Research Projects

Due to neurological disability, stroke or accidents millions number of people lose their power of mobility. Medical rehabilitation plays an important role to regenerate their normal mobility for the daily activity. This is the motivation behind the present research. The first target has to be adopted to develop an active lower limb exoskeleton device. The exoskeleton robotic device would be modelled by following the anthropometric structure of the human lower body. Each leg of the device would be actuated with the help of linear actuator at every lower-limb joints like hip, knee and ankle. The inverse kinematics and inverse dynamics analysis are required for the necessary theoretical calculation. The normal human gait pattern may be recorded in different ways by utilising marker less single camera and marker assisted multi-camera-based system. The generated gait library is required for the exoskeleton actuators to create human like motion of the device. A robust control technique like PID, LQR or Sliding mode based control algorithm is necessary to control the motion of the active joints. The second target of the project is mapping the human brain signal with this developed lower limb exoskeleton (LLE). The non-invasive technique would be used for EEG (Electroencephalogram) data collection to detect the intention of human movement. The Brain-Computer Interface (BCI) is an emerging area to find out the best alternative to assist or take full control of motor related activity and to sort out the problems by designing electromechanical hardware device. The novel EEG classification methods will be applied to classify the different intention of the motor imagery operation of the user. The obtained results will be used to trigger the exoskeleton device. Hence, it is expected that the developed bio-mechatronics system should be able to improve the quality of life for those SCI affected mobility disorder patients.