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2. Modelling, Design Optimization and Prototype development of Knee Exoskeleton

Author

Gautam, Shashank Mani, Singla, Ekta, and Singla, Ashish

Subjects
Computer Science - Robotics, Mathematics - Optimization and Control
Abstract

This study focuses on enhancing the design of an existing knee exoskeleton by addressing limitations in the range of motion (ROM) during Sit-to-Stand (STS) motions. While current knee exoskeletons emphasize toughness and rehabilitation, their closed-loop mechanisms hinder optimal ROM, which is crucial for effective rehabilitation. This research aims to optimize the exoskeleton design to achieve the necessary ROM, improving its functionality in rehabilitation. This can be achieved by utilizing kinematic modeling and formulation, the existing design was represented in the non-linear and non-convex mathematical functions. Optimization techniques, considering constraints based on human leg measurements, were applied to determine the best dimensions for the exoskeleton. This resulted in a significant increase in ROM compared to existing models. A MATLAB program was developed to compare the ROM of the optimized exoskeleton with the original design. To validate the practicality of the optimized design, analysis was conducted using a mannequin with average human dimensions, followed by constructing a cardboard dummy model to confirm simulation results. The STS motion of an average human was captured using a camera and TRACKER software, and the motion was compared with that of the dummy model to identify any misalignments between the human and exoskeleton knee joints. Furthermore, a prototype of the knee joint exoskeleton is being developed to further investigate misalignments and improve the design. Future work includes the use of EMG sensors for more detailed analysis and better results.

Published
2024

7. Design and Development of a Three-Link Rigid-Flexible Manipulator

Author

Kumar, Sandeep, Vishwakarma, Sanjay, Singh, Rajmeet, Singla, Ashish, Saha, Subir Kumar, Bera, Tarun Kumar, Singh, Satinder Paul, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Ivanov, Vitalii, Series Editor, Haddar, Mohamed, Series Editor, Cavas-Martínez, Francisco, Editorial Board Member, di Mare, Francesca, Editorial Board Member, Kwon, Young W., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Xu, Jinyang, Editorial Board Member, Ghoshal, Sanjoy K., editor, Samantaray, Arun K., editor, and Bandyopadhyay, Sandipan, editor

Published
2024
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9. Heuristic Controller Design for Inverted Pendulum Using Bond Graph Approach

Author

Kumar, Ashish, Singh, Rajmeet, Bera, Tarun Kumar, Singla, Ashish, Cavas-Martínez, Francisco, Editorial Board Member, Chaari, Fakher, Series Editor, di Mare, Francesca, Editorial Board Member, Gherardini, Francesco, Series Editor, Haddar, Mohamed, Editorial Board Member, Ivanov, Vitalii, Series Editor, Kwon, Young W., Editorial Board Member, Trojanowska, Justyna, Editorial Board Member, Manik, Gaurav, editor, Kalia, Susheel, editor, Verma, Om Prakash, editor, and Sharma, Tarun K., editor

Published
2023
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12. PI Control-Based Modelling of Segway Using Bond Graph

Author

Kumar, A., Singh, R., Bera, T. K., Singla, Ashish, Cavas-Martínez, Francisco, Series Editor, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Haddar, Mohamed, Series Editor, Ivanov, Vitalii, Series Editor, Kwon, Young W., Series Editor, Trojanowska, Justyna, Series Editor, di Mare, Francesca, Series Editor, Kumar, Rajeev, editor, Chauhan, Vishal S., editor, Talha, Mohammad, editor, and Pathak, Himanshu, editor

Published
2022
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13. Mathematical Model of SMA Spring Actuator in a Miniature Flexible Tube Robot

Author

Bhatt, Nisha, Soni, Sanjeev, Singla, Ashish, Cavas-Martínez, Francisco, Series Editor, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Haddar, Mohamed, Series Editor, Ivanov, Vitalii, Series Editor, Kwon, Young W., Series Editor, Trojanowska, Justyna, Series Editor, di Mare, Francesca, Series Editor, Kumar, Rajeev, editor, Chauhan, Vishal S., editor, Talha, Mohammad, editor, and Pathak, Himanshu, editor

Published
2022
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14. Comparison of PPC and LQR Controller for Stabilization of Cart Pendulum System: Simulation and Real-Time Study

Author

Singh, Gurminder, Singla, Ashish, Cavas-Martínez, Francisco, Series Editor, Chaari, Fakher, Series Editor, Gherardini, Francesco, Series Editor, Haddar, Mohamed, Series Editor, Ivanov, Vitalii, Series Editor, Kwon, Young W., Series Editor, Trojanowska, Justyna, Series Editor, di Mare, Francesca, Series Editor, Kumar, Rajeev, editor, Chauhan, Vishal S., editor, Talha, Mohammad, editor, and Pathak, Himanshu, editor

Published
2022
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18. Performance Comparison of PID and ANFIS Controller for Stabilization of x and x-y Inverted Pendulums

Author

Chawla, Ishan, Chopra, Vikram, Singla, Ashish, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Abraham, Ajith, editor, Cherukuri, Aswani Kumar, editor, and Gandhi, Niketa, editor

Published
2020
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20. Dynamic Modeling of Flexible Robotic Manipulators

Author

Singla, Ashish, Singh, Amardeep, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Yadav, Neha, editor, Yadav, Anupam, editor, Bansal, Jagdish Chand, editor, Deep, Kusum, editor, and Kim, Joong Hoon, editor

Published
2019
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21. System Identification of an Inverted Pendulum Using Adaptive Neural Fuzzy Inference System

Author

Chawla, Ishan, Singla, Ashish, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Yadav, Neha, editor, Yadav, Anupam, editor, Bansal, Jagdish Chand, editor, Deep, Kusum, editor, and Kim, Joong Hoon, editor

Published
2019
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22. Toward Human-Powered Lower Limb Exoskeletons: A Review

Author

Singla, Ashish, Dhand, Saurav, Dhawad, Ashwin, Virk, Gurvinder S., Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Yadav, Neha, editor, Yadav, Anupam, editor, Bansal, Jagdish Chand, editor, Deep, Kusum, editor, and Kim, Joong Hoon, editor

Published
2019
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28. Oral Health-Related Quality of Life (OHRQoL) in Elderly Patients with and without Alzheimer's Disease - An Evaluative Study.

