Sudipto Mukherjee

Indian Institute of Technology Delhi | IIT Delhi · Department of Mechanical Engineering

The temporomandibular joint (TMJ) helps to perform the functional activities of the oral cavity. Such activities often get affected by end-stage degenerative disorders such as TMJ ankylosis. Alloplastic reconstruction using TMJ implants helps to restore those activities. However, commercially available stock implants often suffer from fit discrepan...

Background and Objective: To ensure the long-term success of temporomandibular joint implants, it is imperative to understand their biomechanical performances under the mastication cycle. This study aims to compare the biomechanical performance of two commercially available stock implants under a complete mastication cycle. Methods: In the presen...

Thoracic, specifically, lung injuries are common in blunt impact in an automotive crash. The current research focused on assessing the effect of blunt impact on lung parenchymal tissue. Tokens of an average size of 20 × 20 × 10 mm3 were prepared from the porcine lung parenchyma. It was ensured that all tokens were without bronchi to maintain unifor...

Characterization of the impact behavior of tibial bone is attempted to help understand injury and to improve the design of protective devices. A three-point bending test using a drop tower setup was used to simulate impacts typical in automotive crashes. Piezoelectric load cells were used to record the impact force and reaction forces at the two su...

div class="section abstract"> Automotive crash data analysis and reconstruction is vital for ensuring automotive safety. The objective of vehicle crash reconstruction is to determine the vehicle's motion before, during, and after the crash, as well as the impact on occupants in terms of injuries. Simulation approaches, such as PC Crash^TM...

Bio-inspired cellular structures are being used for armor design for human safety. During highly dynamic phenomena such as impact and shock loading, these structures absorb energy by plastic deformation, hence minimizing injuries. Numerical approach employed for impact and ballistic simulations is well established for medium-range strain rates betw...

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...

This study focuses on evaluating the response of the Total Human Model for Safety™ lower extremity finite element model under blast loading. Biofidelity of the lower extremity model was evaluated against experiments with impact loading equivalent to underbody blast. The model response was found to match well with the experimental data for the avera...

Automobile crashes and blunt trauma often lead to life-threatening thoracic injuries, especially to the lung tissues. These injuries can be simulated using finite element-based human body models that need dynamic material properties of lung tissue. The strain-rate-dependent material parameters of human parenchymal tissues were determined in this st...

Mandibular morphometry and TMJ ankylosis: from the perspective of Indian population

Background: Impaction of morselized allograft is an appealing procedure for addressing the bone defects. However, concerns remain about its suitability for massive defects. We used a novel "sandwich" technique by impacting the morselized allograft in layers with an intervening layer of injectable bone graft substitute for restoring bone defects du...

Craniovertebral junction (CVJ) is one of the more complex parts of the spinal column. It provides mobility to the cranium and houses the spinal cord. In a healthy subject, the CVJ contributes 25% of the flexion–extension motion and 50% of the axial rotation of the neck. This work reports instrumentation development and results for evaluating implan...

Force resolution over a C-armature reveals a large Lorentz force that acts to push the armature into rails. Large contact forces lead to a multitude of problems and efficiency losses. This article introduces a set of new parameters called action parameters (APs): armature action and action constant. These parameters optimize armature–rail (A/R) con...

In dies used to cure preformed material, the top die is actuated to significant force levels. To ensure repeatability, three external V-grooves are used to guide so that the two halves are located accurately in the plane perpendicular to the designed approach direction. The kinematics of this assembly process is revealed by analysis. Infinitesimal...

This study has investigated the response of Total Human Model for Safety (THUMS) lower extremity finite element model under blast loading. Response of the model was estimated in simulated underbody blast loading using a floorplate impact velocity of increasing severity. Correlation and Analysis (CORA) ratings suggested a good match between numerica...

This study has investigated the response of the Total Human Model for Safety (THUMS) lower extremity finite element model under blast loading. Response of the model was estimated in simulated underbody blast loading using floorplate impact velocities of increasing severity. Correlation and Analysis (CORA) ratings suggested a good match between nume...

Velocity skin effect (VSE) and subsequent current melt wave (CMW) is one of the most prominent causes of transition in an electromagnetic launch (EML) technology. Extensive research on the phenomenon led to the development of a monolithic C armature design that provides optimum contact pressure and a contact region at the armature–rail (A/R) interf...

