Bhivraj Suthar

Indian Institute of Technology Jodhpur | IITJ · School of Artificial Intelligence and Data Science

Twisted string actuators (TSAs) are gaining popularity in modern engineering and robotic applications. However, in conventional actuators of this type, the twisted part of the string should not be in contact with any surfaces or objects because this may interfere with the propagation of twisting. This imposes significant constraint on potential app...

The conventional scissor mechanism is used in modern engineering and robotic applications due to its metamorphic ability. The folding configuration provides the space-saving and unfolding provides longer linear expansion capability. However, a conventional scissor suffers unexpected and uncontrolled large bending deformation due to low bending stif...

The design and development of an upper limb exoskeleton are being discussed for the tele-operation in order to control the KUKA KR5 industrial robot. When sufficient resolution is not provided by the visual feedback, feedback of haptic provides a qualitative understanding of changes in the remote conditions. This also provides tactile feedback from...

This paper presents a feasible analysis of a foldable robot arm for drones (FRAD) for payload lifting without drone landing. The arm design is aimed to be light, foldable and energy-efficient. FRAD is designed with a scissor mechanism in a parallel arrangement actuated by a twisted string actuator (TSA) with a guide. The robot arm can fold, unfold,...

Robot hands with lower degree of freedom are used to reproduce the gesture of our hand, there are many gestures of our hand which cannot be reproduced in these hands. In this paper, we propose a design of anthropomorphic robot hand using twenty servo motor for twenty degree of freedoms which we can reproduce the exact and every gesture of our hand...

Through mechanization, automation, and intensification, there has been a substantial increase in agricultural production over time. The efficiency, reliability, and precision of agricultural equipment have improved significantly with automation, leading to a reduced dependency on human intervention. The surge in the adoption of agricultural robotic...

In this paper, a new type of robotic finger is introduced that uses a twisted string actuator (TSA) and modular passive return rotational (PPR) joints. The design is intended to be simple, compact, lightweight, and energy-efficient while producing high grasping force with a relatively small motor. The PPR joints are based on the beam-buckling princ...

Advances in technology, design, and manufacturing processes are leading to noticeable improvements in rehabilitation management. In this paper, we introduce MGlove-TS, an actuated soft glove based on twisted string actuators (TSAs) developed to assist and support individuals with hand impairments limiting active movements and grasping force in thei...

Supernumerary Robotic Limbs (SRLs) have become an effective method for assisting post-stroke patients in their daily life activities. However, conventional SRLs are constrained by functionality, wearability, and portability limitations, which are attributed to the presence of bulky robot actuators, gears, complex design, and high power consumption....

This review provides a comprehensive analysis of recent advancements in the development and applications of robotic fingers. The review focuses on four critical components: mechanism, actuation, sensor and control. A thorough literature search was conducted to identify and evaluate relevant studies, and the results were synthesized and analyzed to...

Through mechanization, automation, and intensification, there has been a substantial increase in agricultural production over time. The efficiency, reliability, and precision of agricultural equipment have improved significantly with automation, leading to a reduced dependency on human intervention. The surge in the adoption of agricultural robotic...

Twisted string actuation through a conduit enhances flexibility, one of the most important features of twisted string actuators (TSAs). It allows power transmission remotely along an arbitrary curved surface, such as the human body Exosuit, while avoiding interference with the natural movement of the wearer. However, TSAs on guided sliding surfaces...

The conventional sensor coupling of the sensor in an exoskeleton robot suffers from inaccurate human motion tracking due to irregular inertial loading on the sensor axis. It may cause sensor axis misalignment, performance degradation and damage the sensor permanently, especially in the multiple degrees of freedom (DOF) exoskeleton robot. In this pa...

A self-organising bidirectional fuzzy brain emotional learning (SO-BFBEL) controller is developed to control a quadcopter UAV in an uncertain environment. The proposed SO-BFBEL controller improves the performance of the existing BFBEL controller by generating more accurate fuzzy layers in real-time and removes the need to depend on expert knowledge...

This work presents the design, prototyping, and experimental evaluation of a parallel gripper with an optical mirroring mechanism based on the Periscope principle to enable vision-based sensing. The mechanism incorporates an optic system of three mirrors and a convex lens to transfer the grasping activity from the fingertip to a stationary camera p...

p> A bio-inspired novel CAT-leap parkour rolling mechanism (CPRM) is designed and developed for mobile robots. It was inspired by cat-leap jumping and monkey rolling motion. It enhanced the mobility of the mobile robot. Using CPRM, the robot can climb and cross unknown obstacles as well as perform locomotion. This mechanism protects the robot from...

p> A bio-inspired novel CAT-leap parkour rolling mechanism (CPRM) is designed and developed for mobile robots. It was inspired by cat-leap jumping and monkey rolling motion. It enhanced the mobility of the mobile robot. Using CPRM, the robot can climb and cross unknown obstacles as well as perform locomotion. This mechanism protects the robot from...

Tremor is an involuntary action and a common problem for elderly people and other age groups to perform daily activities. To assist those people in conducting daily activities, suppressing hand tremors is necessary. A flexure mechanism system can be placed as a tabletop device on which the elbow can be positioned to compensate for the tremor. Using...

