Ananda Sankar Kundu

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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 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)
Aim of this paper is to generate human gait pattern in a myoelectric active ankle prosthesis. A prototype of motorized active ankle joint has been developed and it is controlled by users own EMG signal. EMG signal of six different lower limb muscles has been acquired and fused using standard fusion technique discarding spurious data. From the fused EMG(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)
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 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)
Ambulatory activity classification is an active area of research for controlling and monitoring state initiation, termination, and transition in mobility assistive devices such as lower-limb exoskeletons. State transition of lower-limb exoskeletons reported thus far are achieved mostly through the use of manual switches or state machine-based logic. In this(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)