Sakshi GuptaIndian Institute of Technology Ropar | Indian Institute of Technology Punjab · School of Mechanical, Materials and Energy Engineering
Task-Oriented Upper-Limb Exoskeleton for Rehabilitation
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Purpose: Enormous assistance is required during rehabilitation activities, which might result in a variety of complications if performed manually. To solve this issue, several solutions in the form of assistive devices have been presented recently. Another issue highlighted is the lack of kinematic compatibility in low degrees-of-freedom (dof) sys...
The paper targeted to develop a modular library for prototyping planar hybrid linkages using additive manufacturing, with a selective printing conditions, layering directions and clearances. Three modules have been designed to produce active, passive and joint locking functionalities in the revolute joints. The fourth connectivity module helps to a...
Misalignment between human and exoskeleton joints is an inevitable challenge that hinders user’s safety, comfort, and assistance efficiency. It also results in undesired interaction forces that are applied to the human body limbs, further affecting the safety of the user. In this context of the design of exoskeletons and the study of misalignment e...
Gupta, SakshiGupta, SameerAgrawal, AnupamSingla, EktaThis paper deals with the human-robot compatibility issue of upper-limb exoskeleton through a dimensional synthesis problem. The work is a contribution to solving misalignment. In this paper, the objective is the task-based dimensional synthesis of a wearable upper-limb exoskeleton for emulating...
For customized design of a hybrid manipulator for a specific application, selection of an appropriate configuration is always a challenge. To assist in this foremost decision in data-driven synthesis, a novel approach is proposed for modular formation of quick configurations. Majorly, a unified methodology is presented for the development of respec...
For customized design of a hybrid-manipulator for a specific application, selection of an appropriate configuration is always a challenge. To assist in this foremost decision in data-driven synthesis, a novel approach is proposed for modular formation of quick configurations and developing respective kinematic model and differential relations for t...
This paper first summarizes the research work in the active and passive upper limb exoskeleton robotics that have been majorly testified in the area of assistive and rehabilitation robotics. Recent techniques have been classified with respect to the reported generations defined by scientific communities and design challenges have been retrieved out...