Jyotindra Narayan

Imperial College London | Imperial

This work aims to estimate the lower-limb joint angles in the sagittal plane using Microsoft Kinect-based experimental setup and apply an efficient machine learning technique for predicting the same based on kinematic, spatiotemporal and biological parameters. Ten healthy participants from 19-50 years (33 ± 11.24 years) were asked to walk in front...

In this article, an adaptive tracking control strategy is designed for uncertain electrically driven end-effector type upper-limb rehabilitation robots subject to an input delay and a limited bandwidth channel. This control scheme is implemented to perform upper-limb passive rehabilitation training for different subjects. Primarily, dynamic analysi...

During active-assist rehabilitation mode, the patient started to interact with lower-limb exoskeleton by applying the recovered muscle strength which demands a cooperative control strategy based on the outer and inner loop control scheme. This work proposes a such cooperative framework based on admittance and position control scheme to regulate the...

A Comparative Performance Analysis of Backpropagation Training Optimizers to Estimate Clinical Gait Mechanics” indicates that the clinical gait analysis of healthy people of different age groups plays a significant role in the early estimation of different physiological and neurological disorders. However, due to complicated data acquisition setups...

The design of a robust control scheme is considered a benchmark problem to address the uncertain dynamic parameters and un-modelled disturbances of the exoskeleton system. This work proposes a robust adaptive iterative learning (AIL) control (AILC) scheme for a paediatric exoskeleton system. Primarily, the mechanical description of the exoskelet...

The underwater environment is highly dynamic in nature due to unknown dynamic model parameters and unknown external disturbances. Under such an uncertain environment, a control problem of underactuated underwater vehicles poses significant challenges. This paper presents the robust design of a dynamic adaptive sliding mode control (ASMC) followed b...

In this work, a systematic review of the design process of 3D printed ankle-foot orthosis techniques is carried out for podiatric applications. The most prominent factors related to the 3D printed AFOs are the manufacturing process's time and cost-effectiveness, which requires additional labor skills to ascertain the product quality. The chapter st...

As population increases, there is a significant rise in cases of weak muscles and impaired nerves for elderly age group. In literature, several lower extremity exoskeleton devices (LEEDs) have been developed to assist the elderly people in the activities of daily living (ADL). However, due to design and cost constraints, users are unable to access...

In this work, a soft computing technique named adaptive neuro-fuzzy inference system (ANFIS) is employed for kinematic modeling of 3R robotic manipulator. Solving the forward kinematic problem using Denavit-Hartenberg (DH) parameters is straightforward; however, obtaining inverse kinematic results for higher degrees of freedom manipulator is comput...

The gait cycle is a study of human locomotion achieved by a combination of efforts made by the nervous system, muscles, and joints. Gait analysis has been extensively studied and applied in recent years for several applications including biometrics, healthcare, sports, and many more. It includes a large number of interrelated parameters, which are...

The main purpose of this work is to design a robust adaptive backstepping (RABS) control strategy for a pediatric exoskeleton system during passive-assist gait rehabilitation. The nonlinear dynamics of the exoskeleton system have ill-effects of uncertain parameters and external interferences. In this work, the designed robust control strategy is ap...

The clinical assessment of human gait using sensory signals plays a crucial role in diagnosis of different neurological disorders. Although a plethora of deep learning methods have been exploited to classify healthy and unhealthy gait data, still the effectiveness of existing ones is not evident. Therefore, in this work, LSTM (long short term memor...

In the Himalayan region, landslides are mainly triggered due to severe rainfall and earthquake events. Especially in the Sikkim Himalayas, landslides occur every year, resulting in casualties and huge property losses. Therefore, it is essential to study the landslide susceptibility and risk zonation of the Himalayan landscape. This study attempts t...

The coupled human-exoskeleton design holds the problem of uncertain model parameters and disturbances, which vary for different age groups and related gait pathological levels. These uncertainties become more dominant in the case of pediatric subjects. Therefore, in this work, a robust singularity- free terminal sliding mode (SFTSM) control is prop...

Biological snakes can efficiently move from one place to another in different environmental conditions. Inspired by such locomotion behaviours, a biomimetic snake robot should have some adaptability features to foster several engineering applications. In this work, for energy-efficient locomotion, the optimal gait parameters of an underwater snake...

A phenomenal surge in data generation, accessibility, storage, and processing hardware capacitates the artificial intelligence (AI)-based learning algorithms to solve the nature-inspired complex problems in day-to-day life. Fine-tuned intelligent models can outperform human involvement in a repertoire of domains, significantly impacting performance...

Exoskeleton devices have provided the new impetus to physical rehabilitation by assisting locomotion practices and augmenting load-carrying capabilities in day-to-day life. In recent years, these devices are being used to maintain the health standards of industry workers by curtailing the impaired back muscle issues during bending, stooping, and li...

