1. The document discusses the history of wheelchairs from ancient drawings and depictions in China and Greece to modern developments. It notes key inventions like the first collapsible wheelchair in 1933 and the introduction of electric wheelchairs. 2. It then describes different types of wheelchairs including manual, powered, and electric varieties. It also discusses recent innovations like hand cycles and stationary platforms for exercise. 3. The document concludes by discussing modern mobility scooters and wheelchairs, noting technological advances that have improved battery life and independence for disabled individuals while also acknowledging limitations like recharging that solar powered designs now address.

1. 1
CHAPTER- 1
INTRODUCTION
1.a. History
It is assumed that the idea of wheelchair was taken from the drawing of an artist
who make confucius in a chair fitted with two wheels and propelled by his pupil in
1680.
Figure.1 First Wheelchair
The earliest records of wheeled furniture was an inscription found on a stone slate
in China and a child’s bed depicted in a frieze on a Greek vase, both dating back
to the 5th century BCE. The first records of wheeled seats being used for
transporting the disabled date to three centuries later in China; the Chinese used

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their invented wheelbarrow to move people as well as heavy objects. A distinction
between the two functions was not made for another several hundred years,
around 525 CE, when images of wheeled chairs made specifically to carry people
begin to occur in Chinese art.
Later dates relate to Europeans using this technology during the German
Renaissance.
The invalid carriage or Bath Chair seems to date from around 1760.
In 1887, wheelchairs ("rolling chairs") were introduced to Atlantic City so invalid
tourists could rent them to enjoy the Boardwalk. Soon, many healthy tourists also
rented the decorated "rolling chairs" and servants to push them as a show of
decadence and treatment they could never experience at home.
Harry Jennings and his disabled friend Herbert Everest, both mechanical
engineers, invented the first lightweight, steel, collapsible wheelchair in 1933.
Everest had broken his back in a mining accident.
The two saw the business potential of the invention and went on to become the
first mass-manufacturers of wheelchairs: Everest and Jennings. Their "x-brace"
design is still in common use, albeit with updated materials and other
improvements.
With the advancement of technology the development continuously gone and
many conventional energy resources used to propel the vehicle designed for the
disabled people but when resources start to decay then a need was seen for
unconventional resources ,solar energy was on option for this and at first Haidar

3. 3
Taleb, a 47 year old man from UAE, displayed a rare combination of human spirit
and willpower by building a wheel chair for himself which runs on solar power.
1.a1. The First Wheelchair
No one really knows when the first wheelchair was invented, although there are
plenty who are willing to hazard a guess. What interesting is that wheelchairs
weren’t always invented for the right reason especially where the Romans were
concerned. Some believe it was the ancient Egyptians who were the first to use
wheelchairs. These were, however, simple handcarts used to push people around
nothing like the sophisticated chairs of today. The Chinese also invented chariot-
like wheelchairs around this time, although they were pulled rather than pushed.
The Romans, as one could imagine, were not inclined to equal rights for disabled
people. Instead they treated disabled people almost as bad as a certain US deputy
in Florida. The Romans invented wheelchairs not to extend people’s mobility, but
so that they could push disabled to the fields to work. They weren’t all bad, though.
Both Greek and Roman physicians prescribed transport for the sick. After a long
time in Spain, Philip II fabricated a wheelchair complete with foot rests, enabling
him to enjoy a daily wheel around the gardens.
1.a2. Self Propelled Wheel Chair
A young disabled watchmaker called Stephen Farfler built a three wheeled vehicle
to transport himself. This was the first self-propelled wheelchair. The next major
step forward took place in Bath with the imaginatively named Bath chair. This was
invented in 1783. These wheelchairs came in a number of different guises – they

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could be open or shut, and pushed or pulled. However, in one respect they were a
step back from Farflers’s invention – none of them were self- propelled. By
nineteenth century wheelchair users were propelling themselves by pushing at the
outer rim of the wheelchair. Of course, this meant getting their hands dirty.
1.a3. Electric Wheel Chair
The first electric chair was invented in 1890 in US, designed to kill criminals
through the application of electric shock. Britain engineers are working on a chair
with a different purpose in mind, and the first motorized wheelchair was invented in
1916 which was heavy and expensive. Until 1930′s, the wheelchair was rather
cumbersome device. They were bulky and while a lightweight wicker wheelchair
had been built, even this could not be easily transported, making travelling very
difficult for many wheelchair users.
1.a4. Modern Wheel Chair
The modern wheelchair began to take shape during late 19th century to early 20th
century with the advent of push rims for self-propulsion and slings for seat and
backrests. Harry Jennings and his disabled friend Herbert Everest, both
mechanical engineers, invented the first lightweight, steel, collapsible wheelchair in
1933. Mr. Everest broke his back in a mining accident. The two saw the business
potential of the invention and went on to become the first mass-manufacturers of
wheelchairs: Everest and Jennings. Their "x-brace" design is still in common use,
albeit with updated materials and other improvements.

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1.a5. Electric Wheel Chair
Modified Electric wheelchair is invented after WW2 by George Johann Klein, a
Canadian, for the injured war veterans. Electric wheelchair is considered to be one
of Canada's greatest inventions that have benefited mankind. George came up
with the electric wheelchair while he is with the National Research Council of
Canada in 1950s. The invention of electric wheelchair is a result of the need to
give independence and mobility. Today, the electric wheelchair has changed the
lives of millions by providing them a ray of hope that they can be as independent in
movements as normal people and gave them optimism in life. Electric wheelchairs
can also be called electric powered wheelchairs, motorized wheelchairs or power
wheelchairs. These wheelchairs have some disadvantages too (Frederick Walton
et al, 2010). Repairing an electric wheelchair consumes money and time. Another
drawback is its price. It is not affordable for a common man.
1.a6.Recent Developments
A recent development related to wheelchairs is the hand cycle. They are in variety
of forms, from road and track racing models to off-road types modeled after
mountain bikes. There has been significant effort over the past 20 years to develop
stationary wheelchair trainer platforms that could enable wheelchair users to
exercise as one would on a treadmill or bicycle trainer (Langbein, W Edwin et al,
1993; O'Connor, Thomas et al, 2002) Some devices are created that can be used
in conjunction with virtual travel and interactive gaming similar to an
Omnidirectional treadmill.