The lower extremity being closest to the detonation point, is the most injured anatomical location due to blast loading. A numerical investigation is a cost-effective and time-efficient solution to the blast experiments involving safety concerns and ethical issues. A finite element human body model (HBM) closely approximates a human body's geometry...

This paper investigates the ability of a two-link underactuated system acting as a transfemoral prosthetic leg to generate a natural looking symmetric gait. During walking, following a predefined natural leg trajectory may not be required as long as the trajectory allows for ground clearance of the swinging leg. The prosthesis is powered by the hip...

This paper presents a new combined 9-DOF [3R-3R-3R] parallel architecture to perform the object catching in the real-time scenario. The architecture design is intended to carry heavy payload objects for the catching. This paper covers modelling the new architecture, kinematics, and dynamic analyses to compute torques/forces at the actuators. The si...

Two-dimensional cellular structures – honeycombs are known to exhibit high compressive strength and energy absorption in out of plane compressive loading. The energy absorption capability of impact crushing of these structures is affected not only by the mechanical properties of the honeycomb but by the geometric structure of the honeycomb cell as...

An algorithm to search for a kinematically desired robotic grasp pose with rolling contacts is presented. A manipulability measure is defined to characterise the grasp for multi-fingered robotic handling. The methodology can be used to search for the goal grasp pose with a manipulability ellipsoid close to the desired one. The proposed algorithm is...

This article discusses the intervertebral motion present in the craniovertebral junction (CVJ) region. The CVJ region is bounded by the first three vertebras from the spinal column. It helps in bringing most of the neck motion. Intervention in this region requires surgery in which an implant is placed to stabilize the whole system. The various avai...

Electro-magnetic mass drivers (EMD) are linear payload accelerators at the forefront of multi-physics technology that find use in various applications. In a homopolar variant of EMD, two electrically conductive rails are clamped at a set separation apart in an electrically insulating chamber formed of housing and elastic support. Preloaded bolts an...

This paper proposes a vision-based kinematic analysis and kinematic parameters identification of the proposed architecture, designed to perform the object catching in the real-time scenario. For performing the inverse kinematics, precise estimation of the link lengths and other parameters needs to be present. Kinematic identification of Delta based...

The paper focuses on Haptic Glove (HG) based control of a Robotic Hand (RH) executing in-hand manipulation. A control algorithm is presented to allow the RH relocate the object held to a goal pose. The motion signals for both the HG and the RH are high dimensional. The RH kinematics is usually different from the HG kinematics. The variability of ki...

The present invention relates to a two axis tracking system (100). The present invention includes a frame (102), a solar panel PV module (112), an upper beam (114), a selectively flexible bracket (116), a first supporting pillar (118), a second supporting pillar (140), a lower beam (120), first strut (126), a second strut (146). The first supportin...

The paper describes a kinematic method for robotic in-hand manipulation of objects. The method focuses on repositioning the object using a combination of sticking and sliding robotic contacts. Two fingertips with sliding contacts are fixed in space while the remaining fingertips actively manipulate the object without a change in the point of contac...

This paper focuses on a method to relocate the robotic fingertips on the surface of the object when the fingertips instantaneously hold the object under precision grasp. Precision grasp involves holding the object using fingertips. Finger gaiting involves repositioning the fingertips on the surface of the object and then manipulation of the object....

The paper reports design and implementation of a Delta Robot based non-anthropomorphic hand. A set of three constant orientation Delta robots are shown to be useful to perform manipulation maneuvers on the object. Voice coil arc actuators are deployed to improve the backdrivability of the robot. The hand consists of three constant orientation finge...

Flywheels generator is suited where a pulsed current generation is required. It has a higher energy density as compared to capacitor banks. This paper focuses on design calculations related to flywheel energy storage system (FESS) being developed at IIT Delhi. The flywheel rotor, filament wound carbon fibre/epoxy composite, will have storage capaci...

Bistable systems have two distinct stable states, where the system stays without any application of external power. In this paper, stable states of the buckled beam are used along with a four-bar mechanism to design a locking for the post-curing inflator. Post curing of tires is necessary to avoid deformation in nylon fabric during cooling. Current...

Kumar, RajeshMukherjee, SudiptoThis paper provides a methodology to use hyper-redundant serial robots to ensure grasp in a planar case. Hyper-redundant serial robots are resolved to mimic behavior of a snake holding onto the objects. The algorithm focuses on caging a hard object and can be extended on squeezing a soft object. The methodology requir...

