Prof. Felix Orlando Maria Joseph | Indian Institute Of Technology, Roorkee (original) (raw)
Papers by Prof. Felix Orlando Maria Joseph
International Journal of Modelling, Identification and Control, 2015
This paper presents the design and experimental evaluation of sliding mode controller to minimise... more This paper presents the design and experimental evaluation of sliding mode controller to minimise structural vibration of a cantilever beam using shape memory alloy (SMA) wires as control actuators and piezoceramics as sensor and disturbance actuator. Linear dynamic models of the smart cantilever beam are obtained using online recursive least square parameter estimation. A digital control system that consists of Simulink TM modelling software and dSPACE DS1104 controller board is used for identification and control. The effectiveness of the controller is shown through simulation and experimentation by exciting the structure at resonance.
TENCON 2017 - 2017 IEEE Region 10 Conference, 2017
This paper presents the development and control of a novel active needle for percutaneous interve... more This paper presents the development and control of a novel active needle for percutaneous intervention. Using vision feedback of the actual tip of the needle, inverse kinematics based closed loop control in tracking a 3D curved path is performed. Shape Memory Alloy (SMA) wires are deployed as actuators for the developed active needle system. In-air experiments are performed to evaluate and validate the inverse kinematic closed loop control performance of the needle in 3D curvilinear path tracking. The results obtained are acceptable within clinical limits.
IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017
An experimental evaluation of a two loop coordinated control strategy of a robot guided shape mem... more An experimental evaluation of a two loop coordinated control strategy of a robot guided shape memory alloy (SMA) actuated flexible needle system is presented in this paper. The control of the flexible needle is deployed as the inner loop and the robot driving the needle in correspondence with the needle's movement is deployed as the outer loop. These two control loops are coordinated in such a way that the desired curvilinear trajectory for the needle tip is achieved with an acceptable accuracy. The control performance in trajectory tracking with three feedback modalities, i.e. Electromagnetic (EM) sensor, Vision and Ultrasound (US) imaging is presented. Results from the experiments reveal that the control performance with EM sensory feedback has smaller error (RMSE =0.04mm) compared to the other two feedbacks. However, tracking performance with US imaging feedback is comparable to EM sensory feedback, thereby, may be a good option for imaging based robot-assisted needle interve...
ISA Transactions, 2020
This article presents the implementation of super twisting controller based on higher-order slidi... more This article presents the implementation of super twisting controller based on higher-order sliding mode observer during needle maneuverability in minimal invasive surgery. To ensure chattering free and stable maneuverability of the needle in spite of external disturbances, a robust control strategy is necessary. Technically, it is cumbersome to develop the structure of super twisting controller with a third-order sliding mode observer leading to discontinuous control law. Henceforth, we propose the higher order (n+1) sliding mode observer with continuous control law. Our study involves the kinematic model of the bevel-tipped flexible needle to inculcate an accurate target reaching regulation of the needling system. Both simulation and experimental results with various bevel angles are presented to verify the proposed needle steering control methodology in biological tissue environment.
IEEE Transactions on Medical Robotics and Bionics, 2020
This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-f... more This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-fingered hand exoskeleton intended for rehabilitation purposes. The exoskeleton is designed to track the human digit motion accurately. As the human digit joint cannot be modeled by single revolute joint due to instantaneously varying center of rotation, a 4-bar mechanism is employed to model each phalanx of a finger. Optimal 4-bar linkages are designed by minimizing the error between the Cartesian trajectories of the human phalanx and those of the coupler points in respective 4-bar mechanisms. It is demonstrated that the designed 4-bar based exoskeleton can track the human digit motion accurately. Performance analysis of the developed device has been carried out by resolving its kinematic redundancy during a fine object translation motion by instantaneously optimizing manipulability measure.
IEEE/CAA Journal of Automatica Sinica, 2019
In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching... more In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching accuracy during needle steering inside the target organ. In this research work, the needle steering approach is determined using a robust control algorithm namely the Integral sliding mode control ( ISMC ) strategy to eliminate the chattering problem associated with the general clinical scenario. In general, the discontinuity component of feedback control input is not appropriate for the needle steering methodology due to the practical limitations of the driving actuators. Thus in ISMC, we have incorporated the replacement of the discontinuous component using a super twisting control ( STC ) input due to its unique features of chattering elimination and disturbance observation characteristics. In our study, the kinematic model of an asymmetric flexible bevel-tip needle in a soft-tissue phantom is used to evaluate stability analysis. A comparative study based on the analysis of chattering elimination is executed to determine the performance of the proposed control strategy in real-time needle steering with conventional sliding mode control using vision feedback through simulation and experimental results. This validates the efficacy of the proposed control strategy for clinical needle steering.