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1.a7. World's first solar wheelchair
Haidar Taleb, a 47 year old man from UAE, displayed a rare combination of human
spirit and willpower by building a wheel chair for himself which runs on solar power.
Being a person with polio since the age of 4 he did not stop from taking up this
challenge on this wheelchair, a piece of technological innovation.

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1.b. TYPES OF WHEEL CHAIRS
There are two basic types of wheelchairs:
Manual and Powered Wheelchairs
Manual wheelchairs: Are designed to transport a sick, injured or a disabled person
from one place to another, e.g.: in hospitals.
Powered wheelchair :Uses a motor attached to the wheelchair.
A 1993 report prepared by Rehabilitation Engineering centre suggests that the
selection of wheelchairs depends on one’s physical status, functional capabilities
and usage requirements.
Figure-2 Flow chart .1

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1.c. About Our Project
On the journey to mobility and freedom, motorized scooters and wheelchairs are
the tools to finish that journey. With scooters and wheelchairs, there is a small
inconvenience to mobility independence. The addition of some devices enables
persons with physical disabilities a comfortable travel beyond their own homes.
Technological advances in mobility scooter have led more options available. In the
past, many people disliked the idea of a mobility scooter because of low-life of the
battery. Nowadays, batteries have improved and they allow much longer periods of
driving without the need for a recharge. People started to purchase a mobility
scooter in order to lead a more comfortable and independent existence.
Considering a primary method to get around, they are perfect for people with
limited or no body mobility. They come in all shapes and sizes, not to mention the
multitude of additional features. When it comes to select a mobility scooter, one
must take into account the comfort, the available versions (foldable/utility) and the
speed. The incredible capacity to adapt to difficult circumstances has led to
wonderful inventions, particular beneficial to individuals with mobility problems.
Mobility scooters have changed the way in which people in wheelchairs are able to
maneuver. The powered scooters of today offer several advantages that were
previously unheard of in the mobility world. However, the power scooters also have
limitations that a person may not even think to consider. Today, more than half a
century later, electric wheelchairs have widened its role in helping the disabled.
Besides helping the permanently disabled to move around independently, it is also
used during the physical therapy of injured people who could not walk temporarily.

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An advantage of electric wheelchairs is that it can be recycled as long as the
motors are well maintained. Many do purchase used electric powered wheelchairs
as they are cheaper and still have a lifespan of at least 5 years. Electric powered
wheelchair is essentially powered by electric motors located at the rear of the
wheelchair. The motors run on batteries which can sometimes be a hassle for the
user as it requires recharging through a wall outlet. To overcome recharging
problem and also to take care of environment we have introduced solar panel to
charge the battery.

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1.d. Components Used In Solar Wheel Chair
Various components are used in solar wheel chair to make it a helping vehicle for
handicapped persons. These are listed below-
 Solar panel (specifications)
 Charger
 Wheels(two 40 cm diameter wheels and two 14 cm diameter wheels for
steering)
 Lead Acid Battery(14 volt)
 DC motor(0.5 hp)
 Steering mechanism (Ackermann with some modifications)
1.d1. Solar Panel
Solar panel refers to a panel designed to absorb the sun's rays as a source of
energy for generating electricity or heating.
A photovoltaic (in short PV) module is a packaged, connected assembly of typically
6×10 solar cells. Solar Photovoltaic panels constitute the solar array of
a photovoltaic system that generates and supplies solar electricity in commercial
and residential applications. Each module is rated by its DC output power under
standard test conditions, and typically ranges from 100 to 365 watts.
The efficiency of a module determines the area of a module given the same rated
output – an 8% efficient 230 watt module will have twice the area of a 16% efficient
230 watt module. There are a few solar panels available that are exceeding 19%
efficiency. A single solar module can produce only a limited amount of power; most

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installations contain multiple modules. A photovoltaic system typically includes a
panel or an array of solar modules, a solar inverter, and sometimes
a battery and/orsolar tracker and interconnection wiring.
Figure-3 Solar panel
1.d2. Charger
One of the problems with solar power is that the output of the solar panel is
variable. These solar charge controllers are designed to extract the maximum
amount of power available from the solar panels and deposit it in the battery. Solar
PV charge controllers take the uncertain voltage from a solar panel and condition it
to safely charge lead acid batteries. These solar PV charge controllers energy
harvesting, and a three-stage charging method, bulk, absorption, and float
(maintenance) charge, but due to the nature of solar panels these are different in
nature than a typical AC driven charger. They pulse charge the battery. During the
pulse the solar panel is virtually short-circuited to extract the maximum power from
the panel and also to allow the panel to work more efficiently. These solar charge

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controllers also protect your panels from discharging through the batteries after the
sun goes down. Solar charge controllers are necessary to protect your PV battery
investment.
Figure-4 Charger
1.d3. Wheels
A bicycle wheel is a wheel, most commonly a wire wheel, designed for a bicycle.
A pair is often called a wheelset, especially in the context of ready built "off the
shelf" performance-oriented wheels.
The first bicycle wheels followed the traditions of carriage building: a wooden hub,
a fixed steel axle (the bearings were located in the fork ends), wooden spokes and
a shrink fitted iron tire. A typical modern wheel has a metal hub, wire tension
spokes and a metal or carbon fiber rim which holds a pneumatic rubber tire.

