
e
are
m
an
y
disabled
peop
le
with
wea
k
l
imbs
and
joi
nts
who
ca
nn
ot
m
ove
t
h
e
whee
lc
h
ai
r
.
Thu
s,
s
m
art
w
hee
lc
h
ai
r
c
an
ben
efit
a
lot
to
the
m
and
e
ver
y
on
e
i
n
socie
t
y
.
Sm
art
w
hee
l
cha
irs
ar
e
e
l
ec
tr
ic
power
ed
whee
lc
h
ai
rs
wit
h
m
an
y
ext
r
a
components
such
as
a
computer
and
sensors
which
hel
p
the
user
or
guar
dian
ac
compan
y
ing
whee
lc
h
ai
r
to
h
andl
e
it
e
asily
and
eff
i
ci
en
tly
.
Th
e
re
ce
n
t
deve
lopment
in
the
f
ie
ld
of
Art
i
fic
i
al
In
telli
g
ence,
se
nsor
techno
logi
es
and
r
oboti
cs
hel
p
th
e
growth
of
whe
el
ch
ai
rs
wi
th
n
e
w
feature
s.
Th
is
pap
er
is
t
o
rev
ie
w
the
cur
re
nt
sta
te
of
art
o
f
s
m
art
w
he
elch
ai
rs
and
d
iscuss
the
fu
ture
rese
arc
h
in
thi
s
f
ie
ld
.
Ke
yw
or
d:
Ar
ti
fici
al
intel
li
gen
ce
Roboti
cs
Sensors
Sm
art
whe
el
ch
ai
r
Copyright
©
201
8
Instit
ut
e
o
f Ad
vanc
ed
Engi
n
ee
r
ing
and
S
cienc
e
.
Al
l
rights re
serv
ed
.
Corres
pond
in
g
Aut
h
or
:
Ked
a
r Su
kerka
r
,
Dep
a
rtm
ent o
f Info
rm
at
ion
Te
chnolo
gy,
Atha
rv
a
Colle
ge
of E
ng
i
neer
i
ng
,
India.
Em
a
il
:
pr
oject
.
awc@
gm
ai
l.com
1.
INTROD
U
CTION
An
y
c
onditi
on
of
body
or
m
i
nd
t
hat
m
akes
it
m
or
e
diff
ic
ul
t
fo
r
the
perso
n
with
t
he
co
ndit
ion
to
do
certai
n
act
ivit
i
es
a
nd
inte
ract
with
t
he
w
or
l
d
arou
nd
them
is
te
rm
ed
as
disabili
ty
.
Ce
nsus
c
onduct
ed
in
2001
ha
s
rev
eal
e
d
that
a
rou
nd
21
m
illio
n
pe
ople
fro
m
In
dia
i.e
.
2.
1%
of
t
otal
co
un
t
ry’s
popula
ti
on
are
suffe
ri
ng
from
disabili
ty
of
s
om
e
kind
or
a
nother.
I
n
20
11,
ce
nsus
repo
rted
that
the
re
has
s
li
gh
t
inc
rease
f
ro
m
2.1%
to
2.21%.
Ou
t
of
wh
ic
h
pe
op
le
suffe
rin
g
from
disabili
ty
of
m
ov
em
ent
is
la
rg
e
[
6].
D
isa
bil
it
y
of
m
ov
em
ent
is
defo
rm
i
t
y
of
bo
dy
due
t
o
w
hich
pe
rson
su
f
fer
i
ng
fi
nd
s
dif
ficult
to
m
ov
e
f
ro
m
one
place
to
an
othe
r
a
nd
pe
rfo
rm
daily
act
ivit
ie
s.
Disabili
ty
of
m
ov
em
ents
can
occ
ur
by
birt
h
or
due
to
acci
de
nts
or
var
i
ou
s
othe
r
reas
ons.
S
o,
us
e
of
assist
ive
dev
ic
es
ca
n
pro
ve
to
be
o
f
g
reat
h
el
p
t
o
su
c
h peopl
es. A
ssist
ive
device
a
re
any
de
vices w
hich
hel
p
t
o
ov
e
rc
om
e
peo
ple
suffe
rin
g
from
disabili
ties.
Most
c
omm
on
ly
us
ed
a
ssist
ive
de
vices
are
wh
eel
c
ha
irs
.
Wh
eel
c
hair
is
no
t
hing
bu
t
a
c
hair
fitt
ed
with
f
our
wh
e
el
s
a
nd
can
be
easi
ly
m
ov
ed
f
ro
m
on
e
place
to
a
nothe
r.