2016 6th IEEE International Conference on Control System, Computing and Engineering (ICCSCE), 2016
The primary aim of the piece of work is to classify the extension and flexion positions of thumb,... more The primary aim of the piece of work is to classify the extension and flexion positions of thumb, index finger and middle finger by the use of EEG Signal. The EEG Signal of a human subject is recorded and used for offline training of a feedforward neural network which is used to learn the relation between EEG and finger motion. Six features have been extracted per sample of EEG signal over 10 channels, that is, signal from 10 different regions of the brain. Analysis of the data from these 10 channels revealed a certain few important channels which have been then selected for feature extraction and training of neural network. Observations show that flexion and extension positions of these three fingers are classified successfully. This idea can be developed further to combine these classified positions to perform tasks such as object translation and rotation using a finger exoskeleton.
Robotica, 2016
SUMMARY Redundancy in motion, and synergy in neuromuscular coordination provides significant vers... more SUMMARY Redundancy in motion, and synergy in neuromuscular coordination provides significant versatility to the human fingers while performing coordinated grasping and manipulation tasks in several ways. This paper explores how humans may resolve the redundancy in their thumb, index and middle fingers when these digits flex to cooperatively translate a small object toward the palm. It is observed that humans actively employ a secondary subtask of maximizing instantaneous manipulability that helps determine all intermediate finger configurations when performing the primary subtask of following a tip trajectory. This behavior is accurately captured by an inverse kinematic model based on a redundancy parameter. The joint angles get determined unambiguously though the redundancy parameter is shown to depend on the instantaneous finger configurations and also, to attain negative values. Further, this parameter is noted to vary significantly across subjects performing the same kinematic t...
Journal of Medical Devices, 2015
Numerous medical interventional procedures, such as brachytherapy, biopsy, radio frequency based ... more Numerous medical interventional procedures, such as brachytherapy, biopsy, radio frequency based thermal ablation, and anesthetic drug delivery, require precise placement of needles. Most of these interventions are performed percutaneously. However, precise placement of the needle to a specific target inside human body is a difficult task. Furthermore, the involved needles are usually rigid and straight, and real-time sensory feedback of the needle is rarely available. Medical imaging and interventional delivery systems have undergone significant growth in the recent years, but the development of needles for percutaneous interventions for clinical amiability is undergoing a slow progress. Also, most of the clinically used needles are several decades old in design. Controlling the needle to reach the target precisely through a desired trajectory by the guidance of quantitative sensory feedbacks could benefit various medical procedures. Accurate and safe navigation of the needle to the desired target is the major challenge in needle based interventional techniques. Needle geometry and lack of proper actuation of the needle contribute to this major challenge.
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013
Patients suffering from loss of hand functions caused by stroke and other spinal cord injuries ha... more Patients suffering from loss of hand functions caused by stroke and other spinal cord injuries have driven a surge in the development of wearable assistive devices in recent years. In this paper, we present a system made up of a low-profile, optimally designed finger exoskeleton continuously controlled by a user's surface electromyographic (sEMG) signals. The mechanical design is based on an optimal four-bar linkage that can model the finger's irregular trajectory due to the finger's varying lengths and changing instantaneous center. The desired joint angle positions are given by the predictive output of an artificial neural network with an EMG-to-Muscle Activation model that parameterizes electromechanical delay (EMD). After confirming good prediction accuracy of multiple finger joint angles we evaluated an index finger exoskeleton by obtaining a subject's EMG signals from the left forearm and using the signal to actuate a finger on the right hand with the exoskeleton. Our results show that our sEMG-based control strategy worked well in controlling the exoskeleton, obtaining the intended positions of the device, and that the subject felt the appropriate motion support from the device.
