Ananda Sankar Kundu

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This paper describes the development and control of a series elastic actuator based myoelectric knee exoskeleton which can be used for gait rehabilitation and load augmentation purposes. The device consists of a motorized ball screw mechanism along with a spring placed between the motor and load. In load augmentation mode, the spring strain is measured to(More)
During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle biological cells. Wide varieties of grippers are now-a-days available featuring different kinematic ability,(More)
This paper presents modeling, simulation and control architecture for implementing biped gait in an active lower limb exoskeleton. A lower body biped structure has been modeled in MATLAB Sim Mechanics according to anthropomorphic data. The model is used to derive kinetic and kinematic biped behavior parameters which are required to set control logic and(More)
This paper presents the study to correlate different lower limb muscle EMG and foot switch timing data during normal gait cycle to extract stride information and subsequent gait phase. Use of foot switch and optical arrangement for gait phase detection is a common practice but it is unsuitable for prosthetic or orthotic application where a wearable stand(More)
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