The key component of computational intelligence is computational models and techniques that incorporate learning, adaptability, and/or heuristic optimization. Complex problems that conventional computer techniques cannot solve are handled with artificial intelligence. Neural networks, evolutionary computing, and fuzzy systems are the three main pri...

A new type of wearable robot is introduced to provide supplementary arms for assisting the worker's tasks. The supplementary arm is metamorphic called Foldable Robotic Arms for Collaboration (FRAC) to extend the operational degrees-of-freedom. FRAC provides additional two arms for a worker to augment the tasks with the environment where the additio...

This paper presents a new concept of supplementary arms for the collaborative task with a worker during a thin panel installation on the wall. Foldable robot arms for holding and installation (FRAHI) using scissor structure have been proposed as a new concept of the human-robot collaboration. The foldable and wearable FRAHI arm has been designed to...

This paper presents a novel design of a foldable scissor structure introducing twisting of scissor structure on each other to enhance bending strength of traditional scissor structure. The twisted-scissor structure (TSS) was built on designing S-shape links using a linkage design approach. TSS consists of a series of S-shape metamorphic segments (M...

Flexure mechanism in a robotic system can improve the accuracy to perform work and reduce the damage that may have encountered due to the sudden motion. In this paper a flexure mechanism is proposed for the end-effector of a foldable robot arm for a drone, designed and operated for a solar panel cleaning task. The proposed flexure mechanism provide...

A bio-inspired novel CAT-leap parkour rolling mechanism (CPRM) is designed and developed for mobile robots. It was inspired by cat-leap jumping and monkey rolling motion. It enhanced the mobility of the mobile robot. Using CPRM, the robot can climb and cross unknown obstacles as well as perform locomotion. This mechanism protects the robot from une...

Health-related limitations prohibit a human from working in hazardous environments, due to which cognitive robots are needed to work there. A robot cannot learn the spatial semantics of the environment or object, which hinders the robot from interacting with the working environment. To overcome this problem, in this work, an agent is computationall...

In this paper is proposed a variable-radius pulley (VRP) to linearize input-output behavior of twisted string actuators (TSA). With the help of a VRP, it is possible to make the inherently nonlinear transmission ratio of twisted string constant. This enables design of bidirectional transmission systems driven by a single motor, much like is done in...

Numerous studies have been conducted to develop a tactile device for providing convincing tactile feedback. However, most of the devices are limited in portability, and restricted to delivering either texture information with vibration cues or contact orientation with force feedback. To the best of our knowledge, there has been no wearable tactile...

Twisted string actuators are widely used in different areas of robotics, however, their lifetime remains one of the main concerns for robotics. There are no comprehensive studies that relate the lifetime of a twisted string to its material properties and operation conditions, which can be important to improve the life cycle. This paper provides pre...

The twisted string actuator is an actuator that is gaining popularity in various engineering and robotics and applications. However, the fundamental limitation of actuators of this type is the uni-directional action, meaning that the actuator can contract but requires external power to return to its initial state. This paper proposes 2 novel passiv...

This paper aims at removing noise/jitters with the help of Kalman filter technique. The application being considered is that of an industrial robot KUKA KR-5 to be remotely controlled by an exoskeleton. The exoskeleton is a wearable device, which senses the motion of the human limb, through the various sensors and potentiometers embedded in the des...

Peg in a hole operation using an upper arm Exoskeleton is being used as master for tele-operation in order to control KUKA KR5 robot [slave] using Immersive Environment as visual feedback for the operator. Design and implementation issues for this task have been discussed. Communication between the subsystems is achieved using the UDP protocol form...

This paper aims at removing noise/jitters with the help of Kalman filter technique. The application being considered is that of an industrial robot KUKA KR-5 to be remotely controlled by an exoskeleton. The exoskeleton is a wearable device, which senses the motion of the human limb, through the various sensors and potentiometers embedded in the des...

In this article, we demonstrate how intervention using basic technology has improved the manufacturing of the beads from the stems of Holy Basil (Tulasi). This has helped the convenience, productivity and income of those women in the villages who typically make the beads in the Brij area (Mathura, Brindavan and nearby districts) of Rajasthan state...

We have developed Arm Exoskeleton and while doing tele-operation with KUKA KR5, we encounter jittering of KUKA robot due to noise introduced by exoskeleton. We acquire data from the sensors which noisy in nature. The application of median filter has been investigated. Median filter performs spatial processing to preserve detail and smooth non-impul...

Haptic feedback provides the operator with a qualitative understanding of changes in the remote environment, especially in situations where visual feedback does not have sufficient resolution. The target is to use the reaction forces sensed by an industrial manipulator to guide peg insertion tasks. Realization of a haptic interface provides tactile...

An upper limb exoskeleton is being used as master for teleoperation designed to control KUKA KR5 robot that is not directly accessible. Design and implementation issues for this task have been discussed. The connectivity is through .NET remoting, gravity balancing with springs and compacts solutions for alignments of collocated shafts have been ach...

Open chain serial manipulators can be made closed chain via specific ground interaction tasks. One of such task is used to here to calibrate a wearable exoskeleton (made for a Tele-operation project). Parametric identification is used to estimate DH parameters which change as the exoskeleton is reconfigured to a new user. VBA API of Autodesk Invent...