TENCON 2010 - 2010 IEEE Region 10 Conference, 2010
Coccidiosis has a major impact on poultry industry as it affects broiler and layer birds of all a... more Coccidiosis has a major impact on poultry industry as it affects broiler and layer birds of all age groups. Caecal coccidiosis, caused by is a very devastating enteric disease in broiler,which involves huge economic loss experimental infective dose of in broiler th th chicken and subsequent alterations in different plasma biochemical constituents were evaluated at interval of 5 , 7 and th 9 day of post inoculation (PI) with the selected dose of 20000-25000 sporulated oocyst per bird. The dose was selected based on titration. A significant increase in plasma glucose, total cholesterol level and aspartate aminotransferase (AST) activity were observed where as a significant decrease in the level of total plasma protein, albumin, globulin, triglyceride and alanine aminotransferase (ALT) activity were evident during infection
Robotica, 2013
SUMMARYThe combined motion of the human thumb, index and middle fingers while rotating a small ob... more SUMMARYThe combined motion of the human thumb, index and middle fingers while rotating a small object across the extended, intermediate and flexed planes with respect to the fingers was analyzed. Auto reflective markers were attached on the fingers to track their motion across three postures and planes via a 3D motion capture system. Central, right and left rotation postures were considered in each plane for investigation and the rotation experiments were performed with 30 healthy subjects. The obtained data were used to compute the finger joint angles. Based on the three criteria of (i) manipulability measure, (ii) major axis direction angle of the manipulability ellipsoid and (iii) ratio of the minor over major axis lengths, the collective behavior of the fingers was studied. It has been found after analysis that the thumb and middle finger were active, while the index finger operated passively when manipulating small objects in cooperative rotational motion across the three plane...
2010 IEEE Conference on Robotics, Automation and Mechatronics, 2010
Abstract This paper deals with the optimal design and control of an exoskeletal robot. First, the... more Abstract This paper deals with the optimal design and control of an exoskeletal robot. First, the motion data from the fingers of a normal subject was captured by a vision system. As the human finger joints cannot be modeled by single revolute joints due to changing ...
An active flexible needle is a self-actuating needle that can bend in the tissue and reach the cl... more An active flexible needle is a self-actuating needle that can bend in the tissue and reach the clinical targets while avoiding anatomic obstacles. In robot-assisted needlebased medical procedures, motion planning is a vital aspect of operations. It is challenging due to the nonholonomic motion of the needle and the presence of anatomic obstacles and sensitive organs that must be avoided. We propose a novel and fast motion planning algorithm for the robotassisted active flexible needle. The algorithm is based on Rapidly-Exploring Random Trees combined with greedyheuristic strategy and reachability-guided strategy. Linear segment and relaxation of insertion orientation are taken into consideration to the paths. Results show that the proposed algorithm yields superior results as compared to the commonly used algorithm in terms of computational speed, form of path and robustness of searching ability, which potentially make it suitable for the real-time intraoperative planning in clinical operations.
2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018
Accurate tracking of a prescribed preplanned trajectory and anatomical obstacle avoidance are the... more Accurate tracking of a prescribed preplanned trajectory and anatomical obstacle avoidance are the two major challenges in Minimum Invasive Surgeries and percutaneous intervention procedures. This paper aims to address these challenges by the design and development of a novel smart four degrees of freedom (DOF) needling system with self-actuating capability to track the preplanned trajectory accurately. Out of the four DOF, three are for rotational movement and one for translational movement. The Smart Flexible Needle consists of a total of four actuators, three out of them are nitinol shape memory alloy wire actuator for rotational motion and one is a stepper motor paired with a Rack and Pinion arrangement for providing the translational movement of the entire needle at its base. Closed loop control of the developed needling system is performed using color image feedback using a monocular vision system. Finally, in-air experiments are performed along with simulation verifications, t...
This paper discusses the redundant control of a 3 degrees of freedom (DOF) index finger exoskelet... more This paper discusses the redundant control of a 3 degrees of freedom (DOF) index finger exoskeleton with a neural network based learning strategy. More specifically, the Kohonen's self-organizing map (KSOM) based control scheme is proposed for this redundant exoskeleton. The inverse kinematic relationship between the joint space and Cartesian space of the exoskeleton is learned using the KSOM. The result of this learning is the approximate estimation of the Jacobian matrix inverse, making the algorithm more efficient. Straight line object translation task is considered to test the performance of the proposed redundant control strategy through simulation and experimental studies.
