2018 IEEE International Conference on Innovative Research and Development (ICIRD)

11-12 May 2018,Bangkok Thailand

Mobility Assistance Robot for disabled persons using

Electromyography(EMG) Sensor
Syed Faiz Ahmed1 , Athar Ali1 , M. Kamran Joyo1M. Rehan2, Fahad A. Siddiqui2, Jawad A. Bhatti2, Aatika Liaquat2
M. M. S. Dezfouli3
1
Universiti Kuala Lumpur, British Malaysian Institute, Malaysia
2
Electronic Engineering Department, Sir Syed University of Engineering & Technology, Karachi, Pakistan
3
Universiti Kuala Lumpur Institute of Product Design and Manufacturing (UniKL IPROM), Kuala Lumpur,Malaysia
Syedfaiz@unikl.edu.my, athar.ali@s.unikl.edu.my, murehan@hotmail.com,

Abstract— Mobility Assistance Robot (MAR) is a stand stool

or an electronic walker. This robot can make a wheelchair
bound person to experience the sensation of standing and
navigating while standing up. This is not just a wheelchair
substitute but indeed an absolutely new and advanced platform
of mobility which makes the life of a disabled person easier. It
can be controlled by an android mobile phone and users bind or
tie themselves into a standing position without any difficulty.
This robot can also be controlled through Electromyography
(i.e. muscle movement). Electromyography is basically a method
of monitoring the motion of neutrons, which are then converted
into analog electrical signals and further working is then carried
out through these signals. MAR has the potential to carry (lift)
the disabled person automatically. It provides a platform for
disabled person to ride on it and move with a maximum speed
of 10 km/h. The robotic vehicle can be moved in any desired
direction using both android mobile application and muscle Fig. 1: The Traditional Wheelchair [9]
movement. The person on ride can get the feeling of roaming
around like a normal human with legs. This robot is specifically Fig. 1 shows the structure of a traditional wheelchair. A bulky
designed to provide a platform for disabled person to live like and heavy structure which requires assistance to get onto it
normal humans. This Robot has many social benefits and caters and maintenance of such a big structure is also an issue.
the need of real world.
The structure in Fig. 2 shows an idea of mobility device
Keyword—Electronic Wheel Chair; EMG; proposed in this research paper. It is not as heavy as traditional
Electromyography wheelchairs and in addition any assistance is not needed for
the person who intends to mount himself on it as it can pull up
I. INTRODUCTION a human through its pneumatic system.

People with leg disabilities have to face a lot of problems

in their everyday life. This disability prevents them from
fulfilling their basic daily activities. With the passage of time
a lot of inventions have been made to make life of such people
easier, and indeed these inventions surely have a positive
effect on their lives, the most prominent and common example
of such inventions/ devices are wheelchairs [1].
From ages wheelchairs are serving disable people and
even wheelchairs have evolved from very basic chair to an
electronic or automatic chair. However, this research is not
about advancement in traditional wheelchairs neither about
developing any substitute of wheelchairs but an absolutely
new and advanced platform of mobility which makes the lives
of a disabled people easier.
Fig.2: Proposed Structure

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 2018 IEEE International Conference on Innovative Research and Development (ICIRD)
II. METHODOLOGY Firstly, the Android phone’s Bluetooth has to be
setup. Then it connects to the module which is named as
A. Block Diagram:
MAR after entering the correct password, so that no one else
The proposed Robot can be controlled through android phone but only the user (who knows the password) can connect to
as well as through the muscle movement. Fig. 3 shows the it. As this connection gets established, the Arduino gets
block diagram of proposed system. connected to the mobile phone.
Then the user needs to open the application
(Bluetooth RC Car), as visible in figure 5. This application
has keys that show the directions. So, when any of these four
directions is pressed by the user it will give the corresponding
command to the Arduino and then the Arduino will direct the
device to move in the particular direction. This will make the
robot move in any direction in which user wants to move the
robot.
2. Electromyography (EMG):
is a diagnostic medical procedure for monitoring the
electrical activity generated by the motion of neutrons. EMG
Fig.3: Block diagram of the system signal can be read by using a device called an
electromyography [2]. The layout of device for reading EMG
As the block diagram (Fig. 3) shows, that we are getting
signal is shown in Fig. 6.
signals from two separate sources (one at a time) to operate
Working of this system is such that, the module has
our device. The signal from either of the two systems will
to be setup properly. The electrodes must be placed on correct
make the motors move hence driving the Robot. Separate
positions. Then as the muscles are moved it will change the
Arduino and relays are used for both systems to avoid any
output of the sensor/module that will make the Arduino react
kind of conflict hence saving patient from any mishap.
if it exceeds a particular threshold set in programming.
B. Working of the sub-systems (Modules) and overall
C. Circuit Diagrams
system:
The proposed system is divided in two phases, so separate
1. ANDROID:
circuits are designed to operate both the phases / systems. The
HC-05 module is used to connect the device to android
first system is designed to operate the Robot using Android /
device through bluetooth. The board used for this
Bluetooth controlled system or via Android Mobile
purpose is shown in Fig. 4. RC CAR is an android
application. The conceptual view of android controlled
application through which the Robot is controlled. The
system is shown in Fig. 7.
layout of RC Car is shown in Fig. 5.
Second system is designed to operate the Robot
using EMG Signal. The conceptual view of EMG controlled
system is shown in Fig. 8. Initially the connection between
Bluetooth module and mobile phone is established. The
transmission of signal takes place wirelessly. The signal is
received at the Arduino Tx pin which then converts the signal
through programming and gives digital output. These
converted signals are used to control the motor of the Robot.
The program is made to move the Robot in four basic
Fig.4: Bluetooth Module [10] directions, namely: FORWARD, BACKWARD, RIGHT and
LEFT

