Jamshed Iqbal

A portable rehabilitation device for the Hand

This paper presents the design of a direct driven under-actuated portable hand exoskeleton for rehabilitation. The design of the proposed Hand EXOskeleton SYStem (HEXOSYS) was driven by multi-objective optimisation strategy and inspiration from the human hand. The optimisation algorithm resulted in the choice of optimum link lengths of the device. The optimisation criteria are based on dexterity, isotropy and exertion of perpendicular forces on the finger digits. Furthermore, a series of experiments on the human hand using appropriate sensory instrumentation guided the selection of actuators thereby resulting in a rehabilitation device which is compatible with the human hand force capabilities. The provision of force as well as position feedback gives quantitative feedback to the therapist and would imply a more efficient rehabilitation process. The first prototype of the device has been designed and realized.

Robotics for Nuclear Power Plants — Challenges and future perspectives

Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate artificial intelligence, improved sensors capability, enhanced data fusion and compliant human like leg and hand structures for efficient motions. Next generation robotic systems in NPPs are expected to work in full autonomous mode in contrast to the current semi-autonomous scenarios. Far future systems could deploy humanoid robots as well. This paper presents state-of-the-art of robotics developed for NPPs, associated challenges and finally comments on future directions.

A multi-DOF robotic exoskeleton interface for hand motion assistance

This paper outlines the design and development of a robotic exoskeleton based rehabilitation system. A portable direct-driven optimized hand exoskeleton system has been proposed. The optimization procedure primarily based on matching the exoskeleton and finger workspaces guided the system design. The selection of actuators for the proposed system has emerged as a result of experiments with users of different hand sizes. Using commercial sensors, various hand parameters, e.g. maximum and average force levels have been measured. The results of these experiments have been mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been analysed followed by the design and realization of the first prototype. The system provides both position and force feedback sensory information which can improve the outcomes of a professional rehabilitation exercise.

HEXOSYS II - towards realization of light mass robotics for the hand

This research presents a prototype of a direct-driven, optimized and light-mass hand exoskeleton that is designed to fit over the dorsal side of the hand, thus retaining palm free for interaction with real/virtual objects. The link lengths of the proposed Hand EXOskeleton SYStem (HEXOSYS) TT have been selected based on an optimization algorithm. In an attempt to make the design human hand compatible, the actuators of HEXOSYS II have been chosen as a result of series of experiments on human hands of various sizes. The system based on an optimum under-actuated mechanism provides 3 DOF/finger. The resultant motion of the exoskeleton allows the wearer to perform flexion/abduction as well as passive abduction/adduction. Simple and under-actuated mechanisms together with compact mechanical design lead to realize a light mass robotic system. The first prototype of HEXOSYS II has been fabricated. Comprising of four fingers, which are enough to accomplish most of our daily life activities, the system weighs 600 grams.

A human hand compatible optimised exoskeleton system

This paper proposes a novel design of a hand exoskeleton System. The optimisation of the exoskeleton device (link lengths, actuation) was achieved through the procedure targeting the natural finger workspace and capabilities. To define the design requirements of the hand exoskeleton device, an analysis of the hand daily life common activities has been carried out. Range of motion, maximum and average force levels exerted by human hands of different sizes and various age groups have been measured using appropriate instrumentation. Results of these experiments mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been proposed. A rapid prototype of the proposed design has been realized to analyze and demonstrate the mechanism and to verify the optimisation results. Results have shown that the hand exoskeleton system covers the complete range of motion of a natural human hand.

Tether tracking and control of ROSA robotic rover

Mars is currently the centre of interest for space exploration. Tremendous efforts are still in progress to find clues of existence of life on Mars. Rovers are major sources of information of Mars. This paper focuses on a robotic roving vehicle robot for scientific applications (ROSA) having its initiative of European Space Agency (ESA). ROSA being a tethered rover makes possible to reduce the weight/size of rover because power is delivered through tether. Additionally, tether provides communication lines between the lander and the rover. Tethered robots require complex control system. This paper presents a specialized tracking system for rovers 40 m tether. The proposed system is capable of tether tracking within resolution of plusmn6 cm. The same strategy can also be used in other tethered robots for rescue, security, underwater, mines hunting and cleaning petroleum tanks after minor modifications.

Emotions in Robots

This article gives a general overview of emotions in robotics. It sheds light on the composition of emotions in human beings and how this information can be used as blue print for creation of emotional robots. It discusses different factors involved in creation and detection of emotion. The article briefly explains the social aspects of having emotional robots in society. A system architecture to build emotional system of robot is presented, along with information about working of its modules.

Real Time Hardware Crypto Cards Based on DSP

Securing data in communication systems is the most common real-life cryptographic problem. Basic security services require both encryption and authentication. Modern public-key cryptography depends on a handful of algebraic problems, trying to achieve the best possible security while remaining extremely efficient and practical. This paper is concerned with the implementation of public key encryption algorithm on a Texas Instruments TMS320C31 Digital Signal Processor. The implemented algorithm is fully capable of ciphering and then deciphering real time data using floating-point arithmetic. After coding, debugging and compiling, code has been downloaded in flash of development board. Both the software and hardware integration are then successfully tested using a custom developed hardware system.