Ma
nu
al
/
tradit
i
on
al
w
heelchai
r
require
physi
cal
force
by
t
he
us
e
r,
w
hic
h
c
annot
be
co
ns
i
der
e
d
a
s
t
he
e
f
fici
ent
way
beca
us
e
,
i
t
m
ay
cause
di
scom
fo
rt
f
or
th
e
us
e
r
with
we
ak
li
m
bs
and
bone
s.
T
his
is
w
hy
,
e
le
ct
ric
powere
d
wh
eel
c
hair
a
re
generall
y
pr
e
f
err
e
d
ov
e
r
tra
di
ti
on
al
an
d
m
a
nu
al
wheel
chai
r.
Ele
ct
ric
p
ow
ered
w
heelchai
r
are
easy
to use a
nd r
e
qu
ire
m
ini
m
al
f
orce t
o c
on
t
ro
l t
he wh
eel
c
hair.
Ele
ct
ric
and
t
ra
diti
on
al
wh
eel
c
hair
of
te
n
so
l
ve
the
pro
blem
of
m
ob
il
it
y
fo
r
disabled
perso
ns
.
But,
the
re
are
certai
n
se
gm
ent
of
disa
bl
ed
pe
rs
on
who
su
f
fer
from
lo
w
visio
n,
visu
a
l
fiel
d
reducti
on,
s
pastic
it
y,
tre
m
or
s,
cogniti
ve
de
fici
ts,
et
c.
T
hese
people
la
rg
el
y
rely
on
ot
her
pe
op
le
f
or
c
on
t
r
olli
ng
the
w
he
el
chair.
Co
ntr
ol
l
ing
wh
eel
c
hair
al
l
by
them
sel
ves
is
not
sa
fe.
T
o
so
lve
this
pr
oblem
,
researc
he
r
s
hav
e
c
om
e
up
with
the
discov
e
ry
of “Sm
art Wh
e
el
chair”.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2252
-
8776
IJ
-
ICT
V
ol.
7
,
No.
2
,
Aug
us
t
20
1
8
:
63
–
66
64
Sm
art
wh
eel
ch
ai
r
are
no
t
hing
bu
t
a
n
el
ect
ric
powe
red
w
hee
lc
hair
w
hich
al
so
c
on
sist
s
of
a
com
pu
te
r
and v
a
rio
us
se
ns
ors.
Sm
art
w
heelchair
pr
ov
i
des gr
eat
safet
y of t
he use
r
a
nd are
easy
to use.
This
pa
per c
onsist
s of c
urre
nt
sta
te
o
f
a
rt a
nd d
isc
us
si
on a
bout
fu
t
ur
e
r
e
sear
ch
.
S
how
n
i
n T
able
1 a
nd
Table
2.
Table
1.
Perce
ntage o
f Disabl
ed
to
T
otal Po
pula
ti
on
I
nd
ia
,
2011
Sr.
No.
Res
id
en
ce
Male
Fe
m
ale
Perso
n
s
1
Ru
ral
2
.43
2
.03
2
.24
2
Urban
2
.34
1
.98
2
.17
Total
2
.41
2
.01
2
.21
Table
2.
Propo
rtion o
f Disabl
ed
P
opulati
on
by Type
of
Dis
abili
ty
In
dia,
2011
Sr.
No.
Ty
p
es o
f
Disab
iliti
es
Male
Fe
m
ale
Total
1
In Seein
g
1
7
.6
2
0
.2
1
8
.8
2
In Hear
in
g
1
7
.9
2
0
.2
1
8
.9
3
In Sp
eech
7
.5
7
.4
7
.5
4
In Mov
e
m
en
t
2
2
.5
1
7
.5
2
0
.3
5
Mental Reta
rdatio
n
5
.8
5
.4
5
.6
6
Mental Illnes
s
2
.8
2
.6
2
.7
7
An
y
Othe
r
1
8
.2
1
8
.6
1
8
.4
8
Multip
le Disab
ility
7
.8
8
.1
7
.9
Total
1
0
0
.00
1
0
0
.00
1
0
0
.00
2.
SMART
WH
EE
LCHA
I
R
In
rece
nt
ye
ar
s
,
sm
art
wh
ee
lc
hair
ha
ve
be
en
gr
eat
ly
co
nsi
der
e
d
ov
e
r
p
ow
e
r
w
heelc
ha
ir.