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Figure-5 Wheels
And also two small diameter wheels caster are used. A caster (or castor) is an un-
driven, single, double, or compound wheel that is designed to be mounted at the
bottom of a larger object (the "vehicle") to enable the object to be easily moved.
They are available in various sizes, and are commonly made of rubber, plastic,
nylon, aluminium, or stainless steel. Casters are found in numerous applications,
including shopping carts, office chairs, and material handling equipment. High
capacity, heavy duty casters are used in many industrial applications, such as
platform trucks, carts, assemblies, and towlines in plants. Generally, casters
operate well on smooth and flat surfaces. The diameter of the caster used is 15cm
and thickness is 3.5 cm
These are made of plastic and provided 360 degree of rotation.
1.d4. Lead Acid Battery
The lead–acid battery was invented in 1859 by French physicist Gaston Planté and
is the oldest type of rechargeable battery. Despite having a very low energy-to-
weight ratio and a low energy-to-volume ratio, its ability to supply high surge

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currents means that the cells have a relatively large power-to-weight ratio. These
features, along with their low cost, makes it attractive for use in motor vehicles to
provide the high current required by automobile starter motors.
As they are inexpensive compared to newer technologies, lead–acid batteries are
widely used even when surge current is not important and other designs could
provide higher energy densities. Large-format lead–acid designs are widely used
for storage in backup power supplies in cell phone towers, high-availability settings
like hospitals, and stand-alone power systems. For these roles, modified versions
of the standard cell may be used to improve storage times and reduce
maintenance requirements. Gel-cells and absorbed glass-mat batteries are
common in these roles, collectively known as VRLA (valve-regulated lead–acid)
batteries.
Figure -6 Lead Acid Battery
Negative plate reaction:
Pb(s) + HSO4(aq) → PbSO4(s) + H+(aq) + 2e−
Positive plate reaction:
PbO2(s) + HSO−4(aq) + 3H+(aq) + 2e−
→ PbSO4(s) + 2H2O(l)
The total reaction can be written as
Pb(s) + PbO2(s) + 2H2SO4(aq) → 2PbSO4(s) + 2H2O(l)

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1.d5. DC Motor
A DC motor is any of a class of electrical machines that converts direct current
electrical power into mechanical power. The most common types rely on the forces
produced by magnetic fields. Nearly all types of DC motors have some internal
mechanism, either electromechanical or electronic, to periodically change the
direction of current flow in part of the motor. Most types produce rotary motion; a
linear motor directly produces force and motion in a straight line.
DC motors were the first type widely used, since they could be powered from
existing direct-current lighting power distribution systems. A DC motor's speed can
be controlled over a wide range, using either a variable supply voltage or by
changing the strength of current in its field windings. Small DC motors are used in
tools, toys, and appliances. The universal motor can operate on direct current but
is a lightweight motor used for portable power tools and appliances. Larger DC
motors are used in propulsion of electric vehicles, elevator and hoists, or in drives
for steel rolling mills. The advent of power electronics has made replacement of
DC motors with AC motors possible in many applications.
Figure-7 DC motor

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1.d6. Ackermann Steering mechanism
Ackermann steering geometry is a geometric arrangement of linkages in
the steering of a car or other vehicle designed to solve the problem of wheels on
the inside and outside of a turn needing to trace out circles of different radii.
It was invented by the German carriage builder Georg Lankensperger in Munich in
1817, then patented by his agent in England, Rudolph Ackermann (1764–1834)
in 1818 for horse-drawn carriages. Erasmus Darwin may have a prior claim as the
inventor dating from 1758.
The intention of Ackermann geometry is to avoid the need for tyres to slip
sideways when following the path around a curve. The geometrical solution to this
is for all wheels to have their axles arranged as radii of circles with a common
centre point. As the rear wheels are fixed, this centre point must be on a line
extended from the rear axle. Intersecting the axes of the front wheels on this line
as well requires that the inside front wheel is turned, when steering, through a
greater angle than the outside wheel.

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Figure-8 Ackermann Steering
1.d7. Braking Mechanism
There are different types of wheelchair brakes/locks. There are manual, auto-lock,
and disc brake systems. In this article I will discuss a few of the various kinds
stated to give you a better understanding of the differences and the specific use.
Wheelchair locks are meant to keep the wheelchair in “park” while the user
transfers in or out of the chair. Wheelchair brakes help to slow or stop a wheelchair
when descending or turning.
Many consider locks and brakes to be the same thing. I feel they are, but then
again I am not a wheelchair user. It is a good idea to have them installed on your
chair to avoid over exertion and fatigue when trying to stay in one location in
buildings or when performing your daily tasks, such as studying at a desk or doing
the dishes. Unnecessary counterbalancing to maintain a specific position can
cause increased health risks and complications in the future.

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Those who use their chairs for sports sometimes like to remove their wheelchair
brakes to avoid getting injured thumbs or hands. This can be dangerous, especially
if they don't put the brakes back on their wheelchairs when ready to return to
everyday activities. There are special wheelchairs for different sports.
Disc Brake System
The latest in technology uses a patented disc brake system so you can descend
ramps and hills, lock your wheels with finger-tip strength and enjoy increased
independence.
Wheelchair users of all levels can use this technology to lock their wheels for safer
transfers. ADI Disc brake systems have a patented two piece
hub design to maintain quick release wheels, uses a deceleration brake when
managing ramps, reduces pain by eliminating twisting and repetitive motion,
enhances safety and independence by allowing users to roll under desks and
tables and lock brakes with ease.
Figure-9 Disc Brake

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CHAPTER -2
LITERATURE REVIEW
2.a. DANIEL DOURTE, DAVID SANDBERG, TOLU OGUNDIPE, present a paper
on “ELECTRIC TRICYCLE: A.APPROPRIATE MOBILITY” (2012):
The aim of this project is to add an electric power train and control system to the
current hand-powered tricycle to provide tricycle users with improved levels of
mobility. The design objectives required a simple and affordable design for the
power train and controls, a design that needed to be reliable, sustainable, and
functional The design of the Electric Tricycle is adaptable to the current hand-
powered tricycles with little modification. The design consists of an electric motor, a
drive system, motor and steering controls, and a power supply.
2.b. M.REDDI SANKAR, T. PUSHPAVENI, V. BHANU PRAKASH REDDY,
present a paper on “DESIGN AND B.DEVELOPMENT OF SOLAR ASSISTED
BICYCLE” Process (2009).
The solar assisted bicycle developed is driven by DC motor fitted in front or rear
axle housing & operated by solar energy. The solar panels mounted on the
carriage will charge the battery & which in turn drive the hub motor. When the
bicycle is idle, the solar panel will charge the battery. This arrangement will replace
the petrol engine, the gear box & the fuel tank in case of a two wheeler or a chain
sprocket, chain & gear shifting arrangement of a conventional bicycle being used
by most common man. As a part of dissertation work, the solar assisted bicycle is
fitted with a dc hub motor on front axle of a bicycle with power rating of 250W and
with a travelling speed of around 25-30 kmph. It is provided with a pair of lead acid

