A primary motivation of our research is the monitoring of physical, physiological, and biochemical parameters - in any environment and without activity restriction and behaviour modification - through using miniaturised, wireless Body Sensor Networks (BSN). Key research issues that are currently being addressed include novel sensor designs, ultra-low power microprocessor and wireless platforms, energy scavenging, biocompatibility, system integration and miniaturisation, processing-on-node technologies combined with novel ASIC design, autonomic sensor networks and light-weight communication protocols. Our research is aimed at addressing the future needs of life-long health, wellbeing and healthcare, particularly those related to demographic changes associated with an ageing population and patients with chronic illnesses. This research theme is therefore closely aligned with the IGHI’s vision of providing safe, effective and accessible technologies for both developed and developing countries.

Some of our latest works were exhibited at the 2015 Royal Society Summer Science Exhibition.


Citation

BibTex format

@article{Varghese:2020:10.1109/LRA.2019.2963636,
author = {Varghese, RJ and Lo, BPL and Yang, G-Z},
doi = {10.1109/LRA.2019.2963636},
journal = {IEEE Robotics and Automation Letters},
pages = {540--547},
title = {Design and prototyping of a bio-inspired kinematic sensing suit for the shoulder joint: precursor to a multi-DoF shoulder exosuit},
url = {http://dx.doi.org/10.1109/LRA.2019.2963636},
volume = {5},
year = {2020}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - Soft wearable robots represent a promising new design paradigm for rehabilitation and active assistance applications. Their compliant nature makes them ideal for complex joints, but intuitive control of these robots require robust and compliant sensing mechanisms. In this work, we introduce the sensing framework for a multiple degrees-of-freedom shoulder exosuit capable of sensing the kinematics of the joint. The proposed sensing system is inspired by the body's embodied kinematic sensing, and the organisation of muscles and muscle synergies responsible for shoulder movements. A motion-capture-based evaluation study of the developed framework confirmed conformance with the behaviour of the muscles that inspired its routing. This validation of the tendon-routing hypothesis allows for it to be extended to the actuation framework of the exosuit in the future. The sensor-to-joint-space mapping is based on multivariate multiple regression and derived using an Artificial Neural Network. Evaluation of the derived mapping achieved root mean square error of ≈5.43° and 3.65° for the azimuth and elevation joint angles measured over 29,500 frames (4+ minutes) of motion-capture data.
AU - Varghese,RJ
AU - Lo,BPL
AU - Yang,G-Z
DO - 10.1109/LRA.2019.2963636
EP - 547
PY - 2020///
SN - 2377-3766
SP - 540
TI - Design and prototyping of a bio-inspired kinematic sensing suit for the shoulder joint: precursor to a multi-DoF shoulder exosuit
T2 - IEEE Robotics and Automation Letters
UR - http://dx.doi.org/10.1109/LRA.2019.2963636
UR - http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000508389400007&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
UR - https://ieeexplore.ieee.org/document/8949734
UR - http://hdl.handle.net/10044/1/89033
VL - 5
ER -