Hand Gesture Control Wheel Chair

This project is a DIY Hand Gesture-Controlled Wheelchair, designed to assist disabled individuals and patients by enabling movement through simple hand gestures. It uses an accelerometer sensor mounted on a glove or wrist strap to detect hand movements, which are then transmitted wirelessly to a motorized wheelchair base using NRF24L01 modules and Arduino Nano. The result is a responsive, user-friendly, and cost-effective mobility solution that doesn't rely on traditional joysticks or remotes.

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Components Required:

1. Wheelchair chassis (custom laser-cut or DIY frame)
2. 2 × BO motors (for driving the wheels)
3. 2 × Wheels (compatible with BO motors)
4. 1 × Mini castor wheel (for front balance)
5. 1 × Arduino Nano (for both transmitter and receiver)
6. 2 × NRF24L01 wireless modules (one for transmitter, one for receiver)
7. 1 × Custom-built transmitter circuit (mounted on hand/wrist)
8. 1 × Custom-built receiver circuit (mounted on wheelchair)
9. 2 × Lithium-ion battery cells (for powering transmitter and receiver)
10. 1 × 2-cell 18650 battery holder (for receiver side)
11. Jumper wires and connectors
12. Velcro strap or glove (to wear transmitter)
13. Small on/off switch (optional, for power control)

In this step, we will collect all the necessary mechanical components required to begin assembling the wheelchair structure. Before starting, make sure you have all the parts ready to avoid interruptions during the build process.

You will need the following mechanical items:

1. The wheelchair chassis (DIY or laser-cut)
2. 2 BO motors for driving the wheels
3. 2 wheels compatible with the motors
4. 1 castor wheel for front support and balance
5. Basic tools like a screwdriver and glue (if needed for fittings)

Once all the parts are gathered, place them on your workspace and get ready for the next step, where we’ll start assembling the base structure.

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In this step, we’ll begin assembling the wheelchair frame by attaching the base plate to the side panels. This forms the main structure that will support all electronic and mechanical components.

🪛 What to Do:

1. Place the base plate flat on your work surface.
2. Align the left and right side panels vertically along the sides of the base plate.
3. Use screws, nuts and bolts, or adhesive (depending on your design) to firmly attach the panels.
4. Make sure the angles are 90 degrees and everything is straight — this will help in stable motor and wheel alignment later.

Once assembled, you should have a sturdy rectangular frame that’s ready to hold the motors and wheels in the next steps.

In this step, we will attach the BO motors to the chassis, which will later drive the wheelchair.

🔧 What to Do:

1. Take the two BO motors and position them at the rear end of the chassis — one on the left and one on the right side.
2. Align the motor shafts so they face outward, ready to hold the wheels.
3. Secure the motors firmly to the side panels or base plate using screws, brackets, or hot glue, depending on your chassis design.
4. Make sure both motors are mounted at the same level and are tightly fixed to prevent wobbling during movement.

In this step, we’ll complete the main frame by connecting the top panel to the already assembled side panels.

🪛 What to Do:

1. Place the top panel over the chassis frame, aligning it properly with the side panels.
2. Make sure all the edges match and the panel sits flush on top of the structure.
3. Secure the top panel using screws, nuts and bolts, or adhesive, depending on your construction method.
4. Ensure the frame is rigid and well-balanced, as the top panel may also hold some electronics later.

Once the top panel is attached, your chassis will be fully enclosed and structurally complete — ready for mounting wheels and electronics in the following steps

In this step, we will first attach the extruder or motor mounting brackets to the BO motors for secure fitting, and then install the wheels.

🔧 What to Do:

1. Begin by taking the extruder/mounting brackets and aligning them with the BO motors.
2. Fix the extruder securely to each motor using small screws or bolts, ensuring that the motors are firmly held in place.
3. Once the extruders are attached, mount the motors with extruders onto the chassis if not already done.
4. Now take the wheels and push them gently onto the motor shafts.
5. Ensure the wheels are tightly fitted and rotate freely without any wobbling or resistance.

After completing this step, both motors should be properly secured, and the wheels should be aligned and ready for motion.

To balance the wheelchair and allow smooth turning, we will now install the mini castor wheel at the front bottom of the chassis.

🔧 What to Do:

1. Flip the chassis gently to access the bottom front area.
2. Position the castor wheel at the center of the front edge, ensuring it's aligned properly for smooth rotation.
3. Use screws or bolts to securely fasten the castor wheel to the base.
4. Make sure it spins and swivels freely in all directions — this is important for stability and maneuverability.

Once attached, the wheelchair should sit evenly on all three wheels and be easy to move in any direction.

Now that the mechanical assembly is complete, it's time to move on to the electronics. In this step, gather all the electronic components required for the project, including the Arduino Nano, NRF24L01 transceiver module, L293D motor driver IC (mounted on a custom PCB if you're using one), power supply, and necessary wires. Fix these components securely onto the chassis using double-sided tape, screws, or zip ties as needed. Make sure the placement allows for clean and organized wiring, with enough space to avoid short circuits or wire tangling during movement. This setup will form the brain of your hand gesture-controlled Wheel c.

In this step, place the NRF24L01 receiver circuit securely on the car chassis. Make sure it’s positioned in a way that allows easy access for power and signal connections. Once the receiver circuit is fixed in place, connect the motor wires coming from the BO motors to the output terminals of the motor driver section on your custom circuit. Double-check the connections to ensure that the left and right motors are wired correctly for forward and reverse movement. This setup will allow the motors to respond to the commands received wirelessly from the transmitter module.

In this step, securely mount the NRF24L01 transmitter circuit onto the hand strap using double-sided tape. Choose a flat, stable area of the strap to ensure the circuit stays in place during movement. Make sure the ADXL335 accelerometer is properly oriented to accurately capture your hand gestures. Once the circuit is fixed, connect a 9V battery to power the transmitter module. Ensure all connections are firm and the wiring is neatly arranged to avoid interference or discomfort while wearing the strap. This setup enables wireless gesture commands to be sent to the receiver on the car.

Now it's time to power on both the transmitter and receiver circuits. First, turn on the NRF receiver circuit mounted on the wheel chair and ensure that the motor driver and other components are receiving power. Next, power on the NRF transmitter circuit on the hand strap using the connected 9V battery. Check the indicator LEDs (if available) on both circuits to confirm that power is properly supplied. Carefully verify that all connections are secure and that there are no loose wires. This step ensures that both circuits are active and ready to communicate wirelessly via the NRF24L01 modules.

Now you're ready to control your Wheel chair with just a wave of your hand! With both circuits powered on and communicating, place the hand strap securely on your hand. When you tilt your hand forward, the ADXL335 sensor detects the motion and sends a signal via the NRF24L01 module to the car’s receiver, making it move forward. Similarly, tilting your hand backward will make the car reverse, tilting left will turn the car left, and tilting right will turn it right. Keeping your hand flat will stop the car. Try out each gesture slowly and make sure the response is accurate. Congratulations—your hand gesture-controlled Wheel Chair is ready to roll