20. 20
batteries of 35 Ah each, a photovoltaic solar panel with capacity of 20 watt, a
voltage regulator of 24v 10 Amp, accelerator and motor controller of 24v 25Amp.
There is also a provision for charging of the battery with 220-240V, AC wall outlet
supply, in case of poor solar supply due to cloudy weather.
2.c.N.SASIKUMAR, DR.P.JAYASUBRAMANIAM, present a paper on “SOLAR
ENERGY SYSTEM IN INDIA”. C (2008).
Conventional energy sources like coal, oil, natural gas, etc., are limited in quantity,
and if these continue to be depleted at the present rate, these will be exhausted in
the coming decades. Energy demand is resulting in the creation of fossil fuel based
power plants leading to substantial greenhouse gas emissions having an adverse
impact on global warming and climate change Solar energy offers a clean, climate-
friendly, abundant and inexhaustible energy resource to mankind. The costs of
solar energy have been falling rapidly and are entering new areas of
competitiveness. Solar Thermal Electricity (STE) and Solar Photo Voltaic Electricity
(SPV) are becoming competitive against conventional electricity generation in
tropical countries Solar photovoltaic (SPV) cells convert solar radiation (sunlight)
into electricity. A solar cell is a semiconducting device made of Silicon materials,
which, when exposed to sunlight, generates electricity. Solar cells are connected in
series and parallel combinations to form modules that provide the required power.
2.d. ABDULKADIR BABA HASSAN, present a paper on “DESIGN AND
FABRICATION OF A MOTORIZED D.PROTOTYPE TRICYCLE FOR THE
DISABLE PERSONS” (2006):
This project design is embodied on a motorized tricycle for disabled Persons. The
tricycle was specifically designed to suit wheelchair occupants of healthy Upper

21. 21
torso with pelvic to foot restraint. It is also designed to suit a commonly available
Wheel chair. The level of relationship between the disabled people in the society
has highly being jeopardized; therefore this project was designed to correct the
difficulties in mobility of the wheelchair users. The main aim of the project design is
to ease mobility for the physically challenged and also provide adequate comfort
they desire. Existing tricycles for the disables requires the disabled person to
dismount from the wheelchair onto the tricycle. The motorized tricycle in this
project is designed to overcome this problem by allowing the disabled person to
wheel up or down his wheelchair onto or down the tricycle. This is achieved using
a specially designed platform that allows the wheel chair to be wheeled up or
down. The prototype of this tricycle has been fabricated. The anthropometrics data
that need to be considered in the design of the platform and frame of the tricycle
have been taken into consideration at the design stage of the tricycle.
2.e. TILAKISWARAN A/L SAMURGAM, Present a paper on “DEVELOPMENT
OF BATTERY POWERED TRICYCLE”. E (2005).
The main purpose of this project is to develop a battery powered electric motor
tricycle which can be used as a simple transportation and for economy reasons, to
develop a battery powered electric motor tricycle which can be used as a simple
transportation and for economy reasons. A motorized tricycle is a three wheeled
bicycle with an attached motor used to assist with pedaling. Generally considered
as a vehicle, tricycles are usually powered by electric motors or small internal
combustion engines and have function as electric bicycles. Some can be propelled
by the motor alone if the rider chooses not to pedal; while in others the motor will
only run if the rider pedals. Electric bicycles are generally powered by

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rechargeable batteries. These are normally charged from the utility supply (mains),
with perhaps the option of using the motor to effect regenerative braking or
charging while being pedaled or rolling downhill. Electric motorized bicycles are
either power-on-demand, where the motor is activated by a handlebar mounted
throttle, or pedelec (from pedal electric), where the electric motor is regulated by
pedaling.
2.f. YOGESH SUNIL WAMBORIKAR, ABHAY SINHA, Presents a paper on
“SOLAR POWERED VEHICLE”. F (2000).
The renewable energy is vital for today‟s world as in near future the nonrenewable
sources that we are using are going to get exhausted. The solar vehicle is a step in
saving these nonrenewable sources of energy. The basic principle of solar car is to
use energy that is stored in a battery during and after charging it from a solar
panel. The charged batteries are used to drive the motor which serves here as an
engine and moves the vehicle in reverse or forward direction. The electrical
tapping rheostat is provided so as to control the motor speed. This avoids excess
flow of current when the vehicle is supposed to be stopped suddenly as it is in
normal cars with regards to fuel. This idea, in future, may help protect our fuels
from getting extinguished.
2.g. ARUN MANOHAR GURRAM, P.S.V RAMANA RAO, RAGHUVEER
DONTIKURTI, presents a paper on “SOLAR G.POWERED WHEEL CHAIR:
MOBILITY FOR PHYSICALLY CHALLENGED” (1999).
Personal mobility means freedom for the physically challenged. One of the best
inventions in the medical field that helped both the elderly and the handicapped is
the mobility vehicle. The fact that they are no longer depending on someone else

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to perform daily duties is a big step forward. On the journey to mobility and
freedom, motorized scooters and wheelchairs are the tools to finish that journey.
With scooters and wheelchairs, there is a small inconvenience to mobility
independence. The addition of some devices enables persons with physical
disabilities a comfortable travel beyond their own homes. The present work
involves in design and fabrication of solar powered wheel chair. A motorized
wheelchair, power chair, electric wheelchair or electric-powered wheelchair (EPW)
is propelled by means of an electric motor rather than manual power.
2.g. SHUH JING YING, STEPHEN SUNDARRAO, presents a paper on
“POWER ASSIST HAND TRICYCLE WITH H.BATTERY FOR DISABLED
PERSONS”(1998).
A hand tricycle is originally designed to be used by a disabled person with lower
extremity weakness but with power in his or her hands and arms. This tricycle is
modified by the addition of an electric motor and battery to help power the vehicle.
The functions of the original design are not altered. The battery, motor, speed
reducer and clutch are properly arranged. An additional sprocket is attached to the
drive wheel. The motor controller can adjust the speed in five different settings and
the tricycle can be driven forward or backward. They salvaged a lightweight tricycle
weighing about thirty pounds from a storage area. It was not in working condition.
The wheels are arranged with one fixed direction drive wheel in front and two
pivoting wheels for steering in the rear. Two handles beside the seat are used for
hand control of the steering. A large sprocket 25.4 cm in diameter located in front
of the driver is connected with two crank handles for the driver‟s hands to power
the vehicle.

