Ritwik Chattaraj

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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)
Robotic grippers and its control is always a challenging and an interesting topic for the researcher. In the present scenario the most advanced gripping devices which are commercially available are of macro size. But the real challenge comes when we think for micro gripping or micro assembly. This paper represents a novel technique of gripping with Ionic(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 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)
— The human hand with more than twenty seven Degrees of Freedom (DoFs) has a unique musco-skeletal structure with neuro-sensory attributes under control of CNS, is a quintessence to construct a robotic hand. The fingers are connected to the palm with metacarpo-phalangeal (MCP) joints. These joints have two DoFs i.e. flexion-extension and abduction-adduction(More)
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