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015
This paper presents the experimental evaluation of a coordinated control system for a robot and r... more This paper presents the experimental evaluation of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated smart flexible needle capable of following a curved path for percutaneous intervention. The robot driving the needle is considered the outer loop and the non-linear SMA actuated flexible needle system comprises the inner loop. The two feedback control loops are coordinated in such a way that the robot drives the needle while monitoring the needle's actual deflection against a preplanned ideal trajectory, so that the needle tip reaches the target location within an acceptable accuracy. In air and in water experimental results are presented to validate the ability of the proposed coordinated controller to track the overall desired trajectory which includes the combined trajectory of the robot driver and the needle.
This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-f... more This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-fingered hand exoskeleton intended for rehabilitation purposes. The exoskele-ton is designed to track the human digit motion accurately. As the human digit joint cannot be modeled by single revolute joint due to instantaneously varying center of rotation, a 4-bar mechanism is employed to model each phalanx of a finger. Optimal 4-bar linkages are designed by minimizing the error between the Cartesian trajectories of the human phalanx and those of the coupler points in respective 4-bar mechanisms. It is demonstrated that the designed 4-bar based exoskeleton can track the human digit motion accurately. Performance analysis of the developed device has been carried out by resolving its kinematic redundancy during a fine object translation motion by instantaneously optimizing manipulability measure.
SUMMARY In medical interventional procedures such as brachytherapy, biopsy and radio-frequency ab... more SUMMARY In medical interventional procedures such as brachytherapy, biopsy and radio-frequency ablation, precise tracking through the preplanned desired trajectory is very essential. This important requirement is critical due to two major reasons: anatomical obstacle avoidance and accurate targeting for avoiding undesired radioactive dose exposure or damage to neighboring tissue and critical organs. Therefore, a precise control of the needling device in the unstructured environment in the presence of external disturbance is required to achieve accurate target reaching in clinical applications. In this paper, a shape memory alloy actuated active flexible needle controlled by an adaptive sliding mode controller is presented. The trajectory tracking performance of the needle is tested while having its actual movement in an artificial tissue phantom by giving various input reference trajectories such as multi-step and sinusoidal. Performance of the adaptive sliding mode controller is compared with that of the proportional, integral and derivative controller and is proved to be the effective method in the presence of the external disturbances. 1. Introduction Needles are one of the most significant minimally invasive tools to intervene diagnostic regions of the human body. In those needle-based therapeutic percutaneous, medical interventional procedures such as biopsy, fluid/blood collection, brachytherapy, radio-frequency-based thermal ablation, cryo-therapy, anesthetic drug delivery, neural stimulation and so on, 1 accurate needle placement is one of the major requirements, as the success of such procedures are dependent on the accuracy of the needle placement. To enhance needle steerability while performing the percutaneous interventions, Webster III et al. 2 have proposed a methodology that entails precurved concentric tubes with stiffness variation. A further approach to execute improved needle steerability with minimal tissue damage and higher curvature, is proposed by Swaney et al., 3 which features a flexure-based kinked needle design. The flexible needle steering techniques are categorized mainly into passive needle steering and active needle steering. The passive needles are the ones which have no actuators and sensors attached to their shaft. Rather, they are mere free bodies either with symmetrical or asymmetrical tip to undergo the reaction force from the tissue environment.
Numerous medical interventional procedures, such as brachytherapy, biopsy, radio frequency based ... more Numerous medical interventional procedures, such as brachytherapy,
biopsy, radio frequency based thermal ablation, and anesthetic
drug delivery, require precise placement of needles. Most of
these interventions are performed percutaneously. However, precise
placement of the needle to a specific target inside human body
is a difficult task. Furthermore, the involved needles are usually
rigid and straight, and real-time sensory feedback of the needle is
rarely available. Medical imaging and interventional delivery systems
have undergone significant growth in the recent years, but the
development of needles for percutaneous interventions for clinical
amiability is undergoing a slow progress. Also, most of the clinically
used needles are several decades old in design. Controlling
the needle to reach the target precisely through a desired trajectory
by the guidance of quantitative sensory feedbacks could benefit
various medical procedures. Accurate and safe navigation of the
needle to the desired target is the major challenge in needle based
interventional techniques. Needle geometry and lack of proper
actuation of the needle contribute to this major challenge.