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2.h. CHETAN MAHADIK, SUMIT MAHINDRAKAR, PROF. JAYASHREE DEKA,
presents a paper on “AN IMPROVED I.& EFFICIENT ELECTRIC BICYCLE
SYSTEM WITH THE POWER OF REAL-TIME INFORMATION SHARING”(1996).
This paper presents the development of an associate degree "Electric Bicycle
System‟ with an innovative approach. The aim of this paper is to show that the
normal bi-cycle can be upgraded to electric one by some means– that including the
development of a regenerative braking system and innovative BLDC motor control.
The main components of the electric bicycle are brushless DC motor, motor
controller, photo-voltaic, dry cell battery and solar panel. Also throttle and extra
features such as horn, speedometer, and LED signal etc. The power source for
this system is given by dry cell battery. The output of dry cell battery is 48V. There
are multiple forms of charging source is used such as AC voltage through an
outlet, solar energy and mechanical pedal charging system. The source of battery
charging is photovoltaic solar panel and it is light weight. The solar panel output is
12V and 20 watt. Also they use mechanical pedal charging system, so dynamo is
use for this charging system.
2.i. QINGFENG SU, GENFA ZHANG, JIANMING LAI, SHIJUN FENG, AND
WEIMIN SHI, presents a paper on, J.“GREEN SOLAR ELECTRIC VEHICLE
CHANGING THE FUTURE LIFESTYLE OF HUMAN”.
Electric vehicle with more advantages of no noise, no pollution, saving energy and
reduce carbon dioxide emissions is to power-driven vehicle with a motor drive
wheels moving. Solar electric vehicle can make to reduce our greenhouse gas
emissions and other pollution. All advantages of solar electric vehicle make
research and application of solar electric vehicle as a “hot spot” of automotive

25. 25
industry and the trend of future cars. Solar electric vehicle is made of PV panels,
battery, electric motor, vehicle controller and vehicle body. Solar electric vehicle
drives using dual-mode of PV and battery hybrid. It can be achieved PV-driven and
battery-driven independently. In good sunny conditions, the full charge endurance
of solar electric vehicle can be increased about 35% substantially compared with
no PV panels. Solar electric vehicle can achieve low-carbon, energy saving,
environmental protection and true zero-emissions for the future of human life.

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CHAPTER -3
OBJECTIVE
About 10% of the global population, i.e. about 650 million people, have
disabilities .Studies indicate that, of these, some 10% require a wheelchair,the
reason may be any decease that they occur from their birth time or it can
be due to any accident which they face in their life time. For all this kind of
people we have designed our wheelchair which is based on solar energy and
automatic moving chair so that the people can live independently.
In 2003, it was estimated that 20 million of those requiring a wheelchair for
mobility did not have one. There are indications that only a minority of those in
need of wheelchairs have access to them, and of these very few have access
to an appropriate wheelchair.
Our motive is to provide them independent mobility for that they need a
wheelchair which can be easily provided to them and it should be not
expensive and also it should be based on the clean resources of energy for
recharging.
Our another motive is to make handicapped persons productive for their own
growth and also for nation it will enhance feeling of self -esteem among the
community. It will provide them respect from others. And finally they can live a
normal life.

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Objective of this project is to fabricate a wheelchair that can fulfil the norms
decided by WHO.According to the World Health Organization,a wheelchair
is appropriate when it-
• meets the user’s needs and environmental conditions;
• provides proper fit and postural support;
• is safe and durable;
• is available in the country; and
• can be obtained, maintained and services sustained in the country at an
affordable price.
Our project is fulfilling all the decided norms by the WHO being environment
friendly, safe, less expensive and easily available.
Reason of selection of solar energy as a source of energy to make
wheelchair run
It is a renewable energy resource and it is fulfilling motto “SWATCH URJA
SWATCH PARYAWARAN”.
Energy is a common Man’s daily commodity. The increased population has
led to depletion of energy. The process of mankind has influenced the
subsequent exploitation of new sources of energy from time to time. The
utilization of coal, the development of hydroelectricity, the discovery of oil and
gas and the advents of nuclear energy are mile stones in human history. Each
new source supplemented the other and brought a performed change in the

28. 28
life style of people. The size of the balance of fossil fuels will be over within a
hundred years if not compensated with other sources of energy. Of all non-
conventional energy sources, solar energy holds the greatest promise as it is
abundant, renewable and pollution free. Its collection, storage on conversion is
also easy. Hence worldwide attention is now focused on various methods of
utilization of solar energy. All life on the earth depends on solar energy. The
solar energy that falls on India in one minute is enough to supply the energy
needs of our country for one day. Man has made very little use of this
enormous amount of solar energy.
And we are thinking that our objective is almost completed and there can be
some drawbacks which need further some modifications and study to make it
more efficient and worthy.

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CHAPTER-4
METHODOLOGY
4.a. WORKING OF SOLAR WHEEL CHAIR
The methodology or working of solar wheel chair can be understood easily by
a flow chart. The working is nothing but simply the conversion of solar energy
into mechanical energy followed by many intermediate conversions which are
shown below-
 Sun –it provide solar energy that will fall on solar panel.
 Solar panel- it will absorb solar energy and convert it into electrical
energy by p-n junction.
 Charge controller or charger- it will remove the variation in solar energy
and store electrical energy in the form of chemical energy in the battery.
 Battery- it will store energy in chemical form and again convert into
electrical form.
 Motor-it will convert electrical energy into mechanical (rotational) form
and make the vehicle run.
 Wheels –they will rotate with the axle which is driven by chain gear
arrangement and cover distance.
Figure-10 Flow chart-2 (conversion of energy into various forms)
Solar energy
Electrical energy
Chemical energy
Electrical energy
Mechanical energy

30. 30
Figure-11 Working Mechanism
4.a1. Sun
The Sun (in Greek: Helios, in Latin: Sol) is the star at the center of the Solar
System and is by far the most important source of energy for life on Earth. It is
a nearly perfect spherical ball of hot plasma, with internal convective motion
that generates a magnetic field via a dynamo process. Its diameter is about
109 times that of Earth, and it has a mass about 330,000 times that of Earth,
accounting for about 99.86% of the total mass of the Solar System. About
three quarters of the Sun's mass consists of hydrogen; the rest is
mostly helium, with much smaller quantities of heavier elements,
including oxygen, carbon, neon and iron.