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...

The implementation of SMC-based techniques in Chap. 2 strictly required the uncertainties in the system to be bounded [1, 2]. However, considering these state-dependent uncertainties to be bounded can be regarded as a conservative assumption for practical scenarios. Furthermore, these approaches depend upon the viscous friction model to compute the...

Snake robot is a complicated dynamical system comprised of large number of inputs and generalized coordinates. Moreover, the dynamical equations of motion are highly nonlinear and coupled. The aforementioned complexities make path planning and control system design particularly difficult for this kind of system. The control approaches presented in...

The ability of a control scheme for a mobile robot to ensure satisfactory performance in an unstructured or unknown environment is what makes the control law unique. Various sources of uncertainties pose a serious challenge to the tracking performance of the system. The state-of-the-art control law presented in Chap. 1 cannot ensure stability in th...

The TDC approach presented in Chap. 3 [1] accomplished robust tracking performance of the planar snake robot in the presence of slowly varying uncertainties. Moreover, the assumption of bounded system uncertainties and the dependence on the friction model have been circumvented through the TDC methodology. However, the bounded estimation error from...

The control laws presented in Chaps. 2, 3 and 4 were aimed at achieving improved tracking performance utilizing least control effort for the planar snake robot model. This particular form of locomotion for a snake robot is inspired by the commonest mode of snake motion called lateral undulation. Other modes of generating propagating force for a sna...

The paper focuses on synthesizing optimal contact curves that can be used to ensure a rolling constraint between two bodies in relative motion. We show that geodesic based contact curves generated on both the contacting surfaces are sufficient conditions to ensure rolling. The differential geodesic equations, when modified, can ensure proper distur...

Cable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening (especially at higher accelerations) and the emergence of singularity poses have traditi...

This article proposes an adaptive‐robust maneuvering control framework for a planar snake robot under the influence of parameter uncertainties. The entire control objective of maneuvering control can be viewed as the simultaneous establishments of two goals: one to maintain a time‐varying body shape of the snake robot for consistent motion (called...

This paper proposes a design of a state estimator for tracking and predicting the object trajectory for the manipulation using a dexterous multi-fingered Delta robot. The observations of the object state acquired from the cameras (Basler), in the real-time scenario. Initially, pixels are removed that corresponds to the background pixels using a mix...

Objective This study focusses on injury prediction capabilities of the THUMS (Total HUman Body Model for Safety) finite element human body model (FE-HBM) in real world car-pedestrian crashes. Methods Ten cases of car-pedestrian crashes with incidence of lower extremity injuries were reconstructed using sequence of multi-body tools and finite eleme...

This paper reports a method for regulating the internal forces during in hand manipulation of an unknown shaped object with soft robotic fingers. The internal forces ensure that the object does not move between the robotic fingers, thus improving the grip. It is shown that if soft fingers show bounded conformity and the finger-object interface have...

This book shows how a conventional multi-layered approach can be used to control a snake robot on a desired path while moving on a flat surface. To achieve robustness to unknown variations in surface conditions, it explores various adaptive robust control methods. The authors propose a sliding-mode control approach designed to achieve robust maneuv...

Brain injuries are a major reason for mortality and morbidity following trauma in sports, work and traffic. Apart from the trauma at the site of impact (coup injury), other regions of the brain remote from the impact locations (non-coup) are commonly affected. We show that a screw theory-based method can be used to account for the combined effect o...

In this paper, computer vision is used to analyze the forward kinematics of a Stewart platform. To get a unique solution of the forward kinematics of the Stewart platform, a predefined library of ArUco markers has been used for pose estimation. The analytical solution for the forward kinematics problem of a Stewart platform is non-linear and mathem...

Traumatic Aortic Rupture (TAR) resulting due to Motor Vehicle Crashes (MVC) accounts for about 10% -20% fatalities. This paper presents the outcome of our findings of the non-linear stress-strain response and strain rate dependent behaviour of the aortic tissue under crash like impacts. This study uses both finite element modelling and experimental...

This paper reports a method for regulating the internal forces during in hand manipulation of an unknown shaped object with soft robotic fingers. It is known that for the case of multifingered manipulation, a part of the forces applied by the fingers result in the motion of the object, whereas the other part is considered to be an internal force. T...