International Journal of Modelling, Identification and Control, 2015
This paper presents the design and experimental evaluation of sliding mode controller to minimise... more This paper presents the design and experimental evaluation of sliding mode controller to minimise structural vibration of a cantilever beam using shape memory alloy (SMA) wires as control actuators and piezoceramics as sensor and disturbance actuator. Linear dynamic models of the smart cantilever beam are obtained using online recursive least square parameter estimation. A digital control system that consists of Simulink TM modelling software and dSPACE DS1104 controller board is used for identification and control. The effectiveness of the controller is shown through simulation and experimentation by exciting the structure at resonance.
TENCON 2017 - 2017 IEEE Region 10 Conference, 2017
This paper presents the development and control of a novel active needle for percutaneous interve... more This paper presents the development and control of a novel active needle for percutaneous intervention. Using vision feedback of the actual tip of the needle, inverse kinematics based closed loop control in tracking a 3D curved path is performed. Shape Memory Alloy (SMA) wires are deployed as actuators for the developed active needle system. In-air experiments are performed to evaluate and validate the inverse kinematic closed loop control performance of the needle in 3D curvilinear path tracking. The results obtained are acceptable within clinical limits.
IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, 2017
An experimental evaluation of a two loop coordinated control strategy of a robot guided shape mem... more An experimental evaluation of a two loop coordinated control strategy of a robot guided shape memory alloy (SMA) actuated flexible needle system is presented in this paper. The control of the flexible needle is deployed as the inner loop and the robot driving the needle in correspondence with the needle's movement is deployed as the outer loop. These two control loops are coordinated in such a way that the desired curvilinear trajectory for the needle tip is achieved with an acceptable accuracy. The control performance in trajectory tracking with three feedback modalities, i.e. Electromagnetic (EM) sensor, Vision and Ultrasound (US) imaging is presented. Results from the experiments reveal that the control performance with EM sensory feedback has smaller error (RMSE =0.04mm) compared to the other two feedbacks. However, tracking performance with US imaging feedback is comparable to EM sensory feedback, thereby, may be a good option for imaging based robot-assisted needle interve...
ISA Transactions, 2020
This article presents the implementation of super twisting controller based on higher-order slidi... more This article presents the implementation of super twisting controller based on higher-order sliding mode observer during needle maneuverability in minimal invasive surgery. To ensure chattering free and stable maneuverability of the needle in spite of external disturbances, a robust control strategy is necessary. Technically, it is cumbersome to develop the structure of super twisting controller with a third-order sliding mode observer leading to discontinuous control law. Henceforth, we propose the higher order (n+1) sliding mode observer with continuous control law. Our study involves the kinematic model of the bevel-tipped flexible needle to inculcate an accurate target reaching regulation of the needling system. Both simulation and experimental results with various bevel angles are presented to verify the proposed needle steering control methodology in biological tissue environment.
IEEE Transactions on Medical Robotics and Bionics, 2020
This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-f... more This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-fingered hand exoskeleton intended for rehabilitation purposes. The exoskeleton is designed to track the human digit motion accurately. As the human digit joint cannot be modeled by single revolute joint due to instantaneously varying center of rotation, a 4-bar mechanism is employed to model each phalanx of a finger. Optimal 4-bar linkages are designed by minimizing the error between the Cartesian trajectories of the human phalanx and those of the coupler points in respective 4-bar mechanisms. It is demonstrated that the designed 4-bar based exoskeleton can track the human digit motion accurately. Performance analysis of the developed device has been carried out by resolving its kinematic redundancy during a fine object translation motion by instantaneously optimizing manipulability measure.
IEEE/CAA Journal of Automatica Sinica, 2019
In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching... more In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching accuracy during needle steering inside the target organ. In this research work, the needle steering approach is determined using a robust control algorithm namely the Integral sliding mode control ( ISMC ) strategy to eliminate the chattering problem associated with the general clinical scenario. In general, the discontinuity component of feedback control input is not appropriate for the needle steering methodology due to the practical limitations of the driving actuators. Thus in ISMC, we have incorporated the replacement of the discontinuous component using a super twisting control ( STC ) input due to its unique features of chattering elimination and disturbance observation characteristics. In our study, the kinematic model of an asymmetric flexible bevel-tip needle in a soft-tissue phantom is used to evaluate stability analysis. A comparative study based on the analysis of chattering elimination is executed to determine the performance of the proposed control strategy in real-time needle steering with conventional sliding mode control using vision feedback through simulation and experimental results. This validates the efficacy of the proposed control strategy for clinical needle steering.