31. 31
The Sun is a G-type main-sequence star (G2V) based on spectral class and it
is informally referred to as a yellow dwarf. It formed approximately 4.6
billion years ago from the gravitational collapse of matter within a region of a
large molecular cloud. Most of this matter gathered in the centre, whereas the
rest flattened into an orbiting disk that became the Solar System. The central
mass became increasingly hot and dense, eventually initiating nuclear
fusion in its core. It is thought that almost all stars form by this process.
Solar energy is radiant light and heat from the Sun harnessed using a range of
ever-evolving technologies such as solar heating, photovoltaics, solar thermal
energy, solar architecture and artificial photosynthesis.
It is an important source of renewable energy and its technologies are broadly
characterized as either passive solar or active solar depending on the way they
capture and distribute solar energy or convert it into solar power. Active solar
techniques include the use of photovoltaic systems, concentrated solar
power and solar water heating to harness the energy. Passive solar techniques
include orienting a building to the Sun, selecting materials with favourable thermal
mass or light dispersing properties, and designing spaces that naturally circulate
air.
The large magnitude of solar energy available makes it a highly appealing source
of electricity. The United Nations Development Programme in its 2000 World
Energy Assessment found that the annual potential of solar energy was 1,575–
49,837 exajoules (EJ). This is several times larger than the total world energy
consumption, which was 559.8 EJ in 2012.

32. 32
4.a2. Solar Panel with Charge Controller
The amount of electrical energy requirement is increasing rapidly with the
population growth and technology development. There are ways for
generating electrical energy using renewable and non-renewable energy
sources. Multiple advantages of solar energy are the key factors behind the
usage of solar energy for various purposes. It can be used for generating
electrical power with the help of solar panels and for storing the electrical
energy by charging the batteries or feeding into loads.
4.a3. Maximum Power Point Tracking technology (MPPT)
It is a most efficient method among various solar charge controllers such as
simple 1 or 2 stage controls, PWM control and MPPT charge controller.
Primarily consider a non-MPPT solar charge controller and don’t get confused
with sun tracking solar panel and solar charge controller. The sun tracking
solar panel is used to track the sun by mounting the solar panel on a motor
board such that maximum solar energy can be used during the day time. By
using this sun tracking solar panel system, we can increase the output by 15%
in winter and 35% in summer. The blow figure shows the block diagram of sun
tracking solar panel that consists of a dummy solar panel, a power supply
circuit, a microcontroller for controlling ULN2003A driver and stepper motor for
rotating the solar panel.

33. 33
Figure-12 Circuit Diagram

34. 34
4.b. Calculation
Taking Max. Speed of wheel chair as = 30 km/hr
RPM of shaft wheel(let say N) = 30X1000 = 3.14X 0.40XN
60X60 60
RPM = 398.8 = 400(approx.)
Power = 2X3.14 NT
60
Weight(on each wheel) = 60X9.81 = 588.6N
Torque = 588.6X1.5X10
-2
= 8.82 Nm
Power = 2x3.14 x400 x 8.82= 370
60
= 0.5 Hp
Energy of Battery = 960 Whr
Time of Charging = 960 = 2.60 Hrs
370
Solar Panel Calculation
Total voltage of solar panel = 18 volts
Amperage of it = 5.5 to 6 Amp.
Power of Panel = Vx I= 18 x 5.5 = 99 Watt
= 100(Approx.)

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Based on these Calculation , Specification are
• Size: 65x45x150
• Steering/Drive system: Handle Bar
• Height: 150cm
• Weight with System: 30-40 kg
• Seat: Cushioned
• Speed: 20-30 kmph
• Braking system: disc brake
Distance per fully charge: 77.8km
• Maximum load/weight capacity: 80 kg
• Tire size: 50 cm (bigger wheel)
18 cm (smaller wheel)
• Solar Panel: 100 Watts(16.2 V, 6 amps)
• Batteries: lead acid battery, 12 V- 80 A-hr.
• Motor: 0.5 HP(DC)
• Charge controller: Solar based Multi Point Power Tracking (MPPT)

36. 36
CHAPTER -5
FABRICATION STEPS
• STEP 1– Frame Preparation
• STEP 2– Installation of front and rear wheels.
• STEP 3– Steering Mechanism
• STEP 4– Braking Mechanism
• STEP 5– Installation of Motor and Battery
• STEP 6– Mounting of Solar panel at head of wheel chair
5.a. Step1-Frame Preparation
The frame is that most important part which holds all components used to control
them and convert them into an important and usable machine or device.
Typically, a wheelchair consists of four wheels: two large wheels in the rear, which
are used for propelling the wheelchair, and two small wheels in the front, which
swivel and are called casters. The large wheels support the majority of the
individual’s weight and provide the primary means of propulsion. The casters
facilitate manuverability. Traditionally, wheelchairs are divided into two categories:
manual and electric-powered. Those categories are defined by the mechanism
used to propel the wheelchair. A manual wheelchair is propelled by human power,
and an electric-powered wheelchair is propelled by an electrically based power
source (typically a battery and electrical motor).
A wheelchair is powered either by the individual using the wheelchair or by an
assistant. The most commonly recognized wheelchairs are seen at hospitals and
nursing homes. Individuals who have the strength and endurance to independently

