Cadeira de rodas motorizada controlada pela íris

Abstract

Quadriplegia is a disease that acts on the motor system, preventing people from making movements with their limbs, making them entirely dependent on a second person to move around. To improve the quality of life and promote more independence, this work aims to develop a system that allows controlling a motorized wheelchair through the iris, dedicated to people with severe motor disabilities. For this, a low-cost solution was developed, which uses eye tracking to allow the interaction of the patient with the equipment. Such interaction occurs through a graphic interface, which in turn communicates with the system through serial communication. An electronic circuit board was designed to couple the software with the hardware, promoting interaction between the devices and the system. To control the motors, it was designed PI controllers with established parameters with and without pre-filter, controllers based on Ziegler and Nichols, Cohen-Coon and ITAE methods of open loop tuning and the robust controller with and without pre-filter. Infrared sensors were implemented to detect possible obstacles and intervene in the system, ensuring the physical integrity of the patient and the equipment. The graphic interface presented excellent communication with the system allied to the ITAE method tuned controller that was characterized after the practical implementation as the best in relation to others.