Fig.6: MyoWare muscle sensor [12]

Fig.5: The Android Application [11]

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 2018 IEEE International Conference on Innovative Research and Development (ICIRD)

Fig.7: Bluetooth controlled system

Fig.8: EMG controlled system

Fig.9: Flowchart for android based control system
After acquisition and classification of the EMG
signals in the MyoWare sensor, the transmission of signal
takes place trough the connection of Arduino and MyoWare.
The signal is received at the Arduino analog pins which then
converts the signal through programming and provides
digital output. The converted (digital) signals are used to
control the motor of the robot. This program is also made to
move the robot in four basic directions, namely: FORWARD,
BACKWARD, RIGHT and LEFT.
III. SYSTEM MODEL
Both the systems which have been discussed above, have
a different technique of programming. Below are the two
flowcharts showing the flow of programming in each of the
systems separately.
When the system starts, it will wait until a signal is
received from the Bluetooth device. If any of these letters i.e.
F, B, L, R is received it will active/switch two different
channels of the relay as per its program, then the relay module
will energize the motors through which the robotic vehicle
will move.
When EMG based control system starts, it will wait
until a signal from the muscle sensor is received. The signal
is generated on the motion of the muscles. If the signal is in
the threshold (TH) ranges mentioned above, it will
active/switch two different channels of the relay as per its
program, then the relay module will energize the motors Fig.10: Flowchart for EMG based control system
through which the robot will move.

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 2018 IEEE International Conference on Innovative Research and Development (ICIRD)
IV. RESULTS AND DISCUSSIONS V. CONCLUSION:
This Device can easily be used by any individual having Mobility device allows patients with walking
lower-limb paralysis; however, it has some limitations as well. disabilities to take part in outdoor activities, meeting friends,
Few measures and assess are required to ensure, so that the dinning out & maintain their independent lifestyle. It helps
robot can be used effectively and safely. The parameters on them to re-integrate themselves into the society, hence
which the device functions properly are listed below: improves their quality of life
x Height: 140 – 190 cm The prevalence of mobility devices is highest among
x Weight: 40 – 120 Kg the oldest age groups, with the risk of limited walking
x Foot length: 23 – 35 cm capacity increasing with advancing age [3-5] Not only
physically challenged people are required to have such
The logic behind programming is that we have set a devices but it’s of great significance for the people who face
threshold level as the signal exceeds the threshold level the mobility issues when they reach old age. the United Nations
controller will react as per the condition programmed in the (UN) and the World Health Organization (WHO) also
microcontroller. recommends the use of mobility assistance devices to make
the life of such people easier. [6-8]
Although many such devices are being invented and
a great piece of work is being carried out in this field, yet the
increasing population of disabled people some who are born
like this and a huge number is of those who survived from
any accident in this fast-moving dangerous world requires
more and more advancement in this field.
We have tried to explain both the systems (i.e. EMG
and Bluetooth controlled) with all possible details in this
paper. This is not just a piece of research, but a practical work
has been done in this area. Fig. 14 shows the picture of device
Fig.12: Fig.12: Results of EMG before motion called MOBILITY ASSISTANCE ROBOT.

Fig.12: Results of EMG after motion

Fig.14: The Mobility assistance robot

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