An assistance system for providing medical aid to differentially abled people has been presented in this paper. It is controlled by wireless gestures. The gesture is detected by a sensor (accelerometer) and it is responsible for controlling the robot that provides assistance and a wireless command will be given by a microcontroller which depends on the value of a sensor for moving it to the particular location. The whole process is divided into two parts: a circuit for transmission and another for receiving. The association of a part to a patient is one of the most important part of a medical assistance system and transmission circuit in this case is wearable. Thus it is easy to use. This project uses Arduino Lilypad for enabling a transmitting circuit to be wearable and it is the chief controlling microcontroller. This circuit is worn on that part of the body of a patient which is intended for making a gesture. The wireless transmission of data is done by RF module and Arduino IDE.na is used for programming.