Imperial College London

DrRaviVaidyanathan

Faculty of EngineeringDepartment of Mechanical Engineering

Reader in Biomechatronics
 
 
 
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Contact

 

+44 (0)20 7594 7020r.vaidyanathan CV

 
 
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Location

 

717City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Publication Type
Year
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136 results found

Angeles P, Mace M, Admiraal M, Burdet E, Pavese N, Vaidyanathan Ret al., 2016, A Wearable Automated System to Quantify Parkinsonian Symptoms Enabling Closed Loop Deep Brain Stimulation, 17th Annual Conference on Towards Autonomous Robotic Systems (TAROS), Publisher: SPRINGER INT PUBLISHING AG, Pages: 8-19, ISSN: 0302-9743

Conference paper

Low KH, Mohammed S, Hu T, Seipel J, Vaidyanathan R, Solis Jet al., 2015, Biorobotics with Hybrid and Multimodal Locomotion, IEEE ROBOTICS & AUTOMATION MAGAZINE, Vol: 22, Pages: 29-+, ISSN: 1070-9932

Journal article

Mamun KA, Mace M, Lutman ME, Stein J, Liu X, Aziz T, Vaidyanathan R, Wang Set al., 2015, Movement decoding using neural synchronisation and inter-hemispheric connectivity from deep brain local field potentials, Journal of Neural Engineering, Vol: 12, ISSN: 1741-2560

Objective. Correlating electrical activity within the human brain to movement is essential for developing and refining interventions (e.g. deep brain stimulation (DBS)) to treat central nervous system disorders. It also serves as a basis for next generation brain–machine interfaces (BMIs). This study highlights a new decoding strategy for capturing movement and its corresponding laterality from deep brain local field potentials (LFPs). Approach. LFPs were recorded with surgically implanted electrodes from the subthalamic nucleus or globus pallidus interna in twelve patients with Parkinson's disease or dystonia during a visually cued finger-clicking task. We introduce a method to extract frequency dependent neural synchronization and inter-hemispheric connectivity features based upon wavelet packet transform (WPT) and Granger causality approaches. A novel weighted sequential feature selection algorithm has been developed to select optimal feature subsets through a feature contribution measure. This is particularly useful when faced with limited trials of high dimensionality data as it enables estimation of feature importance during the decoding process. Main results. This novel approach was able to accurately and informatively decode movement related behaviours from the recorded LFP activity. An average accuracy of 99.8% was achieved for movement identification, whilst subsequent laterality classification was 81.5%. Feature contribution analysis highlighted stronger contralateral causal driving between the basal ganglia hemispheres compared to ipsilateral driving, with causality measures considerably improving laterality discrimination. Significance. These findings demonstrate optimally selected neural synchronization alongside causality measures related to inter-hemispheric connectivity can provide an effective control signal for augmenting adaptive BMIs. In the case of DBS patients, acquiring such signals requires no additional surgery whilst providing a rela

Journal article

Hallett E, Woodward R, Schultz SR, Vaidyanathan Ret al., 2015, Rapid bicycle gear switching based on physiological cues, IEEE CASE 2015, Publisher: IEEE, Pages: 377-382

This paper discusses the merits of Mechanomyography (MMG) sensors in capturing and isolating muscle activity in high interference environs, with application to `hands free' gear shifting on a bicycle for users with limited extremity movement. MMG (acoustic) muscle sensing provides a simple and rugged alternative to physiological sensing for machine interface in the field, but suffers from interfering artifacts (in particular motion) which has limited its mainstream use. We introduce a system fusing MMG with a filter based on Inertial Measurement (IMU) to isolate muscle activity in the presence of interfering motion and vibrations. The system identifies user-initiated muscle trigger profiles during laboratory testing, allowing parameterization of MMG and IMU signals to identify purposeful muscle contractions (triggers) and to omit false triggers resulting from cycle/road vibration or rider movement. During laboratory testing the success rate of trigger identification was 88.5% while cycling with an average of 0.87 false triggers /min. During road testing the success rate was 72.5% and false triggers were more frequent at 3.7 /min. These results hold strong promise for alternative triggering mechanisms to the standard bar-end shifters used in current off-the-shelf cycling group sets, enabling amputees or people of reduced arm or hand dexterity to change gears while riding. Further testing will explore the use of signal filters on MMG data and further use of IMU data as feedback to increase false triggers rejection. Wider applications include a broad range of machine-interaction research.