2016 6th IEEE International Conference on Control System, Computing and Engineering (ICCSCE), 2016
The primary aim of the piece of work is to classify the extension and flexion positions of thumb,... more The primary aim of the piece of work is to classify the extension and flexion positions of thumb, index finger and middle finger by the use of EEG Signal. The EEG Signal of a human subject is recorded and used for offline training of a feedforward neural network which is used to learn the relation between EEG and finger motion. Six features have been extracted per sample of EEG signal over 10 channels, that is, signal from 10 different regions of the brain. Analysis of the data from these 10 channels revealed a certain few important channels which have been then selected for feature extraction and training of neural network. Observations show that flexion and extension positions of these three fingers are classified successfully. This idea can be developed further to combine these classified positions to perform tasks such as object translation and rotation using a finger exoskeleton.
Robotica, 2016
SUMMARY Redundancy in motion, and synergy in neuromuscular coordination provides significant vers... more SUMMARY Redundancy in motion, and synergy in neuromuscular coordination provides significant versatility to the human fingers while performing coordinated grasping and manipulation tasks in several ways. This paper explores how humans may resolve the redundancy in their thumb, index and middle fingers when these digits flex to cooperatively translate a small object toward the palm. It is observed that humans actively employ a secondary subtask of maximizing instantaneous manipulability that helps determine all intermediate finger configurations when performing the primary subtask of following a tip trajectory. This behavior is accurately captured by an inverse kinematic model based on a redundancy parameter. The joint angles get determined unambiguously though the redundancy parameter is shown to depend on the instantaneous finger configurations and also, to attain negative values. Further, this parameter is noted to vary significantly across subjects performing the same kinematic t...
Journal of Medical Devices, 2015
Numerous medical interventional procedures, such as brachytherapy, biopsy, radio frequency based ... more Numerous medical interventional procedures, such as brachytherapy, biopsy, radio frequency based thermal ablation, and anesthetic drug delivery, require precise placement of needles. Most of these interventions are performed percutaneously. However, precise placement of the needle to a specific target inside human body is a difficult task. Furthermore, the involved needles are usually rigid and straight, and real-time sensory feedback of the needle is rarely available. Medical imaging and interventional delivery systems have undergone significant growth in the recent years, but the development of needles for percutaneous interventions for clinical amiability is undergoing a slow progress. Also, most of the clinically used needles are several decades old in design. Controlling the needle to reach the target precisely through a desired trajectory by the guidance of quantitative sensory feedbacks could benefit various medical procedures. Accurate and safe navigation of the needle to the desired target is the major challenge in needle based interventional techniques. Needle geometry and lack of proper actuation of the needle contribute to this major challenge.
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2013
Patients suffering from loss of hand functions caused by stroke and other spinal cord injuries ha... more Patients suffering from loss of hand functions caused by stroke and other spinal cord injuries have driven a surge in the development of wearable assistive devices in recent years. In this paper, we present a system made up of a low-profile, optimally designed finger exoskeleton continuously controlled by a user's surface electromyographic (sEMG) signals. The mechanical design is based on an optimal four-bar linkage that can model the finger's irregular trajectory due to the finger's varying lengths and changing instantaneous center. The desired joint angle positions are given by the predictive output of an artificial neural network with an EMG-to-Muscle Activation model that parameterizes electromechanical delay (EMD). After confirming good prediction accuracy of multiple finger joint angles we evaluated an index finger exoskeleton by obtaining a subject's EMG signals from the left forearm and using the signal to actuate a finger on the right hand with the exoskeleton. Our results show that our sEMG-based control strategy worked well in controlling the exoskeleton, obtaining the intended positions of the device, and that the subject felt the appropriate motion support from the device.
