This study presents the evaluation results of a clinical trial of robotic-assisted rehabilitation in Virtual Reality performed with the PERCRO L-Exos (Light-Exoskeleton) system, which is a 5-DoF force-feedback exoskeleton for the right arm. The device has demonstrated itself suitable for robotic arm rehabilitation therapy when integrated with a Virtual Reality (VR) system. Three different schem...

A multi-degree-of-freedom (multi-DOF) exoskeleton relies on an array of sensors to communicate its state (e.g., positions/orientations) and operator-exoskeleton contact interactions forces/torques) control system. Although sensor redundancy is common in biological systems cope with uncertainty partial failure sensors, man-made systems, increases the overall system's cost complexity. This study ...

In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that mimics the motion characteristics of a human ankle. HURL acts as a feasibility study in the conceptual goal of developing a 10 degree-of-freedom (DoF) lower-limb humanoid...

An adaptive super-twisting multivariable fast terminal sliding mode control scheme based on time delay estimation (TDE) and asymmetric error constraints are proposed to guarantee high-precision trajectory tracking of cable-driven manipulators under complicated unknown uncertainties. The system is constrained by joint position errors, which time-varying. First, the range joints designed ensure t...

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

This technical report gives an overview of our work on control algorithms dealing with redundant robot systems for achieving human-like motion characteristics. Previously, we developed a novel control law to exhibit humanmotion characteristics in redundant robot arm systems as well as arm-trunk systems for reaching tasks [1], [2]. This newly developed method nullifies the need for the computati...

Sudha Ramasamy, Karthikesh.R, Manikandan.P, Padma Thiagarajan School of Electrical Engineering, VIT University, Vellore, India. School of Biosciences and Technology, VIT University, Vellore, India E-Mail: [email protected] Abstract The aim of this work is to transfer liquid contents from one micro cell to another using two stepper motors and a peristaltic pump. There are two objectives here. One...