P
ow
e
r
wh
eel
c
hair
a
re trad
it
ion
al
/m
anu
al
w
heelchai
r
with
batte
ry
or
el
ect
ric
supp
ly
to
po
wer
t
hem
.
They
la
r
gely
la
ck
functi
onal
it
ie
s an
d safet
y
featur
es
. Unlike
th
is,
sm
art wh
eel
chair
ha
ve
f
un
ct
ion
al
it
ie
s an
d safet
y feat
ur
es
.
Sm
art
wh
eel
chair
c
onsist
s
norm
al
l
y
of
el
ect
ric
powe
re
d
w
heelchair
w
it
h
a
com
pu
te
r
a
nd
m
any
sens
or
s
.
C
on
ti
nuous d
e
velo
pm
ent
in f
ie
ld
of
a
rtific
ia
l
intel
li
gen
ce,
com
puti
ng
a
nd r
ob
otics
ha
ve
le
d
to
g
r
ow
t
h
in
Sm
art
w
hee
lc
hair.
Sm
art
whe
el
c
hair
co
nsi
sts
of
c
om
pute
r,
w
hich
is
re
sp
onsi
ble
for
t
he
m
o
vem
ents
of
the
wh
eel
c
hairs
wi
th
help
of
i
nput
s
f
ro
m
the
sens
or
s
.
Senso
rs
c
ol
le
ct
s
the
data
t
hro
ugh
t
he
i
np
ut
f
r
om
env
ir
onm
ent
and th
at
data is
pr
ocesse
d by
c
om
pu
te
r
a
nd
ne
cessary st
e
ps
are ta
ken.
Sm
a
rt
wh
ee
lc
hair
c
an be
also
c
ontrolle
d
m
anu
al
ly
b
y t
he
u
se
r
j
ust
li
ke norm
al
elec
tric
powe
re
d wh
ee
lc
hair.
3.
CLASSIFI
C
A
TION
FA
CT
ORS OF
S
M
AR
T
WHEE
L
CHAIR
Sm
art
wh
eel
ch
ai
r
can
b
e
class
ifie
d based
on c
ertai
n
f
act
ors
as foll
ows.
A.
Fo
rm
Factor
So
m
e
early
s
m
art
wh
e
el
chairs
dev
el
op
e
d
we
re
act
ual
m
ini
-
rob
ots
that
were
at
ta
ched
to
s
eat
s.
Thes
e
wh
eel
c
hairs
ar
e
ex
pensi
ve
c
om
par
ed
to
oth
e
r
wh
eel
c
hairs.
Fo
r
e
xam
ple
Véh
ic
ule
A
uton
om
e
po
ur
Ha
ndic
apé
Mote
ur [V
AHM
]
[
1], Mist
er
Ed [2
]
.
Othe
r
sm
art
wh
eel
chairs
w
hi
ch
are
c
omm
er
ci
al
ly
po
pu
la
r
are
“ad
d
-
on”
unit
s
w
hich ca
n
be p
urcha
sed
separ
at
el
y
a
nd
can
be
easi
ly
at
ta
ched
to
norm
al
power
wh
eel
c
hairs.
T
hey
are
prefe
r
red
beca
us
e
th
ey
are
com
patible
with
m
any
el
ect
ri
c
po
wer
wh
eel
chairs.
T
he
ty
pi
cal
us
e
of
this
“add
-
on
”
un
it
s
are
s
uitable
f
or
Ki
ds
because
t
hey
go
t
hro
ugh
m
any
dif
fer
e
nt
siz
es
of
w
heelc
hair
due
t
o
their
body
gr
ow
t
h.
S
om
e
exam
ples
Sm
art
Wh
eel
c
hair
Co
m
po
nen
t
Syst
em
[SW
CS]
[
10
]
,
Sm
art
Power
Assistance
Mo
du
le
[
SP
AM]
[
11
]
,
Hephaestu
s
[
12]
,
TinMa
n [
13
]
, Si
a
m
o
[
14
]
.
B.
Inp
ut Met
hods
Ther
e
c
a
n
be
var
i
ou
s
in
put
m
et
ho
ds
f
or
th
e
sm
art
wh
eel
chairs
base
d
on
us
e
r
s
pecific
prefe
rence
s
.
