CHAPTER-1
INTRODUCTION
1.1BACKGROUND OF THE PROBLEM
The elderly often forget when they need to take their meds and
especially those with dementia even forget they need to take them.
Failure to take prescribed medications on time can result in severe health
problems and relations. Current reminder systems like alarms or
smartphone applications are not portable or need user activities that are
not an option for many seniors who have mobility or hearing disabilities.
For this purpose, a robot making a human follow whenever possible and
informing by a buzzer, LED light and LCD display has been proposed in
a simple way to the extent it is not trapped. This avoided the reliance on
others to pass messages around or to remember to take the medication as
this was delivered straight to the user to encourage independent
adherence and reduce risk to health.
1.2 EXISTING SYSTEM
Various systems have been conceived to aid patients, particularly
elderly patients, to take their medications in a timely manner. Some popular
solutions to this problem are alarm-based dispensers and wearables. Such
systems are often activated by time-triggered notifications that are time-
based and the user has to be at a specific location or engage device
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functionality.
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Where practical for some users, they do little good for individuals with
mobility disabilities, hearing impairments, or cognitive decline . The Human-
Follower Robot has been investigated in other contexts such as service robots
in hospital perimeters and in retail settings with shopping assistants. Such
robots employ sensors such as infrared (IR), ultrasonic, and vision-based
sensors to identify and track a human target. Nonetheless, the majority of
these robots are created for a purpose of navigation or object transportation,
but not particularly for health/medicine reminders. At present, there are few
systems that combine human following and medical assistance reminding.
This gap demonstrates the necessity for a compound solution of mobility and
real-time medicine alerts for the elderly in their home. In addition to these
conventional systems, some smart home solutions have integrated voice
assistants like Amazon Alexa or Google Home to issue medication reminders
through audio prompts. While convenient, these solutions are still largely
dependent on the user being in range of the device and having the cognitive or
auditory capacity to respond.Furthermore, most of these systems lack real-
time tracking, making them ineffective for users who frequently move around
their living spaces. Therefore, while elements of reminder systems and
human-following robots exist independently, the integration of these two
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functionalities into a single, user-friendly mobile unit remains underexplored.
The need for a cost-effective, assistive robot that can follow the user and deliver timely,
context-aware medicine reminders in a home setting is both clear and urgent.
1.3 LIMITATIONS OF EXISTING SYSTEMS
LACK OF MOBILITY: Most reminder systems are fixed in one place, such
as wall-mounted alarms or table-top pill dispensers. Users must be near the
device to receive alerts, which is not practical for those who move around
frequently.
DEPENDENCE ON MANUAL INTERACTION : Many systems require the user to
press buttons, check notifications, or interact with a mobile application. This can be
challenging for senior citizens with limited technical knowledge or physical difficulties.
NO REAL-TIME TRACKING : Traditional systems do not track
the user’s movement, making it easy for reminders to be missed if the
user is not within hearing or viewing range of the device.
LIMITED ALERT MECHANISIMS : Some systems rely only
on sound or screen-based notifications, which may not be sufficient
for users with hearing or vision impairments.
LACK OF PERSONALIZATION AND ENGAGEMENT : Existing
devices do not adapt to the user’s location or needs, reducing their
ability to consistently deliver reminders in an engaging and accessible
way
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1.4 PROPOSED SYSTEM
To address these deficiencies and mitigate these challenges, a
specialized medibot, 'Medibot' has been designed that adhere to the
requirements of the elderly in managing their medication schedule.
Infrared (IR) and ultrasonic sensors allow the robot to locate and track
the user in a home environment. This guarantees the reminder system is
near the user all the time wherever they are.The robot can remind the
user to take a medicine by light- emitting diode (LED) lights, buzzer
alarms, and a liquid crystal display (LCD) screen. Buzzer: the user can
hear the blessing from the mini device, The LED light is the reminder of
the device. LCD: it Shows the correct time and dosage to the user. The
simple, non-intrusive notification methods are convenient for the elderly
.The device works on a set schedule and involvement from the user is
minimal, thus allowing for ease of use by elderly suffering from
dementia, mobility disabilities, or people who simply have limited
technical ability. The proposed system also facilitates medication
adherence and independent living for the elderly by integrating mobility
and multimodal alerts.