TENCON 2010 - 2010 IEEE Region 10 Conference, 2010
Coccidiosis has a major impact on poultry industry as it affects broiler and layer birds of all a... more Coccidiosis has a major impact on poultry industry as it affects broiler and layer birds of all age groups. Caecal coccidiosis, caused by is a very devastating enteric disease in broiler,which involves huge economic loss experimental infective dose of in broiler th th chicken and subsequent alterations in different plasma biochemical constituents were evaluated at interval of 5 , 7 and th 9 day of post inoculation (PI) with the selected dose of 20000-25000 sporulated oocyst per bird. The dose was selected based on titration. A significant increase in plasma glucose, total cholesterol level and aspartate aminotransferase (AST) activity were observed where as a significant decrease in the level of total plasma protein, albumin, globulin, triglyceride and alanine aminotransferase (ALT) activity were evident during infection
Robotica, 2013
SUMMARYThe combined motion of the human thumb, index and middle fingers while rotating a small ob... more SUMMARYThe combined motion of the human thumb, index and middle fingers while rotating a small object across the extended, intermediate and flexed planes with respect to the fingers was analyzed. Auto reflective markers were attached on the fingers to track their motion across three postures and planes via a 3D motion capture system. Central, right and left rotation postures were considered in each plane for investigation and the rotation experiments were performed with 30 healthy subjects. The obtained data were used to compute the finger joint angles. Based on the three criteria of (i) manipulability measure, (ii) major axis direction angle of the manipulability ellipsoid and (iii) ratio of the minor over major axis lengths, the collective behavior of the fingers was studied. It has been found after analysis that the thumb and middle finger were active, while the index finger operated passively when manipulating small objects in cooperative rotational motion across the three plane...
2010 IEEE Conference on Robotics, Automation and Mechatronics, 2010
Abstract This paper deals with the optimal design and control of an exoskeletal robot. First, the... more Abstract This paper deals with the optimal design and control of an exoskeletal robot. First, the motion data from the fingers of a normal subject was captured by a vision system. As the human finger joints cannot be modeled by single revolute joints due to changing ...
An active flexible needle is a self-actuating needle that can bend in the tissue and reach the cl... more An active flexible needle is a self-actuating needle that can bend in the tissue and reach the clinical targets while avoiding anatomic obstacles. In robot-assisted needlebased medical procedures, motion planning is a vital aspect of operations. It is challenging due to the nonholonomic motion of the needle and the presence of anatomic obstacles and sensitive organs that must be avoided. We propose a novel and fast motion planning algorithm for the robotassisted active flexible needle. The algorithm is based on Rapidly-Exploring Random Trees combined with greedyheuristic strategy and reachability-guided strategy. Linear segment and relaxation of insertion orientation are taken into consideration to the paths. Results show that the proposed algorithm yields superior results as compared to the commonly used algorithm in terms of computational speed, form of path and robustness of searching ability, which potentially make it suitable for the real-time intraoperative planning in clinical operations.
2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018
Accurate tracking of a prescribed preplanned trajectory and anatomical obstacle avoidance are the... more Accurate tracking of a prescribed preplanned trajectory and anatomical obstacle avoidance are the two major challenges in Minimum Invasive Surgeries and percutaneous intervention procedures. This paper aims to address these challenges by the design and development of a novel smart four degrees of freedom (DOF) needling system with self-actuating capability to track the preplanned trajectory accurately. Out of the four DOF, three are for rotational movement and one for translational movement. The Smart Flexible Needle consists of a total of four actuators, three out of them are nitinol shape memory alloy wire actuator for rotational motion and one is a stepper motor paired with a Rack and Pinion arrangement for providing the translational movement of the entire needle at its base. Closed loop control of the developed needling system is performed using color image feedback using a monocular vision system. Finally, in-air experiments are performed along with simulation verifications, t...
This paper discusses the redundant control of a 3 degrees of freedom (DOF) index finger exoskelet... more This paper discusses the redundant control of a 3 degrees of freedom (DOF) index finger exoskeleton with a neural network based learning strategy. More specifically, the Kohonen's self-organizing map (KSOM) based control scheme is proposed for this redundant exoskeleton. The inverse kinematic relationship between the joint space and Cartesian space of the exoskeleton is learned using the KSOM. The result of this learning is the approximate estimation of the Jacobian matrix inverse, making the algorithm more efficient. Straight line object translation task is considered to test the performance of the proposed redundant control strategy through simulation and experimental studies.