Virtual Reality is a versatile platform to study human behavior in simulated environments and to develop interventions for functional rehabilitation. In this work, we designed a dual-task paradigm in a virtual environment where both tasks demand motor skills. Twenty-one healthy adults (mean age: 24.1 years) participated in this study. The experimen...

Study design: Experimental Cadaveric Biomechanical Study. Objective: To establish an experimental procedure in cadavers to estimate joint stiffness/stability at CVJ region with various implant systems and to develop/validate an indigenous cost effective 3D -FEM (3 dimensional finite element model) of CVJ region. Summary of background data: Fin...

Bi-stable systems have two distinct stable states, where the system stays without any application of external power. In this paper, stable states of the buckled beam are used along with a four-bar mechanism to design a locking for the post-curing inflator. Post curing of tires is necessary to avoid deformation in nylon fabric during cooling. Curren...

Flywheels generator is suited where a pulsed current generation is required. It has a higher energy density as compared to capacitor banks. This paper focuses on design calculations related to flywheel energy storage systems (FESS) being developed at IIT Delhi. The flywheel rotor, filament wound carbon fibre/epoxy composite, will have storage capac...

Traumatic aortic rupture (TAR) is believed to be the second most common cause of fatality associated with motor vehicle crashes(MVCs) with substantial societal and economic burdens. TAR in motor vehicle crashes is caused by a complex state of deformation progressing at high strain rates. A major step to gain insight into the possible mechanisms of...

The approximation of 3D geometry through single image is a particular instance of 3D reconstruction from several images. The advance information or user input should be provided to retrieve or conclude depth information. This research presents a novel automatic method to enumerated 3D affine measurements from a single perspective image. The least g...

Finite element (FE) human body models, though providing effective means for vehicle design and assessment from the safety point of view, are still under development stage due to their limited validation. These models have been validated for cadaveric test data available in the literature for different parts. However, it has been identified that the...

Diaphragmatic rupture is the tear of the diaphragm muscle result from blunt or penetrating trauma and occurs in about 5 % of cases of severe blunt trauma. Both finite element modelling and experimental testing have enhanced our understanding of the injury mechanisms associated with diaphragmatic rupture. A constitutive model for human diaphragm tis...

Uncertainty and disturbance are common in a planar snake robot model due to its structural complexity and variation in system parameters. To achieve efficient head-angle and velocity tracking with least computational complexity and unknown uncertainty bounds, a Time-Delayed Control (TDC) scheme has been presented in this paper. A Serpenoid gait fun...

Laparoscopic Devices are known to be used in Minimal Invasive Surgeries. However, the devices are unable to transmit the spectrum of feedback of the tissue to the hands of the surgeon, which makes the surgical procedure difficult. We have demonstrated a parameterization for the loss in feedback due to backlash and friction. Backlash is correlated t...

A Litter picker device with flexible arm comprising of a flexible link wrapped over a stretchable reel a platform pivoted to the couplers at three pivots, plurality of couplers pivoted to a rotary motor at one end a spear-tip is attached to the distal end of the flexible link to grab the trash, wherein, the flexible link can deployed or retracted t...

Microstructural investigation of cardiac muscle under varying impact velocity.

Over the years, vehicle safety has taken an increasingly important role in design [1]. Bio-fidelic material properties are needed to mimic the response of occupant in crash simulations using FE human body models. In fatal injuries, incidence of thoracic trauma is high, second only to head injury [2]. In blunt trauma, thoracic organs are subjected t...

The cognate system is an unique planar mechanism in which a stationary point is generated because of special dimensions. The resulting 10 link mechanism forms a structure which has one internal degree of freedom. This property is leveraged by using the stationary joint as a point of loading to obtain a force sensor with theoretically infinite stiff...

In this study, conducted by the National Automotive Testing and R&D Infrastructure Project (NATRiP) and the Indian Institute of Technology Delhi (IIT‐D) on National Highway‐8 (NH‐8) from Gurgaon to Jaipur, in‐depth road traffic collision (RTC) data were collected by on‐site data collection teams [1]. Data were collected for 186 RTCs, which were att...

injuries incurred during automotive crashes constitute a significant portion of all fatal and nonfatal injuries. Understanding the underlying mechanisms of thoracic injuries is an essential step in improving the crash safety of vehicles. Finite element human body models are becoming a valuable tool to analyze automotive related injuries to soft tis...