The idea of virtual reality (VR) and augmented reality (AR) is exploited, nowadays, in various industrial sectors such as automotive, healthcare, retail, tourism, architecture, and education to carry out human–computer interaction-based activities in an efficient manner. VR inculcates the idea of simulating 3D artificial environments and placing th...

The precise control of an exoskeleton, especially for pediatric subjects, is a challenging task due to the presence of parametric perturbations and external disturbances (PPED). The sliding mode control is a well-known robust control scheme to address such dynamic uncertainties. Therefore, in this work, a robust sliding mode control (RSMC) with is...

Over several years, gait analysis has become a significant criterion to gauge the movement debilities and provide therapeutic interventions in the early phases of neurological diseases. Moreover, the knowledge base of desired lower-limb movements with different foot configurations is essential to design the robotic-aided gait rehabilitation devices...

The COVID-19 pandemic has led to the imminent collapse of medical supply chains across global economies at an unprecedented scale. Essential supplies such as personnel protective equipment (PPE), ventilator components, and face shields have witnessed a continuous rise in demand and eventually boost the role of 3D printing. Over the months following...

The effective movement of lower-body joints imparts a crucial role while performing the daily living activities (ADL). However, these movements become constrained in case of neuromuscular disorders due to the feeble muscles and damaged nerves. Moreover, in view of pediatric population, the limited mobility of lower-limb joints is majorly due to the...

Over the past several years, the conventional methods of fueling the two-wheelers led to the challenging issues for the environment. To minimize such issues, electric (e-) scooters are being explored nowadays by the industries and research organizations. Moreover, e-scooters, as a green technology, can also be a cost-effective solution in case...

As the number of patients with impaired nerves is continuously increasing day by day around the globe, rehabilitation training by the physical therapist is more time consuming and less effective. From last two decades, many robot-based upper limb rehabilitation devices have been developed for physical therapy of the human upper limb by employing st...

A Bayesian regularization-backpropagation neural network (BR-BPNN) model is employed to predict some aspects of the gecko spatula peeling, viz. the variation of the maximum normal and tangential pull-off forces and the resultant force angle at detachment with the peeling angle. K-fold cross validation is used to improve the effectiveness of the mod...

The basic routine movements for elderly people are not easily accessible due to the weak muscles and impaired nerves in their lower extremity. In the last few years, many robotic-based rehabilitation devices, like orthosis and exoskeletons, have been designed and developed by researchers to provide locomotion assistance to support gait behavior and...

In the present work, a two-link upper limb exoskeleton system is considered with harmonic drive actuators to track a semi-circular and L-shape path. The usage of harmonic drive actuators raises the problem of joint flexibility and produces substantial vibration at the tip of the exoskeleton system. The problem of joint flexibility in the system dyn...

The design of a robust control scheme is considered a benchmark problem to address the uncertain dynamic parameters and un-modelled disturbances of the exoskeleton system. This work proposes a robust adaptive iterative learning (AIL) control (AILC) scheme for a paediatric exoskeleton system. Primarily, the mechanical description of the exoskeleton...

The design of an accurate control scheme for a lower limb exoskeleton system has few challenges due to the uncertain dynamics and the unintended subject’s reflexes during gait rehabilitation. In this work, a robust linear quadratic regulator- (LQR-) based neural-fuzzy (NF) control scheme is proposed to address the effect of payload uncertainties an...

3D printing is extensively being used, nowadays, for mass customization and fabrication of complex products with different shape, size, and functionality behaviour. This led to the emergence of 3D printing in several medical applications such as tissue engineering, organ regeneration, prosthetic fabrication and customization, anatomical model const...

In this work, the design, modeling, and development of a low-cost lower limb exoskeleton (LLES) system are presented for paediatric rehabilitation (age: 8-12 years, mass: 25-40 kg, height: 115-125 cm). The exoskeleton system, having three degrees-of-freedom (DOFs) for each limb, is designed in the SolidWorks software. A wheel support module is intr...

The objective of this work is to design a neuro-fuzzy compensated PID control for passive gait rehabilitation using a lower extremity exoskeleton system. A prototype of 6-DOFs exoskeleton device is developed to assist the children of age 8-10 years old. A dummy having a well-matched body attributes to a healthy child (10 years) is utilized in this...

Fretting is a surface damage phenomenon associated with the different fields like tribology, contact mechanics and material science. Fretting damage can be seen in mechanical joints like bolted and gasket joints of internal combustion (IC) engines. The steel plate head gasket joint has exhibited intermittent gasket fretting issues, on some legacy i...

In this paper, an attempt has been made to investigate the potential of redundant manipulators, while tracking trajectories in narrow channels. The behavior of redundant manipulators is important in many challenging applications like under-water welding in narrow tanks, checking the blockage in sewerage pipes, performing a laparoscopy operation etc...

Gait analysis is an important criterion, nowadays, to diagnose various medical conditions of any individual. Moreover, the gender based disparities in a gait cycle can be witnessed in the social world. In this work, a Kinect-Labview based experimental setup is used to detect and estimate the gait kinematic parameters of ten healthy participants (5...