37. 37
propel the wheelchair typically use manual wheelchairs. They can propel the
wheelchair in different ways. For instance, individuals with a spinal cord injury can
use their upper extremities. Individuals who have had a stroke that affects only one
side of the body can use one upper extremity and one lower extremity. Individuals
who have neither the strength to walk without a walker or cane nor the endurance
to walk with one can use their lower extremities. An assistant or attendant propels
the manual wheelchair when individuals cannot do it themselves.
Figure-13 Frame
Material
Another feature that distinguishes wheelchairs is the type of material used. Initially,
manufacturers used steel in all manual wheelchairs (primarily mild steel) because
of its low cost and ease of machinability. Later there were numerous advances in

38. 38
the materials used to manufacture wheelchairs. Most modern wheelchairs are
made using primarily steel, aluminum, and titanium.
Steel is limited to standard wheelchairs that have folding-frame mechanisms.
Aluminum is used throughout the wheelchair industry, primarily in ultralight
wheelchairs and some lightweight wheelchairs. Aluminum has a higher strength-to-
weight ratio than mild steel, thereby reducing the overall weight of the wheelchair,
and it has the added advantage of being resistant to corrosion.
Titanium has been used in ultralight manual wheelchairs, further reducing the weight
because of its high strength-to-weight ratio. Titanium also is resistant to corrosion. The
key limitations of titanium are its relatively high material costs compared with steel and
aluminum and the greater difficulty in machining or welding titanium.
Structure Raw Material below sheet-
Steel members with at least equal bending stiffness and bending strength to 1018
steel having a circular cross section with a 2.5 cm (1 inch) outer diameter and a
wall thickness of 3.05 mm (.120 inch). Reason behind selection is high strength to
weight ratio(55-60kN-m/kg) ,high tensile strength (470 MPa UTS,400 Mpa yield
strength)at low cost.
Structure material above sheet –
GI pipes with outer diameter 1.75 cm (0.5 inch) with thickness of 2 mm (.08 inch)
reason of selection is low weight per meter(0.947 kg/meter).

39. 39
5.b. Step2-Installation Of Front And Rear Wheels
The wheels are usually spooked (wired) or molded (mag). Wheel sizes usually
range from about 30 to 66 cm (12 to 26 inches) in diameter, depending on the
purpose of the wheelchair. Molded wheels have low maintenance requirements.
However, they are significantly heavier and less responsive than spooked wheels.
The casters range in size from about 7.6 to 23.8 cm (3 to 9 inches) in diameter,
with the majority falling in the 12.7- to 20.3-cm (5- to 8-inch) range. The caster tires
can be solid rubber or pneumatic but are limited to solid hub wheels.
5.c. Step 3– Steering Mechanism
Basically Ackermann steering mechanism with a handle bar operated, is been
adopted in the wheel chair. There are no. of turning pair in the system to control
the movement of wheel chair. Basic advantage of it is to avoid the need for tyres to
slip sideways when following the path around a curve. Reason of selecting this
steering mechanism is presence of all turning pairs which reduces wear and tear.
5.d. STEP 4– Braking Mechanism
We have used disc brake system. A Disc brake is a type of brake that uses
calipers to squeeze pair of pads against a disc in order to create friction that
retards the rotation of shaft, such as a vehicle axle, either to reduce its rotational
speed or hold it stationary. Disc brakes can generate and transfer greater amount
of heat to the atmosphere; because most of the friction area of a rotor is exposed
to air, cooling is far more rapid than for a drum brake. The faster cooling makes

40. 40
them better suited for high performance driving and reduces the likelihood of brake
fade.
Because of their shape, rotors tend to scrape off water more efficiently. Due to
their design, disc brakes are self-adjusting and do not need periodic maintenance.
5.e. Step 5– Installation Of Motor And Battery
Motor- .5 Hp power
RPM- 800 rpm at 22.5 torgue
Type- Brushless Direct current Motor( BLDC)
Battery- 12 volt
Figure-14 Motor and Battery Adjustment
5.f. Step 6– Mounting Of Solar Panel At Head Of Wheel Chair
After all fabrications we have mounted solar panel on top of the wheel chair to
provide it charging by the energy of sun.

41. 41
CHAPTER -6
MACHINES AND EQUIPMENTS USED
6.a. Bench Grinding machine
A grinding machine, often shortened to grinder, is any of various power tools or machine
tools used for grinding, which is a type of machining using an abrasive wheel as
the cutting tool. Each grain of abrasive on the wheel's surface cuts a small chip from the
workpiece via shear deformation. Grinding is used to finish workpieces that must show
high surface quality (e.g., low surface roughness) and high accuracy of shape and
dimension. As the accuracy in dimensions in grinding is on the order of 0.000025 mm, in
most applications it tends to be a finishing operation and removes comparatively little
metal, about 0.25 to 0.50 mm depth. However, there are some roughing applications in
which grinding removes high volumes of metal quite rapidly. Thus, grinding is a diverse
field.
Figure -15 Bench Grinder Machine

42. 42
6.b. Arc Welding Machine
Arc welding is a type of welding that uses a welding power supply to create
an electric arc between an electrode and the base material to melt the metals at
the welding point. They can use either direct (DC) or alternating (AC) current, and
consumable or non-consumable electrodes. The welding region is usually
protected by some type of shielding gas, vapour, or slag. Arc welding processes
may be manual, semi-automatic, or fully automated. First developed in the late part
of the 19th century, arc welding became commercially important in ship building
during the Second World War. Today it remains an important process for the
fabrication of steel structures and vehicles.
Figure-16 Arc Welding

43. 43
6.c. Angle grinder
An angle grinder, also known as a side grinder or disc grinder, is a handheld power
tool used for cutting, grinding and polishing. Angle grinders can be powered by
an electric motor, petrol engine or compressed air. The motor drives a geared head at
a right-angle on which is mounted an abrasive disc or a thinner cut-off disc, either of
which can be replaced when worn. Angle grinders typically have an adjustable guard
and a side-handle for two-handed operation. Certain angle grinders, depending on
their speed range, can be used as sanders, employing a sanding disc with a backing
pad or disc. The backing system is typically made of hard plastic, phenolic resin, or
medium-hard rubber depending on the amount of flexibility desired.
Figure-17 Angle Grinder