Conference paper

Woodward R, Shefelbine S, Vaidyanathan R, 2015, Integrated Grip Switching and Grasp Control for Prosthetic Hands Using Fused Inertial and Mechanomyography Measurement, Swarm/Human Blended Intelligence Workshop (SHBI 2015), Publisher: IEEE

Conference paper

Gardner M, Vaidyanathan R, Burdet E, Khoo BCet al., 2015, Motion-based Grasp Selection: Improving Traditional Control Strategies of Myoelectric Hand Prosthesis, 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Publisher: IEEE, Pages: 307-312, ISSN: 1945-7898

Conference paper

Morad S, Ulbricht C, Harkin P, Chan J, Parker K, Vaidyanathan Ret al., 2015, Modelling and control of a water jet cutting probe for flexible surgical robot, IEEE International Conference on Automation Science and Engineering (CASE), Publisher: IEEE, Pages: 1159-1164, ISSN: 2161-8070

Conference paper

Mace M, Yousif N, Naushahi M, Abdullah-Al-Mamun K, Wang S, Nandi D, Vaidyanathan Ret al., 2014, An automated approach towards detecting complex behaviours in deep brain oscillations, JOURNAL OF NEUROSCIENCE METHODS, Vol: 224, Pages: 66-78, ISSN: 0165-0270

Journal article

Lock RJ, Burgess SC, Vaidyanathan R, 2014, Multi-modal locomotion: from animal to application, BIOINSPIRATION & BIOMIMETICS, Vol: 9, ISSN: 1748-3182

Journal article

Lock RJ, Vaidyanathan R, Burgess SC, 2014, Impact of Marine Locomotion Constraints on a Bio-inspired Aerial-Aquatic Wing: Experimental Performance Verification, JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, Vol: 6, ISSN: 1942-4302

Journal article

Woodward R, Shefelbine S, Vaidyanathan R, 2014, Pervasive Motion Tracking and Muscle Activity Monitor, 27th IEEE International Symposium on Computer-Based Medical Systems (CBMS), Publisher: IEEE, Pages: 421-426, ISSN: 2372-9198

Conference paper

Woodward R, Gardner M, Angeles P, Shefelbine S, Vaidyanathan Ret al., 2014, A Novel Acoustic Interface for Bionic Hand Control, 14th Annual Conference on Towards Autonomous Robotic Systems (TAROS), Publisher: SPRINGER-VERLAG BERLIN, Pages: 296-+, ISSN: 0302-9743

Conference paper

Evins R, Vaidyanathan R, Burgess S, 2014, Multi-material Compositional Pattern-Producing Networks for Form Optimisation, 17th European Conference on Applications of Evolutionary Computation (EvpApplications), Publisher: SPRINGER-VERLAG BERLIN, Pages: 189-200, ISSN: 0302-9743

Conference paper

Gardner M, Woodward R, Vaidyanathan R, Burdet E, Khoo BCet al., 2014, An Unobtrusive Vision System to Reduce the Cognitive Burden of Hand Prosthesis Control, 13th International Conference on Control Automation Robotics & Vision (ICARCV), Publisher: IEEE, Pages: 1279-1284, ISSN: 2474-2953

Conference paper

Morad S, Ulbricht C, Harkin P, Chan J, Parker K, Vaidyanathan Ret al., 2014, Flexible robotic device for spinal surgery, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), Publisher: IEEE, Pages: 235-240

Conference paper

Mace M, Abdullah-al-Mamun K, Naeem AA, Gupta L, Wang S, Vaidyanathan Ret al., 2013, A heterogeneous framework for real-time decoding of bioacoustic signals: Applications to assistive interfaces and prosthesis control, EXPERT SYSTEMS WITH APPLICATIONS, Vol: 40, Pages: 5049-5060, ISSN: 0957-4174

Journal article

Etoundi AC, Burgess SC, Vaidyanathan R, 2013, A Bio-Inspired Condylar Hinge for Robotic Limbs, JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, Vol: 5, ISSN: 1942-4302

Journal article

Madgwick SOH, Harrison AJL, Sharkey PM, Vaidyanathan R, Harwin WSet al., 2013, Measuring motion with kinematically redundant accelerometer arrays: Theory, simulation and implementation, Mechatronics

Journal article

Mace M, Subbich S, Naeem AA, Vaidyanathan Ret al., 2013, Augmenting neuroprosthetic hand control through evaluation of a bioacoustic interface, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 1499-1505, ISSN: 2153-0858

Conference paper

Gupta L, Kota S, Molfese DL, Vaidyanathan Ret al., 2013, Pairwise diversity ranking of polychotomous features for ensemble physiological signal classifiers, PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 227, Pages: 655-662, ISSN: 0954-4119

Journal article

Etoundi AC, Lock RJ, Vaidyanathan R, Burgess SCet al., 2013, A bio-inspired condylar knee joint for knee prosthetics, International Journal of Design and Nature and Ecodynamics, Vol: 8, Pages: 213-225, ISSN: 1755-7437

This paper presents a novel bio-inspired condylar prosthetic knee joint developed at the University of Bristol. The bio-inspired condylar joint mimics the structure and biomechanics of the human knee joint. The joint contains an inverted parallelogram four-bar mechanism combined with a cam mechanism. The joint has a favourable mechanical advantage compared with a hinge joint. The joint is also compact and robust. An adultsized prototype joint has been designed and tested. The prototype joint contains a long cable for the ligaments with a mechanism for adjusting preload. Compared with other prosthetic joints, the condylar joint has the advantages that it is simple and closely mimics human biomechanics. This paper presents the design of the new artificial knee joint and some of the test results. The joint can be used in artificial legs and also for knee implants. A rapid prototyping procedure is also presented that enables a custom-sized prosthetic knee joint to be made very quickly and from just a few key dimensions. This process has the potential to improve the quality of surgical implants. © 2013 WIT Press.