So
m
e
inp
ut
m
et
hods
for
sm
art
w
heelchair
a
re
bio
m
et
rics,
cl
oud,
to
uc
h,
vo
ic
e,
com
pu
te
r
v
is
ion
,
brai
n
c
ompu
te
r
interf
ace
,
hap
t
ic
feedbac
k
,
et
c.
All
in
put
m
e
tho
ds
have
their
own
us
e
a
nd
s
houl
d
be
sel
ect
ed
bas
e
d
on the
nee
ds
.
C.
Sensors
Var
i
ou
s
se
ns
or
s
su
c
h
a
s
in
fr
a
r
ed
se
nsors
,
ultr
aso
nic
sen
sors,
la
ser
range
fin
der,
cam
era’s
,
et
c.
are
us
e
d
for
prov
i
ding
i
nputs
to
the
s
m
art
wh
eel
c
ha
ir
.
Se
nsors
pro
vid
e
i
nputs
fro
m
the
surr
oundin
gs
a
nd
in
puts
in
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
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ICT
IS
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N:
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52
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8776
Smart W
heelch
air: A Lit
erat
ure
Revi
ew
(K
eda
r
Sukerk
ar
)
65
processe
d
by
t
he
com
pu
te
r
of
the
w
heelch
a
ir.
Senso
rs
are
gen
e
rall
y
us
e
d
f
or
pro
vid
in
g
safety
featu
r
es
to
sm
art wh
eel
ch
ai
r
.
Ultraso
nic
sen
so
rs
us
e
s
onar
te
chnolo
gy
an
d
are
ver
y
go
od
in
te
rm
s
of
accuracy.
S
onar
s
ens
or
s
use
so
un
d
f
or
obst
acl
e
detect
ion
.
The
s
ound
is
e
m
itted
from
the
sens
or
s
an
d
t
he
s
ound
re
flect
ed
from
the
surfaces
is use
d for
fin
di
n
g
t
he dist
anc
e b
et
wee
n o
bje
ct
s.
Infr
a
red
se
nso
r
s
are
al
s
o
use
d
for
ob
sta
cl
e
a
nd
colli
sion
de
te
ct
ion
.
I
nfra
re
d
se
ns
ors
us
e
l
igh
t
instea
d
of
s
ound
f
or
distance
fin
ding.
Both
these
se
nsors
a
re
c
hea
p
a
nd
a
re
a
ccu
rate
in
norm
al
cond
it
ion
s.
T
hese
s
e
ns
ors
can
get
w
ron
g
input
if
t
he
f
loors,
sta
irs
,
s
urfaces,
et
c
.
a
re
sm
oo
th,
sound
a
bsor
be
nt
an
d
li
gh
t
a
bsor
be
nt.
Howe
ver,
du
e
to
their
li
m
it
ation
s
,
they
are
sti
ll
us
ed
beca
us
e
t
hey
are
c
heap,
acc
ur
at
e
an
d
t
heir
te
c
hnol
og
y
is well
kn
own.
Laser
Ra
ng
e
Find
e
r
(
LRF)
a
re
ver
y
good
al
te
rn
at
ive
t
o
ultr
ason
ic
a
nd
in
fr
a
red
s
e
nsor
s.
T
he
y
us
e
18
0
0
two
dim
ension
al
sca
n
f
or
scan
ning
the
env
i
ronm
ent.
Their
c
os
t
is
ex
pensi
ve
a
nd
a
re
m
or
e
a
ccur
at
e
com
par
ed
t
o
th
e
m
.
Cam
eras
are
c
on
si
der
e
d
to
be
ver
y
acc
ur
at
e
.
D
ue
to
te
c
hnologica
l
ad
vance
m
ent
in
cam
eras,
they
a
re
hav
e
gr
eat
acc
ur
acy
rate
i
n
sc
ann
i
ng
the
e
nv
i
ronm
ent.
They
are
sm
al
le
r
in
s
iz
e
an
d
ca
n
be
easi
ly
fitt
ed
on
t
o
the
sm
art wh
eel
ch
ai
r
.
D.
Op
e
rati
ng Mo
de
s
Op
e
rati
ng
m
od
es
of
w
heelchair
is
a
no
t
he
r
im
po
rtant
disti
nguish
in
g
f
act
or
of
sm
art
whe
el
chair
.
Op
e
rati
ng
m
od
es
of
w
heelchair
dep
e
nd
upon
th
e
us
e
r
a
bili
ty
and
acco
rd
i
ng
t
o
the
c
urren
t
sit
uatio
n.
