Article
Wheelchair Neuro Fuzzy Control and Tracking
System Based on Voice Recognition
Mokhles M. Abdulghani, Kasim M. Al-Aubidy * , Mohammed M. Ali and Qadri J. Hamarsheh
Faculty of Engineering & Technology, Philadelphia University, Amman 19392, Jordan;
mukhlisalrawi@gmail.com (M.M.A.); m_selman@philadelphia.edu.jo (M.M.A.);
qhamarsheh@philadelphia.edu.jo (Q.J.H.)
* Correspondence: kma@philadelphia.edu.jo
Received: 4 March 2020; Accepted: 3 May 2020; Published: 19 May 2020
Abstract:
Autonomous wheelchairs are important tools to enhance the mobility of people with
disabilities. Advances in computer and wireless communication technologies have contributed to
the provision of smart wheelchairs to suit the needs of the disabled person. This research paper
presents the design and implementation of a voice controlled electric wheelchair. This design is
based on voice recognition algorithms to classify the required commands to drive the wheelchair.
An adaptive neuro-fuzzy controller has been used to generate the required real-time control signals
for actuating motors of the wheelchair. This controller depends on real data received from obstacle
avoidance sensors and a voice recognition classifier. The wheelchair is considered as a node in
a wireless sensor network in order to track the position of the wheelchair and for supervisory
control. The simulated and running experiments demonstrate that, by combining the concepts of
soft-computing and mechatronics, the implemented wheelchair has become more sophisticated and
gives people more mobility.
Keywords:
wheelchair control; voice recognition; autonomous wheelchair; ANFIS; V-REP; mechatronics
1. Introduction
The elderly, as well as millions of other people, suffer from paralysis and disability, which makes
them physically unable to interact normally and adhere to the demands of life [
1
]. Wheelchairs are
important tools to enhance the mobility of persons with disabilities. Developments in computers and
communications technologies have contributed to the availability of smart wheelchairs that meet the
requirements of a disabled person. In order to help the handicapped to carry out their daily work,
many attempts have been made to apply modern technologies in computers and communications to
build smart wheelchairs that suit their needs. These wheelchairs need to be equipped with a real-time
computer control unit and a set of sensors for navigation and obstacle avoidance tasks [2,3].
A disabled person can control a wheelchair by simply moving a part of the body, using sound or
brain signals. The method of generating commands for guiding the wheelchair depends mainly on the
patient’s condition and degree of disability or paralysis. In our previous research [
3
], the brain-computer
interface based on electrooculography (EOG) signals was used to control an electric wheelchair. In this
paper, the voice will be used in guiding the wheelchair.
Voice recognition has gained increasing importance in computer-controlled applications.
Voice recognition techniques evaluate the voice biometrics of a person, such as the frequency, flow of
voice, and accent. This technology will provide a new way of human interaction with machines.
Although voice recognition is normal for people, it is not an easy task for a computer, especially when
used in real-time applications. A simple design for a voice-controlled wheelchair is given in the
literature [
4
–
6
]. The speech recognition is done by a voice recognition module connected to the
Sensors 2020, 20, 2872; doi:10.3390/s20102872 www.mdpi.com/journal/sensors