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CHAPTER -2
LITERATURE
SURVEY
Related Work on Medicine Reminder Systems
Several research and system developments also have been investigated in the area of healthcare
robotics and assistive technology, especially medicine reminder systems for elderly people .Some
medicine reminder systems employ rigid alarm-based pillboxes, notifying the users at fixed
moments. However, such systems are not mobile and are useless if the user is not close to the
device when the alarm triggers. There are phone apps for sending medication reminders (in the
form of push notifications) as well, but that requires There are many human-following robots
in the domain, like the shopping assistant, the service deliverer,and the patient monitor. The
robots in general incorporate infrared or ultrasonic devices to locate and track a person. But the
reminder functions of medical are seldom integrated in such systems. Most previous hu-
following robots concentrate on following and interaction, and few of them are concerned with
medical care .Recently the integration of sensors and microcontrollers such as Arduino has
been studied 36 in the automation of home environments. These works have a component of the
project in terms of basic alerts (buzzers or displays), while none of them has them all combined
in a system that follows a person around and is to be used for medication reminders in the context
of a simple and accessible device.
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2.1 SUMMARY
Based on the review of the systems and research, the available
systems are incomplete in regard to a comprehensive system
allowing tracking, mobility, and real-time medication reminders.
The majority of current models are rigid structures, too sophisticated
for the elderly, or not healthcare-oriented. This gap is what makes
the idea of a human-following robot equipped with uncomplicated
audio-visual alert systems to help elderly people get their medication
reminders on time (in a non-intrusive manner) a necessity today.
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CHAPTER-3
METHODOLOGY
3.1 INTRODUCTION
The procedure used in this paper consists of the design, development,
and application of a mobile robot to follow a human user that returns
reminders on taking medicine through simple yet effective alert means.
In human detection and tracking, the approach adopts the infrared and
ultrasonic sensors. A microcontroller encodes the sensor signal and
operates the buzzer, LED, and LCD to generate a warning signal at
predetermined times. It is justified by the development of both the
hardware and software parts of the robots in order to make them work in
an independent and efficient manner at home. The process of developing
such a system comprises the system architecture design, the component
selection, the control logic programming, and both accuracy and
reliability testing in a number of real-life conditions.
3.2 BLOCK DIAGRAM
Power Arduino RTC
Supply microcontroller IR Module
Sensors/Camera
LCD Ultrasonic
Display Sensor
Buzzer &
Speaker
Figure 3.1 BLOCK
DIAGRAM
Figure 3.1 represents the system of medibot
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1. Power Supply : Provides electrical energy to all components in the
system, including the Arduino microcontroller, sensors, and output
devices.
2. Arduino Microcontroller : Acts as the brain of the robot. It receives
input signals from sensors and RTC, processes the data, and controls
output devices like the buzzer, LED, LCD, and medicine dispenser.
3. IR Sensor / Camera : Detects human presence or movement by
identifying infrared radiation emitted by the body. This helps the robot
follow the user.
4. Ultrasonic Sensor : Measures the distance between the robot and the
person, ensuring the robot maintains an appropriate following
distance.
5. RTC (Real-Time Clock) Module : Provides accurate timekeeping to trigger
reminders at scheduled medication times.
6. LCD Display : Displays messages like the current time, reminder alerts, or
medicine details to the user.
7. Buzzer & Speaker : Emits sound alerts at scheduled times to remind
the user to take their medicine. (In your robot, only a buzzer is used—so
this part may need slight editing.)
8. Medicine Dispenser : Automatically releases the prescribed dose
of medicine when a reminder is triggered (if implemented).
9. Wireless Module : Enables wireless communication (e.g., for remote
monitoring or updates from a caregiver app, if included)
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Figure:3.2 CIRCUIT DIAGRAM
3.3 CIRCUIT DIAGRAM
The circuit diagram of medibot integrates multiple components with an
Arduino Uno microcontroller at its core. An ultrasonic sensor and IR sensor are
connected to detect the presence and distance of the user, enabling the robot to
follow them accurately. The movement is managed through an L298N motor
driver, which controls four DC motors connected to the robot’s wheels. A Real-
Time Clock (RTC) module keeps track of time to trigger medicine reminders at
scheduled intervals. These reminders are conveyed through a buzzer and
displayed on a 16x2 LCD screen connected via an I2C interface for efficient
communication. The entire system is powered by a battery pack, with
interconnections made using a breadboard and jumper wires to ensure proper
signal flow and component integration.
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CHAPTER 4
COMPONENTS
1. HARDWARE COMPONENTS
4.1.1 Arduino Uno:
The Arduino Uno is a microcontroller board based on the ATmega328P. It is
the brain of the robot, and just like our brain, it processes every type of input
and output. It reads the sensors (IR and ultrasonic), drives the motors with a
motor driver, triggers output devices such as the buzzer and LED as a reminder
tool, and displays messages on the LCD screen.