Sm
art
wh
eel
c
hair
syst
e
m
can
be
aut
onom
ou
s
or
se
m
i
-
a
uto
nom
ous.
User
s
w
ho
c
annot
c
on
t
ro
l
t
he
wh
eel
c
hair
safely
on
thei
r
own
a
re
be
nef
it
ed
with
au
to
no
m
ou
s
syst
em
s.
Au
t
onom
ou
s
syst
e
m
s
can
tra
vel
t
o
desire
d
de
sti
nation
autom
at
ic
ally
and
safely
a
nd
they
re
quire
p
re
-
knowle
dge
of
the
e
nvir
onm
ent
.
The
se
s
yst
e
m
s
us
es
m
achin
e
le
arn
in
g,
nav
i
ga
ti
on
,
local
iz
at
ion
an
d
m
app
ing
te
ch
ni
ques
.
User
s
wh
ic
h
c
an
c
ontr
ol
the
wh
eel
c
hair
an
d
tra
vel
to
desire
d
destinat
ion
safely
can
use
se
mi
-
autonom
ou
s
syst
e
m
. T
hese
syst
e
m
s
con
ta
ins
c
olli
sion
detect
io
n
a
nd
avo
i
dan
ce
te
c
hn
i
qu
e
f
or
sa
fety
m
easur
es.
Additi
on
al
safety
m
easur
es
can
al
s
o
be
a
dded
depend
i
ng
upon the
user.
4.
FUTU
RE
RE
SEARCH
Sm
art
w
heelch
ai
r
will
be
an
i
m
po
rtant
neces
sit
y
in
fu
ture
.
S
m
art
wh
eel
chai
r
pro
vid
e
gr
eat
opport
un
it
y
for
de
velo
pm
e
nt
of
sen
sors
a
nd
m
ob
il
e
r
obots
te
ch
nolo
gy
.
Dev
el
op
m
ent
of
t
hese
t
hing
s
can
re
duce
t
he
c
os
t
factor
to
a
gr
e
at
extent.
Ha
r
dware
an
d
so
ft
war
e
de
velo
pm
ent
are
al
s
o
an
im
po
rtant
pa
rt
of
sm
art
wh
eel
chai
r
su
ccess
.
Work
i
ng
on
re
views
and
fee
dbacks
can
help
t
o
im
pro
ve
the
cu
rr
e
nt
issue
s
of
w
he
el
chair
syst
e
m
and
al
so
new ideas
can
be
im
agined
.
5.
CONCL
US
I
O
NS
Ther
e
a
re
seve
ral
iss
ues
face
d
by
the
m
anu
f
act
ur
er
s
a
nd
re
searche
rs
wh
ic
h
nee
ds
to
be
a
ddresse
d
s
o
that,
sm
art
w
heelchair
bec
om
es
a
com
m
er
ci
al
su
ccess
an
d
be
widely
use
d.
On
e
c
omm
on
m
ai
n
issue
is
cost
ver
s
us
accu
rac
y.
I
nexpe
ns
ive
an
d
a
dvance
d
sens
ors
ca
n
he
lp
to
ove
rcom
e
this
pro
ble
m
.
S
m
art
wh
e
el
chairs
wh
ic
h
ca
n
be
us
e
d
gen
e
rall
y
us
e
d
f
or
al
l
ty
pes
of
disabili
ty
are
sti
ll
not
avail
able.
Sm
a
rt
w
heelchai
rs
sh
oul
d
al
so
co
ntain
t
he
abili
ty
to
m
on
it
or
the
pati
ent
co
ndit
ion
s
and
react
acc
ordin
gly.
Cu
rrentl
y
avail
able
sm
art
wh
eel
c
hairs
ca
n
be
easi
ly
us
e
d
in
in
door
co
nd
it
io
ns
bu
t,
for
outd
oor
e
nv
ir
on
m
ent
it
req
ui
res
super
vis
io
n
by
a
com
pan
ion
f
or
safety
.
Als
o,
s
m
art
wh
eel
cha
ir
for
in
de
pend
ent
us
e
by
m
e
ntall
y
chall
enged
pe
ople
sho
ul
d
be
researc
he
d.
Sm
art
w
heelchair
hav
e
great
sco
pe
in
fu
t
ur
e
an
d
te
ch
nolo
gical
advancem
ent
in
the
fiel
d
of
robo
ti
c
s
and se
ns
ors
wi
ll
lead to
c
omm
er
ci
al
su
cces
s as
well
.
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