Bayesian regularization-backpropagation neural network (BR-BPNN), a machine learning algorithm, is employed to predict some aspects of the gecko spatula peeling such as the variation of the maximum normal and tangential pull-off forces and the resultant force angle at detachment with the peeling angle. The input data is taken from finite element (F...

This paper presents the design and kinematic analysis of a novel robotic arm for the automation of manual operations performed by physiotherapists. Conventionally, a repetitive task is performed to visualize inflamed tendons, joints and ligaments with many patients. Therapeutic ultrasound techniques are further used to heal them by efficient energy...

In this work, a novel sit-to-stand exoskeleton for paraplegic children is modeled in SolidWorks having a provision of different heights with constant body weight (40kg). A simplified mathematical formulations are, further, presented to find knee joint and foot torques at seat-off position during sit-to-stand motion. The centre of mass distances fro...

In this paper, the pick and place task of household objects is accomplished using Scorbot-ER 5 Plus robotic arm. A monocular camera is utilized to detect the image of the objects. AlexNet based deep learning technique is devoted to determine the class of the objects before grasping process. Thereafter, the grasping and segregation processes are exe...

This paper presents the design of a novel low-cost motorized wheelchair exoskeleton device to provide locomotive assistance and physical rehabilitation to paraplegic patients in the age group of 20–75 years. CAD modeling of different parts of the device has been completed using SOLIDWORKS software. Mathematical calculations are performed to estimat...

In the present work, a two-link upper limb exoskeleton system is considered with harmonic drive actuators to track a semi-circular and L-shape path. The usage of harmonic drive actuators raises the problem of joint flexibility and produces substantial vibration at the tip of the exoskeleton system. The problem of joint flexibility in the system dyn...

In this work, a novel lower limb exoskeleton system is modeled for the rehabilitation of children (8-12 years) suffering from weak and damaged nerves. The main aim of this exoskeleton system is to provide motion assistance during walking. To realize the gait trajectory of healthy human child, the IMU sensor (MPU6050) is used to find the joint angle...

In this paper, the Scorbot-ER 5 Plus robotic arm is considered to track two different trajectories i.e., straight line and semi-circular one. For the same, the forward kinematic analysis is performed using DH convention. However, due to the unavailability of the closed form, solving the inverse kinematic problem is a quite challenging task. Therefo...

In this work, a novel mechanized medical injection platform is modeled for automated drug delivery and phlebotomy. The objective is to design a versatile device that can administer injections at various sites on the human body while being either bed-top or desk-top. The machine consists of 6 degrees-of-freedom system including an independent end ef...

In this work, a novel mechanized medical injection platform is modeled for automated drug delivery and phlebotomy. The objective is to design a versatile device that can administer injections at various sites on the human body while being either bed-top or desktop. The machine consists of 6 degrees-of-freedom system including an independent end eff...

In this work, kinematic analysis of a novel lower limb exoskeleton system is presented to find out the variation of hip and knee joint angles of a healthy child as compared to exoskeleton. For this, hip and knee joint angles of average healthy human is taken and forward kinematics is applied to find the corresponding trajectory. Thereafter, two ste...

The paper presents the design of a novel low cost motorized wheelchair exoskeleton device to provide locomotive assistance and physical rehabilitation to paraplegic patients. Mathematical calculations are performed to estimate the torque requirements to drive rear wheels and maximum torque requirement at knees in static condition. Static structural...

Abstract –In this work, experimental investigation of an existing lower limb exoskeleton model is carried out to find the holding torque of the system about the hip joint. This experiment ensures the minimum torque required by the system without any body weight. Furthermore, dynamic analysis of the same is done with the effect of real world factors...

Over the last few decades, medical-assisted robots have been considered by many researchers, within the research domain of robotics. In this article, a 5-degrees-of-freedom spatial medical manipulator is analyzed for path planning, based on inverse kinematic solutions. Analytical methods have generally employed for finding the inverse kinematic sol...

Over the last few decades, medical assisted robots have been considered by many researchers, within the research domain of robotics. In this paper, a five degrees-of-freedom (DOFs) spatial medical manipulator is analyzed for path planning, based on inverse kinematics solutions. Analytical methods have generally employed for finding the inverse kine...

Robot kinematics plays a crucial role in recent advancements within industrial sectors and numerous medical applications. Finding forward kinematics, using DH convention is an easy task. As compared to forward kinematics, finding the inverse kinematics solution is far more challenging problem, especially when degrees-of-freedom (DOFs) are more. Tha...

Robot kinematics plays a crucial role in recent advancements within industrial sectors and numerous medical applications. Finding forward kinematics, using DH convention is an easy task. As compared to forward kinematics, finding the inverse kinematics solution is far more challenging problem, especially when degrees-of-freedom (DOFs) are more. Tha...