Specifications:
Microcontroller: ATmega328P
Operating Voltage: 5V
Input Voltage (recommended): 7–12V
Digital I/O Pins: 14 (6 with PWM)
Analog Input Pins: 6
Clock Speed: 16 MHz
Flash Memory: 32
KB SRAM: 2 KB
EEPROM: 1 KB
USB Interface: Type B
Figure 4.1 Arduino Uno
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4.1.2 Motor Driver Shield:
The motor driver shield is employed to drive the BO motors of the
robot. It accepts PWM signals from the Arduino and controls the
motors. It can be used to control the direction of the DC motor and the
speed of the DC motor.
Specifications:
Controls 2 DC motors
It allows you to control motor speed and direction.
Compatible with Arduino Uno
Figure:4.2 Motor Driver Shield
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4.1.3 BO Motor and Wheel
BO (Battery Operated) motor- A DC motor that is of small size and provides a
medium of power. In the present work mobility to the robot is provided by two BO
motors.
Specifications:
Operating Voltage: 3V–12V
RPM: 100–300 (model-specific)
Shaft Diameter: 6 mm
Torque: Moderate for lightweight robots
Figure:4.3 BO Motor and Wheel
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4.1.4 Ultrasonic Sensor (HC-SR04):
An ultrasonic sensor measures the distance between the robot and the
user. It enables the robot to keep up with the person while keeping a
safe distance.
Specifications:
Operating Voltage: 5V
Measuring Range: 2cm – 400cm
Accuracy: ±3mm
Figure:4.4 Ultrasonic Sensor (HC-SR0
4.1.5 Servo
Motor:
The servo is utilized to directionally control sensors or
components, for example, turning the ultrasonic sensor to
survey the area for user detection
.Specifications:
Operating Voltage: 4.8V–6V
Rotation: 0° to 180°
Torque: 1.8 kg-cm (typical for SG90 micro servos)
Figure:4.5 Servo Motor
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4.1.6 IR Sensor
IR sensors are employed to determine whether the human body or obstacles
are present. They’re used in this robot to help the robot sense humans to
follow.
Specifications:
Operating Voltage: 3.3V–5V
Detection Range: 2cm – 30cm
Figure:4.6 IR Sensor
Digital output HIGH/LOW depending on whether it detects something or not
4.1.7 18650 Battery
The whole robot is driven by a 18650 Li-ion battery. It serves up enough
voltage and current to power motors, sensors, and the Arduino.
Specifications:
Voltage: 3.7V（single cell ）
Capacity: 2000–3000mAh
Rechargeable: Yes
Figure:4.7 18650 Battery
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Configuration: Multiple cells can be connected for required voltage
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4.1.8 LCD Display (16x2)
The 16x2 LCD is for the display of reminder messages and time. It's connected
to the Arduino and displays information such as the medicine schedule and
alerts.
Specifications:
Display Mode: 16 characters/2 lines
Operating Voltage: 5V
Interface: Parallel (4-bit or 8-bit)
Custom Character Support: Yes
Figure:4.8 LCD Display (16x2)
4.1.9 Real-Time Clock (RTC) Module
The RTC module is used to keep the time of the real-time clock to prompt a
medicine reminder time.
Specifications:
IC Used: DS1307/DS3231
Operating Voltage: 3.3V–5V
Interface: I2C
Battery Backup: Yes
Figure:4.9 Real-Time Clock (RTC) Module
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4.1.10 LED
LEDs serve as an indication light for reminders. They light up when it’s time
to take medication.
Specifications:
Color: Red/Green
Forward Voltage: ~2V
Current: 10–20mA
Figure:4.10 LED
The resistor is joined to the GPIO pin.
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4.2 SOFTWARE REQUIRED
4.2.1 Arduino IDE
Arduino IDE is an acronym for “Integrated Development Environment”.
It is a software developed by Arduino’s official. Cc and it's primarily for
editing, compiling, and uploading your sketches to your Arduino board. It is
compatible with a number of Arduino modules and an easy to program
environment for embedded system . Arduino IDE is an open-source software
that is primarily used for writing and uploading the computer code to the
physical board.
That cuts through the complexity of code compiling, so even beginners coming
into it without existing technical know-how will quickly catch on.
It is available for most OS such as Windows, MAC, Linux, etc. It is based on
Java and includes built-in debugging features, compiling, and uploading
functions.
It is compatible with several Arduino modules like Arduino Uno, Arduino
Mega, Arduino Nano, etc.
Every Arduino has a microcontroller in there which will be fed the program
through the IDE in the form of a compiled Hex file.
A Hex file is created by the IDE after compiling the code, and this file is
uploaded to the microcontroller.
The environment consists primarily of two fundamental components:
Editor- For writing and editing the code
Compiler: It is the software that compiles and uploads the code.
C and C++ languages are used in programming Arduino modules using the
Arduino IDE.
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Software Download
You can get the Arduino IDE from the Arduino Website. Users should
choose the appropriate version according to the computer's operating
system.