44. 44
6.d. Hand Grinder
It is also a kind of cutter but it has a base on which it is fixed and cutter can be
moved up or down depending upon the requirements.
Figure-18 Hand Grinder
6.e. Ratchet Wrench Box
A wrench (or spanner outside of North America) is a tool used to provide grip
and mechanical advantage in applying torque to turn objects—usually
rotary fasteners, such as nuts and bolts—or keep them from turning.
Figure -19 Ratchet Wrench Box

45. 45
6.f. Welding Rods
An electrode is an electrical conductor used to make contact with a non-metallic part
of a circuit (e.g. a semiconductor, an electrolyte, a vacuum or air). The word was
coined by ‘William Whewell’ at the request of the scientist Michael Faraday from
the Greek words Elektron, meaning amber (from which the word electricity is derived),
and hodos, a way.
Figure-20 Welding Rods
6.g. Bench Drill Machine
A drill is a tool fitted with a cutting tool attachment or driving tool attachment, usually
a drill bit or driver bit, used for boring holes in various materials or fastening various
materials together with the use of fasteners. The attachment is gripped by a chuck at
one end of the drill and rotated while pressed against the target material. The tip, and
sometimes edges, of the cutting tool does the work of cutting into the target material.
This may be slicing off thin shavings (twist drills or auger bits), grinding off small

46. 46
particles (oil drilling), crushing and removing pieces of the workpiece (SDS masonry
drill), countersinking, counter boring, or other operations.
Drills are commonly used in woodworking, metalworking, construction and do-it-
yourself projects. Specially designed drills are also used in medicine, space missions
and other applications. Drills are available with a wide variety of performance
characteristics, such as power and capacity.
Figure-21 Bench Drill Machine

47. 47
6.h. Pliers
Pliers are a hand tool used to hold objects firmly, possibly developed
from tongs used to handle hot metal in Bronze Age Europe. They are also useful
for bending and compressing a wide range of materials. Generally, pliers consist of
a pair of metal first-class levers joined at a fulcrum positioned closer to one end of
the levers, creating short jaws on one side of the fulcrum, and longer handles on
the other side. This arrangement creates a mechanical advantage, allowing
the force of the hand's grip to be amplified and focused on an object with precision.
The jaws can also be used to manipulate objects too small or unwieldy to be
manipulated with the fingers.
Figure-22 Pliers
6.I.Nut –Bolt Assembly
A nut is a type of fastener with a threaded hole. Nuts are almost always used opposite
a mating bolt to fasten a stack of parts together. The two partners are kept together by

48. 48
a combination of their threads' friction, a slight stretch of the bolt, and compression of
the parts. In applications where vibration or rotation may work a nut loose, various
locking mechanisms may be employed: Adhesives, safety pins or lock wire, nylon
inserts, or slightly oval-shaped threads. The most common shape is hexagonal, for
similar reasons as the bolt head - 6 sides give a good granularity of angles for a tool to
approach from (good in tight spots), but more (and smaller) corners would be
vulnerable to being rounded off. It takes only 1/6th of a rotation to obtain the next side
of the hexagon and grip is optimal. However polygons with more than 6 sides do not
give the requisite grip and polygons with less than 6 sides take more time to be given
a complete rotation. Other specialized shapes exist for certain needs, such as wing
nuts for finger adjustment and captive nuts for inaccessible areas.
A bolt is a form of threaded fastener with an external male thread. Bolts are thus
closely related to, and often confused with, screws.
Figure-23 Nut-Bolt Assembly

49. 49
CHAPTER 7
RESULTS AND DISCUSSIONS
To provide a cost effective mobility vehicle for the disabled, a solar powered wheel
chair is fabricated with the indigenous materials like iron bars, hub motors, casters,
bearings forks, accelerator and brakes. The wheel chair is powered by the
rechargeable battery of capacity 12V. A solar panel of 18V capacity is provided for
charging the battery on grid. The cost of the wheel chair is Rs.25000. The cost can
be further minimized by using optimization techniques and improved design
methodology. A right hand steering mechanism is provided, which can be even
made a left hand depending upon the requirement. The entire body of the wheel
chair is given a rust free coat and is painted in metallic silver to give aesthetic look.
The height of the solar frame can be adjusted by using the fasteners provided at
the back rest.

50. 50
CHAPTER 8
CONCLUSION AND FUTURE SCOPE
The prototype of autonomous wheelchairs based on commercially available
motorized wheelchairs have been built using behaviour-based AI. The initial
prototyping went very rapidly an the size of the software is significantly smaller
than control programs for similar vehicles operating in the real world environment
implemented using conventional AI and robotics methodologies. One of the chairs
is now capable of travelling to its indoor destinations using landmark-based
navigation.
The performance of the prototypes indicates there is a cautious possibility today to
build a functional intelligent wheelchair that is practical and helpful to people with
certain types and degrees of handicap.
This project involves the design of an ergonomically designed electric wheelchair
for domestic use by Indian old aged people. Ergonomically designed functionality
was the main focus in its structure and mechanism. The product covered 3
modules viz. seat, links and frame. Seat dimensions were calculated following the
Indian Anthropometric standards. The frame and wheels are designed and
developed through the mathematical calculations based upon from the statistical
data of dimensions of general person height in Indian market Survey . Form,
functionality, technology and architecture of the product are also evaluated. Digital
Mock ups of individual parts were developed using mathematical calculations. This
mechanism is simulated in virtual environment. The physical and focused
prototype indicating the structure and functionality is developed using thermocol

51. 51
material.
The photovoltaic cell uses sun light directly. The battery is charged with electricity
provided by the large photovoltaic cell installed on the setup roof. Hydrogen for the
fuel cell is generated by a water electrolysis hydrogen generator, which is also
powered by the same large photovoltaic cell on the building roof. The energy
control system selects the optimal energy source to use based on various driving
conditions.
It was confirmed from the experimental results that the wheelchair is able to work
mainly using the photovoltaic cell when good moving conditions are available (i.e.
abundant sun light, a flat and straight course, and low speed). The experimental
results demonstrate that the wheelchair is able to increase its moving distance.
When moving conditions are not optimal, the solar wheelchair uses energy from
the fuel cell and the battery.
Improvements to the energy control system such as charging to the battery from
the photovoltaic cell on the wheelchair roof, power increase using a capacitor.

52. 52
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