This paper presents a hybrid control wheelchair with a slope assistive control, especially for the inclined plane and hilly region. This device uses multiple sensor networks to locate the surrounding environment and terrain to facilitate control movement. A BLDC hub motor is used to provide forward and backward motions. A high torque servo motor is used as the steering wheel. The central control unit can also be controlled by manually, automatically, and through the internet. The proposed wheelchair overcomes the limitations and drawbacks of uphill and downhill movements in the existing systems. The test was carried out using the prototype with an inclined 10-degree ramp, which proved that the slope assistance has a beneficial and significant impact in comparison with a manual wheelchair. It has been demonstrated that users can perform all required functions with a better control strategy, enhancing the effectiveness of traditional wheelchairs.

In this paper, a mixed control wheelchair (MCW) is presented to overcome problem related to movement and user command for elderly and paralyzed people. The MCW comprises of five individual control blocks, which are fed at the main control unit to provide appropriate control actions. The main feature of this assistive device is that it can navigate by following the eyesight of the user. The proposed MCW can also be controlled using either joystick or voice command or finger movement or through mobile app or a combination of all. This system uses multiple sensor networks to measure the terrain condition, users command and translate it into control action. The proposed control system runs on a Raspberry Pi, which can able to take a proper turn as well as capable to control forward or backward motion. Raspberry Pi, camera module and sensors networks, etc. were all connected into the android mobile system, shortening the physical distance between the disabled person end and the supervisor end and serial communication was used. Multiple-Layer system architecture with outstanding control functions was constructed that uses android mobile interfacing to realize the automatic control and capture videos of the room remotely. It is shown that the users can carry out all essential tasks with the proposed MCW, almost as fast as with the traditional controller. The smart wheelchair can assist elderly people and also improve their quality of life.