Author

Khan, Ambar, Untoo, Rafia, Patthi, Basavaraj, Singla, Ashish, Kumari, Monika, and Rajeev, Ananthalekshmy

Subjects
QUALITY of life, ALZHEIMER'S disease, OLDER patients, ALZHEIMER'S patients, ORAL hygiene
Abstract

Background: Alzheimer's disease (AD) is a progressive neurodegenerative disorder characterised by the loss of intellectual functions. The disorder is usually seen after the age of 60 years, and these elderly patients tend to experience a progressive decline in their cognitive and behavioural abilities. Aim: The present study was carried out to assess the oral health-related quality of life (OHRQoL) in elderly patients suffering from AD as compared to subjects without the disease. Materials and Method: One hundred elderly subjects with AD and 150 subjects without AD were included in the study. The subjective assessment of OHRQoL was done using the General Oral Health Assessment Index (GOHAI). Demographic and oral characteristics were assessed for dentition status with the Decayed, Missing and Filled Teeth (DMFT) index, Oral Hygiene Index (OHI), prosthesis use, xerostomia and presence of oral pathologies. Results: GOHAI values were found to be statistically higher (P = 0.0003) in the subjects with AD. The subjects with AD were found to have a higher DMFT (mean difference = 4.11), Oral Hygiene Index (OHI) scores (mean difference = 1.54), xerostomia (P = 0.0128) and number of oral pathologies. However, the educational level (P = 0.2603) and number of natural teeth (P = 0.0006) were found to be lower in the group with AD. Conclusion: The present study reported that the elderly subjects suffering from AD had poorer OHRQoL than those without the disease. There is a need to comprehensively evaluate the oral health conditions of elderly patients with AD and actively provide management to improve their OHRQoL. [ABSTRACT FROM AUTHOR]

Published
2024
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32. Building the Metaverse

Author

Singla, Ashish, primary, Gupta, Nakul, additional, Aeron, Prageet, additional, Jain, Anshul, additional, Garg, Ruchi, additional, Sharma, Divya, additional, Gupta, Brij B., additional, and Arya, Varsha, additional

Published
2023
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47. Decentralized Identity Management Using Blockchain: Cube Framework for Secure Usage of IS Resources.

Author

Singla, Ashish, Gupta, Nakul, Aeron, Prageet, Jain, Anshul, Sharma, Divya, and Bharadwaj, Sangeeta Shah

Subjects
BLOCKCHAINS, ACCESS control, PERSONALLY identifiable information, CRYPTOCURRENCIES, INFORMATION resources
Abstract

This article explores the usage of decentralised identity (DID) management using blockchain in global organisations to support secure usage of information resources. Blockchain as technology was initially introduced as a cryptocurrency and there have been challenges in its adoption for enterprise applications such as identity management. DID is emerging as one of the strong blockchain adoption use cases. Industry pioneers and users across domains have started exploring DID use cases, which help better protect their personal data and application access control as compared to traditional, central, or federated identity management models. In this exploratory work, the authors employ qualitative secondary case-based study research methodology to understand the challenges of the current digital identity management landscape and explore the possible benefits of DID as an emerging identity management paradigm. They propose a conceptual cube framework for analysing and studying various DID platforms thereby contributing to both the theory and practice of digitally secure identity. [ABSTRACT FROM AUTHOR]

Published
2023
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48. Linear actuator–based knee exoskeleton for stand–sit–stand motions: a bond graph approach

Author

Jain, Prakhar, Bera, Tarun Kumar, Singla, Ashish, Isaksson, Magnus, Jain, Prakhar, Bera, Tarun Kumar, Singla, Ashish, and Isaksson, Magnus

Abstract

People with knee disorders often find it difficult to perform common mobility tasks, such as stand–sit–stand motions. High knee torque is required to complete such transitions, as the chances of toppling increase during these motions. Most of the existing conventional approaches, such as wheelchairs and crutches, have failed to provide complete independence to the users. Conversely, contemporary systems like lower body exoskeletons which are bulky, complex, and expensive do not specifically target the knee joint instead of assisting other joints. Hence, there is a need to aid the knee joint using a robotic knee exoskeleton capable of accurately providing the desired knee torque. In the present work, to assist the user in performing the stand–sit–stand motions, an electromyography sensor-based four-bar knee exoskeleton actuated by a linear actuator is proposed. The modeling of the complete exoskeleton is developed using bond graph technique, as the components exist in different energy domains and it is possible to frame a dynamic bond graph model using only kinematic equations. The prototype is fabricated, and experiments are carried out on an artificial limb to prove the efficacy of the design of the current knee exoskeleton. The assistive torque developed by the actuator at the knee joint of the exoskeleton is found to be suitable to assist the wearer. As a result, little effort is required by the wearer for performing the stand–sit–stand motions. The rotation of the thigh link of the developed exoskeleton was found to be suitable for performing the stand–sit–stand activity.

Published
2022
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