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KONTROL KURSI RODA CERDAS MENGGUNAKAN PERGERAKAN KEPALA

Introduction
A wheelchair is a chair with wheels, designed to be a replacement for walking. Normal
wheelchair is operated by spinning the wheels or by pushing the body. Some people use it by
theirself or asking others to push the wheelchair for them. For individual user, maybe pretty easy
for people with normal hands, but can be too difficult for other disabled people, especially the
hands.
Researchers have invented mobile robot to create smart wheelchair to automate the wheelchairs
usage. This technology has semiautonomous ability, which can reduce the needed of physical
gestures, observabilities, and skills needed to operate the wheelchair. People can control the
wheelchair using joystick. However, joystick is still to difficult for limb-disabled people who
cant use joystick.
The problem above can be solved by using head movement to control the wheelchair. Head
movements are captured by a webcam. The control system for this smart wheelchair adopts
Visual C# 2008 and EmguCV software which act as a library to identify the head movement. The
head movement then will be sent and implemented into a microcontroller system that organize
the movement of the motor in the wheelchair. Head movement detection uses Haar Classifier
method. This method is a boosted rejection cascade, which will put aside negative data training
(non-detection object), and choose positive data training (detection object, in this case is an eyepair). The ultrasonic sensor (PING sensor) is used to detect the presence of any
obstacles/obstructions. By calculating distance between sensor and the object ahead,
microcontroller will decide the next motor movement to avoid the object ahead. This wheelchair
can move while evade any obstacles/obstruction ahead.
Referensi : Abrianto, Dwi Afiat and Setiawan, Iwan and Hidayatno, Achmad (2012) KONTROL
KURSI RODA CERDAS MENGGUNAKAN PERGERAKAN KEPALA. Undergraduate thesis,
Diponegoro University.