A5016079038- Robotic Locomotion and Control
- Robotic Path Planning Algorithms
- Robot Manipulation and Learning
- Prosthetics and Rehabilitation Robotics
- Muscle activation and electromyography studies
- Robotics and Sensor-Based Localization
- EEG and Brain-Computer Interfaces
- Control and Dynamics of Mobile Robots
- Soft Robotics and Applications
- Stroke Rehabilitation and Recovery
- Advanced Sensor and Energy Harvesting Materials
- Robotic Mechanisms and Dynamics
- Dielectric materials and actuators
- Modular Robots and Swarm Intelligence
- Advanced Vision and Imaging
- Gaze Tracking and Assistive Technology
- Tactile and Sensory Interactions
- Advanced Optical Sensing Technologies
- Soil Mechanics and Vehicle Dynamics
- Vibration Control and Rheological Fluids
- Optical measurement and interference techniques
- 3D Surveying and Cultural Heritage
- Nuclear Engineering Thermal-Hydraulics
- Ergonomics and Musculoskeletal Disorders
- Motor Control and Adaptation
Indian Institute of Technology Kanpur
2015-2024
Bhabha Atomic Research Centre
2002-2024
Nepal Medical College Teaching Hospital
2018-2024
Malaviya National Institute of Technology Jaipur
2019-2021
University of Ulster
2018
California State University, Fresno
2018
University of Essex
2018
Indian Institute of Technology Indore
2011-2013
Nagoya University
2007-2008
Akita University
2002-2003
Appropriately combining mental practice (MP) and physical (PP) in a post-stroke rehabilitation is critical for ensuring substantially positive outcome.Here we present protocol incorporating separate active PP stage followed by MP stage, using hand exoskeleton brain-computer interface (BCI).The was mediated force sensor feedback based assist-as-needed control strategy, whereas the provided BCI multimodal neurofeedback anthropomorphic visual proprioceptive of impaired extension attempt.A 6...
Common spatial pattern (CSP) is a widely used method for feature extraction in motor imagery (MI)-based brain–computer interface (BCI) development. However, the performance of traditional CSP features often lacks robustness against intersession and intersubject variabilities present MI-related electroencephalogram (EEG) signals. To address this limitation, we propose novel approach to CSP-based extraction, combining spectral information obtained from Welch power-spectrum (PS) estimation with...
A major issue in electroencephalogram (EEG)-based brain-computer interfaces (BCIs) is the intrinsic nonstationarities brain waves, which may degrade performance of classifier, while transitioning from calibration to feedback generation phase. The nonstationary nature EEG data cause its input probability distribution vary over time, often appear as a covariate shift. To adapt shift, we had proposed an adaptive learning method our previous work and tested it on offline standard datasets. This...
Abstract Humanoid robots are highly redundant, and finding whole-body optimal trajectories for various tasks is very complex. This paper proposes a method to find an energy-optimal, dynamically balanced, collision-free trajectory of the 20 degrees freedom humanoid robot in pick place application. The task divided into three subtasks using Pseudoinverse Jacobian redundancy resolution. end effector represented by $\mathcal {T}_1$ , hip {T}_2$ maximizing manipulability {T}_3$ . coupled with...
Abstract In the case of manipulators actuated by unidirectional Pneumatic Artificial Muscles (PAMs) and passive restoring springs, system parameters spring stiffness affect reachable workspace dynamic manipulability. A two-link planar manipulator PAMs springs was designed fabricated to analyze limitations on its Kinematic analysis forward dynamics simulations show influence such as pre-stretch, trajectory tracking performance. Simulation results prove motion ability a with in certain regions...
Patients suffering from loss of hand functions caused by stroke and other spinal cord injuries have driven a surge in the development wearable assistive devices recent years. In this paper, we present system made up low-profile, optimally designed finger exoskeleton continuously controlled user's surface electromyographic (sEMG) signals. The mechanical design is based on an optimal four-bar linkage that can model finger's irregular trajectory due to varying lengths changing instantaneous...
The authors studied 10 men charged with patricide, including 2 both patricide and matricide compared them schizophrenic patients who did not commit any crime. Eight committed were diagnosed as suffering from illness received a diagnosis of personality-disorder. Seven schizophrenics personality-disordered had cruel unusual relationship their father. All single at the time patricide. EMBU inventory revealed fathers to be more punitive than mothers favoured siblings patients. Mothers...
This paper reports on the development of a new lower limb prosthesis that can change its volume and hardness based users requirements. The size viscosity several Magneto-Rheological fluid filled bags, fixed inner side socket is changed, in order to vary properties. TSB (total surface bearing) sockets have been most selling ones during these two decades. From user's point view, it excellent this type weight user supported with entire surface. However, impossible cope stump. Experimental...
This paper presents the behavior of two finger based micro gripper which is made Ionic Polymer Metal Composite (IPMC), an Electro Active (EAP). An IPMC shows great potential as high-displacement and light weight actuator. Low mass force generation capability utilized for gripping in assembly. responds to low voltage range 0-3V. The material contains electrolyte transport ions response external electric field. actuation produced by deflecting according bending moment theory. field generated...
Virtual keyboard applications and alternative communication devices provide new means of to assist disabled people. To date, virtual optimization schemes based on script-specific information, along with multimodal input access facility, are limited. In this paper, we propose a novel method for optimizing the position displayed items gaze-controlled tree-based menu selection systems by considering combination letter frequency command time. The optimized graphical user interface layout has...
Brain-machine interface (BMI)-driven robot-assisted neurorehabilitation intervention has demonstrated improvement in upper-limb (UL) motor function, specifically, with post-stroke hemiparetic patients. However, neurophysiological patterns related to such interventions are not well understood. This paper examined the longitudinal changes band-limited resting-state (RS) functional connectivity (FC) networks association UL recovery achieved by a multimodal involving attempt (MA)-based BMI and...
SUMMARY This paper deals with the design and implementation of a visual kinematic control scheme for redundant manipulator. The inverse map manipulator is one-to-many relation problem; i.e. each Cartesian position, multiple joint angle vectors are associated. When this learnt using existing learning schemes, single solution achieved, although redundant. Thus new redundancy preserving network based on self-organizing (SOM) has been proposed to learn sub-clustering in space. SOM resolves three...
This paper presents an underactuated design of a robotic hand exoskeleton, and challenge based neurorehabilitation strategy. The exoskeleton is designed to reproduce natural human fingertip paths during extension grasping, keeping minimal kinematic complexity. It facilitates impedance adaptation trigged assistance control strategy by switching between active non-assist passive modes. In the mode, motion follows applied forces on model. If are inadequate, mode triggered. parameters updated at...
This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-fingered hand exoskeleton intended for rehabilitation purposes. The is designed to track human digit motion accurately. As joint cannot be modeled by single revolute due instantaneously varying center rotation, 4-bar mechanism employed model each phalanx finger. Optimal linkages are minimizing error between Cartesian trajectories those coupler points in respective mechanisms. It demonstrated that...