Ananda Sankar Kundu

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Aim of this paper is to develop an EMG based biofeedback system using a virtual reality platform which will help in gait rehabilitation. A low power multichannel EMG acquisition unit has been developed to acquire EMG of six different muscles of the lower limb. EMG from different channels are fused using Bayesian fusion technique and spurious data has been(More)
The aim of this paper is to develop a wireless insole foot pressure acquisition device to measure and analyze foot planter pressure during various physical activities. Developed system consists of a pressure insole with four capacitive pressure sensors for each foot. Entire system is developed in house indigenously. Sensors are placed at four foot pressure(More)
Aim of this paper is to generate joint angle trajectory of knee joint and fed it to a myoelectric controlled lower body exoskeleton to regenerate lost gait pattern. EMG signal of six different lower limb muscles has been acquired and fused using standard fusion technique discarding spurious data. From the fused EMG data, different gait parameters like(More)
This paper deals with an improved method of guidance for 2D trajectory tracking by a mobile robot using Frenet-Serret vectors at variable sampling rate. The state space kinematic model of a non-holonomic differential drive wheeled mobile robot has been used. Curvature based variable sampling minimizes the quantization error and improves accuracy of the(More)
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)
Aim of this paper is to develop a holonomic omnidirectional drive system to detect and pass through a doorway using depth map based navigation using Kinect sensor in dynamic environment. Omni drive mechanism enables holonomic motion of the system which provides efficient movement in narrow space due to higher degree of maneuverability. Omni robot is(More)
Aim of this paper is to develop a non-holonomic differential robotic platform with PID velocity control for both wheels and 3D augmented reality based optical localization system to test standard navigation algorithms like potential field and cell decomposition. A mobile robot is modeled in simulink and the hardware is designed accordingly. The robot is(More)
Aim of this paper is to develop a multimodal control strategy for a holonomic omnidirectional drive system which will be employed as a transporter for carrying disabled persons. The drive mechanism chosen here is Omni drive to enable lateral mobility of the system which provides efficient movement in narrow space due to higher degree of maneuverability. For(More)