Subhash Pratap

I am a research scholar at the Biomimetic Robotics and Artificial Intelligence Lab (BRAIL) at IIT Guwahati. I am part of the International Joint Ph.D. Programme in Intelligent Mechanical Engineering between IIT Guwahati and Gifu University, Japan, with a research focus on neurorehabilitation, soft robotics, and deep learning. I am also associated with the ITO Laboratory at Gifu University, which is focused on High-Speed and High-Precision Positioning, Robot Machining, and the development of a haptic feedback system. My personal research focuses on the use of haptic feedback for neurorehabilitation, with the aim of developing a cross-modal haptic feedback system for collaborative control of an extreme upper limb exoskeleton using an Assistance-as-Needed control strategy.

My research work includes-

Development of a sensor-based Data Glove which measures hand grasp postures and forces.
A human grasping study which includes the approach, lift and hold phases
Grasp synergies in the force and posture space are identified.
A cross-sectional study to understand the variation in force values across different variables
Design and development of a 3D-printed tendon-driven soft Hand Exoskeleton with flexible material.
Synergy-based control of the soft exoskeleton based on the Assistance-as-Required strategy.

Area of Research

Rehabilitation Robotics, Haptics for Neurorehabilitation, Machine Learning & AI, Control Systems

Abstract:- The most challenging part of the neurorehabilitation is the functional recovery of the human hand. With the development of neurorehabilitation, physical rehabilitation strategies for the upper limbs include intensive intervention, task-oriented and bilateral training. Despite significant progress over the last couple of years in the design and development of robotic exoskeletons for extreme upper limb rehabilitation, there remain several challenges to be addressed, particularly for retention of residual skills and providing ‘assistance-as-required’ leading to newer problems in feedback and control. This is particularly acute in the area of somatosensory feedback to the user. The work to be undertaken as part of PhD research is to explore cross-modal haptic feedback for a neuro-rehabilitation using tactile and visual modality through advanced machine learning techniques. Haptic information would be used along with electromyogram (EMG), signals from the muscles and motor imagery electroencephalogram (EEG), signals from the motor cortex for control of an extreme upper-limb exoskeleton.

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