2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2015
This paper presents the experimental evaluation of a coordinated control system for a robot and r... more This paper presents the experimental evaluation of a coordinated control system for a robot and robot-driven shape memory alloy (SMA) actuated smart flexible needle capable of following a curved path for percutaneous intervention. The robot driving the needle is considered the outer loop and the non-linear SMA actuated flexible needle system comprises the inner loop. The two feedback control loops are coordinated in such a way that the robot drives the needle while monitoring the needle's actual deflection against a preplanned ideal trajectory, so that the needle tip reaches the target location within an acceptable accuracy. In air and in water experimental results are presented to validate the ability of the proposed coordinated controller to track the overall desired trajectory which includes the combined trajectory of the robot driver and the needle.
This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-f... more This article deals with the optimal design and redundancy resolution of a seven DOF robotic two-fingered hand exoskeleton intended for rehabilitation purposes. The exoskele-ton is designed to track the human digit motion accurately. As the human digit joint cannot be modeled by single revolute joint due to instantaneously varying center of rotation, a 4-bar mechanism is employed to model each phalanx of a finger. Optimal 4-bar linkages are designed by minimizing the error between the Cartesian trajectories of the human phalanx and those of the coupler points in respective 4-bar mechanisms. It is demonstrated that the designed 4-bar based exoskeleton can track the human digit motion accurately. Performance analysis of the developed device has been carried out by resolving its kinematic redundancy during a fine object translation motion by instantaneously optimizing manipulability measure.
SUMMARY In medical interventional procedures such as brachytherapy, biopsy and radio-frequency ab... more SUMMARY In medical interventional procedures such as brachytherapy, biopsy and radio-frequency ablation, precise tracking through the preplanned desired trajectory is very essential. This important requirement is critical due to two major reasons: anatomical obstacle avoidance and accurate targeting for avoiding undesired radioactive dose exposure or damage to neighboring tissue and critical organs. Therefore, a precise control of the needling device in the unstructured environment in the presence of external disturbance is required to achieve accurate target reaching in clinical applications. In this paper, a shape memory alloy actuated active flexible needle controlled by an adaptive sliding mode controller is presented. The trajectory tracking performance of the needle is tested while having its actual movement in an artificial tissue phantom by giving various input reference trajectories such as multi-step and sinusoidal. Performance of the adaptive sliding mode controller is compared with that of the proportional, integral and derivative controller and is proved to be the effective method in the presence of the external disturbances. 1. Introduction Needles are one of the most significant minimally invasive tools to intervene diagnostic regions of the human body. In those needle-based therapeutic percutaneous, medical interventional procedures such as biopsy, fluid/blood collection, brachytherapy, radio-frequency-based thermal ablation, cryo-therapy, anesthetic drug delivery, neural stimulation and so on, 1 accurate needle placement is one of the major requirements, as the success of such procedures are dependent on the accuracy of the needle placement. To enhance needle steerability while performing the percutaneous interventions, Webster III et al. 2 have proposed a methodology that entails precurved concentric tubes with stiffness variation. A further approach to execute improved needle steerability with minimal tissue damage and higher curvature, is proposed by Swaney et al., 3 which features a flexure-based kinked needle design. The flexible needle steering techniques are categorized mainly into passive needle steering and active needle steering. The passive needles are the ones which have no actuators and sensors attached to their shaft. Rather, they are mere free bodies either with symmetrical or asymmetrical tip to undergo the reaction force from the tissue environment.
Numerous medical interventional procedures, such as brachytherapy, biopsy, radio frequency based ... more Numerous medical interventional procedures, such as brachytherapy,
biopsy, radio frequency based thermal ablation, and anesthetic
drug delivery, require precise placement of needles. Most of
these interventions are performed percutaneously. However, precise
placement of the needle to a specific target inside human body
is a difficult task. Furthermore, the involved needles are usually
rigid and straight, and real-time sensory feedback of the needle is
rarely available. Medical imaging and interventional delivery systems
have undergone significant growth in the recent years, but the
development of needles for percutaneous interventions for clinical
amiability is undergoing a slow progress. Also, most of the clinically
used needles are several decades old in design. Controlling
the needle to reach the target precisely through a desired trajectory
by the guidance of quantitative sensory feedbacks could benefit
various medical procedures. Accurate and safe navigation of the
needle to the desired target is the major challenge in needle based
interventional techniques. Needle geometry and lack of proper
actuation of the needle contribute to this major challenge.