IDE Structure
The IDE atmosphere is divided into three major parts:
Menu Bar – Contains menus such as File, Edit, Sketch, Tools, and Help
Text Editor – The place where you type the code (sketch)
Output Pane – Event and status messages like error messages and upload
status
Menu Bar Options:
File – To start a new sketch or open a saved project
Edit – For copying, pasting code, and formatting code
Sketch – That’s the software we used to compile and upload the code to the
Arduino.
Tools \textendash Board, port , and programmer selectors
Help - Documentation, troubleshooting, and first steps.
Serial Monitor:
The Serial Monitor is a place where you can receive serial data sent by an
Arduino and send serial data to an Arduino.
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You can open it from the menu, by Tools> Serial Monitor, or with the
shortcut Ctrl + Shift + M.
It’s useful for diagnostics to see how the program runs in real time.
An appropriate baud rate needs to be selected according to the Arduino Board
setup.
Program Structure:
Making my statements and things: Create objects/initialize variables to later
use in your sketch.
Examples: Classes and objects are created to call library functions.
Setup (): It is called only when the board is powered or reset. Here we can set
the modes of the pins, initialize variables, and classes.
Loop(): The center of any Arduino sketch. It is called continuously after
setup() and contains the code to be run.
Serial Plotter:
Arduino IDE also provides a Serial Plotter tool with which real-time data
are displayed as a graph.
It can be used to quickly look at data patterns, wave forms, and sensor
outputs.
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4.2.2 Embedded C
Embedded C Embedded C extends the C programming language to develop
applications for embedded systems with a microcontroller. The core part of
the logic that drives the robot's sensors, motors, and other components is coded
in Embedded C with the help of the Arduino platform.
Embedded C is a high-level programming language that is used
in microcontroller-based design.
It is written in C but built with hardware access in mind.
Logic for reading sensor values, controlling the motor direction, displaying the
message on the command module and setting the reminders is written in
Embedded C.
It has hardware-level features like accessing a register directly, bit
manipulation, peripheral interfacing etc.
Embedded C allows efficient use of memory and resources, making it suitable
for real-time systems like robotics.
The programming follows a modular structure including functions, variables,
loops, and conditionals, which simplifies debugging and system testing.
Embedded C Program Structure:
Header Files: Contains the necessary libraries like Servo. h, LiquidCrystal. h,
and Wire.
hGlobal Declarations: Declare pin numbers, constants, and global variables
Setup(): Set up the hardware, start the sensors, and or modules
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Loop(){}: Main functionality such as reading of sensors, motor control ,
and timekeeper for reminders.
Embedded C has become more and more important in the embedded system field,
it allows software to interact with hardware smoothly.
This project will be using embedded C code created within the Arduino IDE to
program the microcontroller.
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CHAPTER-5
5.RESULTS AND DISCUSSION
The human following medicine reminder robot has so been developed and
tested to confirm its applicableness to the elderly and the visually impaired
from the results: that the robot follows its master and gives a voice warning
message at a right time, while carrying medicine. The model is comprised of
ultrasonic sensors for obstacle avoidance, IR sensors for line following and
person-following, RTC module for time-based notifications, LCD for
displaying alert messages for taking medicine.
The functionality of the robot was verified in various indoor spaces. The
following main features were tested:
Follow-me feature with IR sensor and motor control
Prompt medicine reminder through the RTC and LCD display
Audio or LED for visual feedback
Ultrasonic sensor based on real-time obstacle avoidance
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Table 5.1: Funct.ional Test Results of the Robot
Test No. Function Tested Expected Behavior Observed Status
Behavior
1 Person following Robot should follow Successfully Pass
a person within IR followed within
range 0.5-1.5m range
2 Obstacle detection Robot should stop Detected and Pass
or avoid obstacles stopped/redirect
ahead ed accordingly
3 Time based Display and alert at Displayed correct Pass
medicine remainder pre set medicine reminder and
time LED alerted
4 LCD Display output Should display user- Displayed correct Pass
friendly medicine reminder and
message LED alerted
5 Battery Should work for 2-3 Worked for Pass
performance hours on full charge approx. 2.5
hours
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CHAPTER-6
CONCLUSION
The Human-Following Medicine Reminder Robot is an effective
assistive technology aimed at improving patient care, especially for the
elderly and chronically ill. By combining mobility with real-time
medicine reminders, the robot ensures that patients receive timely alerts
regardless of their location within the home. Using components like the
Arduino Uno, RTC module, LCD display, and ultrasonic sensors, the
robot intelligently follows the user while avoiding obstacles, making it
both functional and user-friendly. This system reduces the risk of missed
medications and enhances independence in daily healthcare routines.
With further development, it has the potential to be a valuable tool in
home- based healthcare support systems.
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