Journal article

Boxerbaum AS, Kline M, Kline JE, Burgess SC, Quinn RD, Harkins RH, Vaidyanathan Ret al., 2012, Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility, Journal of Robotics and Mechatronics, Vol: 24, Pages: 629-641

Journal article

Boxerbaum AS, Kline M, Kline JE, Burgess SC, Quinn RD, Harkins RH, Vaidyanathan Ret al., 2012, Design, Simulation, Fabrication and Testing of a Bio-Inspired Amphibious Robot with Multiple Modes of Mobility, Journal of Robotics and Mechatronics, Vol: 24, Pages: 629-641

Journal article

Evins R, Joyce SC, Pointer P, Sharma S, Vaidyanathan R, Williams Cet al., 2012, Multi-objective design optimisation: getting more for less, Proceedings of ICE - Civil Engineering, Vol: 5, Pages: 5-10, ISSN: 0965-089X

Multi-objective optimisation can help civil engineers achieve higher performance for lower costs in their designs. This is true whether ‘performance’ applies to structural strength or energy use, or whether ‘cost’ measures financial outlay or occupant satisfaction: if it can be quantified it can be optimised in some form. By exploring trade-offs between conflicting objectives and constraints, multi-objective optimisation enables informed decision-making. This paper outlines the principles and benefits of multi-objective optimisation and the means of implementation. The complementary aspects of parametric modelling and optimisation are discussed as an aid to the flexible design of buildings and structures. A range of real design problems are considered, including structural and environmental examples.

Journal article

Lock RJ, Vaidyanathan R, Burgess SC, 2012, Design and Experimental Verification of a Biologically Inspired Multi-Modal Wing for Aerial-Aquatic Robotic Vehicles, 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 681-687, ISSN: 2155-1782

Conference paper

Burton TMW, Vaidyanathan R, Burgess SC, Turton AJ, Melhuish Cet al., 2012, Sensitivity analysis of a parametric hand exoskeleton designed to match natural human grasping motion, Pages: 390-401, ISSN: 0302-9743

This paper describes the simulated analysis of a fully scalable, parametrically designed hand exoskeleton previously developed as part of a stroke rehabilitation program within the Bristol Robotics Laboratory. The device is parametrically designed to match the location and trajectories of the joints within a normal healthy human hand. However, testing of fully scalable designs which can be custom fit to a person using parametric design can be costly, time consuming and potentially hazardous if ill-fitting. Here a method is presented which allows for the performance of a parametric design to be tested. A virtual mechanism with induced manufacturing tolerances is modelled and its interactions with the hand are simulated. The performance can then be assessed by the devices ability to achieve the objective trajectory within the simulation. The results show that for the designed hand exoskeleton, with a manufacturing tolerance of 0.2mm across parts the resulting average trajectory error is less than 0.2 degrees with an average tip error of less than 0.5 mm. The results also demonstrate that for a large tolerance of 1mm across all dimensions, the trajectory error can reach as high as 30.9 degrees. This result justifies the use of parametric design to develop mechanisms matching natural human motion. While the results are for a parametrically scalable hand exoskeleton, it is believed the methodology is applicable to any bio-compatible assistive device. © 2012 Springer-Verlag.

Conference paper

Mamun KA, Huda MN, Mace M, Lutman ME, Stein J, Liu X, Aziz T, Vaidyanathan R, Wang Set al., 2012, Pattern Classification of Deep Brain Local Field Potentials for Brain Computer Interfaces, 15th International Conference on Computer and Information Technology (ICCIT), Publisher: IEEE, Pages: 518-523, ISSN: 2474-9648

Conference paper

Mamun KA, Mace M, Lutman ME, Stein J, Liu X, Aziz T, Vaidyanathan R, Wang Set al., 2012, A Robust Strategy for Decoding Movements from Deep Brain Local Field Potentials to Facilitate Brain Machine Interfaces, 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 320-325, ISSN: 2155-1782

Conference paper

Klein MA, Boxerbaum AS, Quinn RD, Harkins R, Vaidyanathan Ret al., 2012, SeaDog: A Rugged Mobile Robot for Surf-Zone Applications, 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics, Publisher: IEEE, Pages: 1335-1340, ISSN: 2155-1782

Conference paper

Vaidyanathan R, Chen C-T, Jeong C-D, Williams C, Endo Y, Ritzmann RE, Quinn RDet al., 2012, A reflexive vehicle control architecture based on a neural model of the cockroach escape response, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, Vol: 226, Pages: 699-718-699-718

This paper presents a biologically inspired architecture for rapid real-time control of autonomous or semi-autonomous vehicles based on a neural model of the escape response of the American cockroach, Periplaneta americana. The architecture fuses exteroceptive and proprioceptive inputs in a manner similar to the insect to produce commands for collision avoidance and, in some cases, orientation for target strike. It functions as a reflexive subsystem that integrates smoothly with higher-level planning and behavioral control systems. The performance of the reflex is demonstrated in simulation and in hardware experiments on both air and ground vehicles, even in the presence of noisy, false or disruptive sensor data.

Journal article

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