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From Brain Science to Intelligent Machines

Design and control of hand exoskeletons for rehabilitation

Date: Thursday 25/02/2016

Venue: MS105 (Boardroom)

Time: 1.00 pm

Speaker:    Prof. Ashish Dutta
Affiliation:  Department of Mechanical Engineering
                 Indian Institute of Technology Kanpur, India

                 

Design and control of hand exoskeletons for rehabilitation

By 
Prof. Ashish Dutta

Department of Mechanical Engineering
Indian Institute of Technology Kanpur, India

Abstract

Patients suffering from loss of hand functions caused by stroke or spinal cord injuries have driven a surge in the development of wearable assistive devices in recent years. In this presentation the design and control of two finger and three finger exoskeletons are described for rehabilitation of stroke patients. The designs are based on the human finger motion trajectory, in order to emulate the motion of the varying instantaneous axis of rotation of the finger axis. The two finger exoskeletons are capable of simple grasping while the three finger exoskeletons are capable of fine object manipulation, like translation and rotation of small objects. Several techniques have been employed to control the exoskeletons using the subject’s bio-signals like EMG, EEG or inverse kinematics models. Several experimental results with healthy subjects will also be presented.

Short Bio

Prof. Ashish Dutta obtained his PhD in Systems Engineering from Akita University, Japan. From 1994 to 2000 he was with the Bhabha Atomic Research Center (India) where he worked on telemanipulator design and control for nuclear applications. Since 2002 he is with the department of mechanical engineering in the Indian Institute of Technology Kanpur, India. He was also a visiting professor in Nagoya University, Japan in 2006 - 2007and is currently a visiting professor at Kyushu Institute of Technology, Japan. His research interests are in the areas of humanoid robotics, micro sensors and actuators, intelligent control systems and rehabilitation engineering. He has over 100 publications in various international journals, conferences, book chapters, books, etc