Dinesh Pankaj

Exoskeleton Device for Rehabilitation of Stroke Patients Using SEMG during Isometric Contraction

Robots are becoming more interactive and assisting to human beings day by day. They are serving humanity in the fields of industry, defense and medicine. Exoskeletons are also devices that reside in category of wearable robotics. An exoskeleton is an external structural mechanism with joints and links corresponding to those of the human body. With applications in rehabilitation medicine and virtual reality simulation, exoskeletons offer benefits for both disabled and healthy populations. Exoskeletons can be used as a capability magnifier or assisting device. This paper presents a proposed design for smart active exoskeleton for lower limbs. This proposed exoskeleton design not only assist a person but also tries to improve its GAIT. The twin wearable legs are powered by Actuators, all controlled by a microprocessor. The simulation results of the control mechanism shows its smart capabilities. In addition, the processor based control produces a more natural muscle like activity and as such can be considered a soft and bio-mimetic actuation system. This capacity to “replicate” the function of natural muscle and inherent safety is extremely important when working in close proximity to humans. The integration of the components sections and testing of the performance will also be considered to show how the structure and actuators can be combined to produce the various systems needed for a highly flexible/low weight clinically viable rehabilitation exoskeleton.

Computer aided diagnostic tool for osteoporosis estimation

Quantitative estimation of osteoporosis is the need of the hour. A majority of the older population worldwide is suffering from this disease. X-ray examinations are the most widely used method for osteoporosis estimation. It has severe limitation of examination being qualitative. The paper presents a novel approach by digitising the X-ray films using an X-ray digitiser and analysing the digitised films using LabVIEW Software. The method calculates the Osteoporosis Estimation Index on the basis of the ratio of histogram calculated for selected reference ROI and measurand ROI on the digitised patient images. The results indicate the accuracy and reliability of the technique over the present methods used.

Algorithm for Kinematic Measurements using Active Markers

Kinematic measurements using Active Markers are well known methods. This paper aims at the development of an image analysis algorithm and LabVIEW based software tool for active marker based gait analysis. Active markers in the form of light-emitting diodes (LEDs) were positioned at anatomical landmarks to measure the coordinated kinematics of human joints.

Unobtrusive head gesture based directional control system for patient mobility cart

This work is based upon the design and development of novel technique which involves real-time identification of the head gestures using camera. The system incorporates a unique directional control system for maneuvering patient cart based upon the commands generated by head gestures. The work involved design and development of customized patient cart, camera arm attached along with camera, and tablet computer. The gesture detection was done by face alignment technique developed using regression based supervised learning method. The algorithm efficiently detects roll, and pitch under unconstraint conditions such as natural head movements and variable illuminations which avoid any loss of performance and sensitivity. The system is unobtrusive in nature as the patient cart is controlled by using normal head gestures only with a remotely fixed camera at a distance from the subject. Ultrasonic sensors based collision warning detection was also incorporated for safety purposes. The system is tested in laboratory environment and its performance was found to be excellent and most helpful for the effective empowerment of quadriplegic patients who want to maneuver their mobility cart themselves by head gestures only.

Real-time stereo generation for surgical vision during minimal invasive robotic surgery

This paper proposes a framework for 3D surgical vision for minimal invasive robotic surgery. It presents an approach for generating the three dimensional view of the in-vivo live surgical procedures from two images captured by very small sized, full resolution camera sensor rig. A pre-processing scheme is employed to enhance the image quality and equalizing the color profile of two images. Polarized Projection using interlacing two images give a smooth and strain free three dimensional view. The algorithm runs in real time with good speed at full HD resolution.

Implementation of Real Time Control Algorithm for Gait Assistive Exoskeleton Devices for Stroke Survivors

Controlling human gait by wearable assistive devices is a dynamic and time critical activity and thus requires a dedicated real time control environment. The paper discusses an implementation strategy for real time control algorithm for GaExoD prototype. Control approach follows gait trajectory using feedback sensors and actuators for movement control. NI Lab VIEW, Robotics, FPGA and RT module were used and prove beneficial in shorter development time. Position control errors were estimated for standing and sitting functions provided which is significantly lower for sitting function.

Development of Cryo Probe for Medical Application

A Cryogenics has numerous treatment application in medical health. In many of these applications the cryogenic fluid is initially introduced into piping system that are in excess of 150 degrees Kelvin higher that of the fluid. An open ended cryoprobe has been setup to study the temperature distribution in uninsulated and insulated pipe through which liquid nitrogen is flowing.