Faculty Publications
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Publications by NITK Faculty
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Item Simulink-Based Comparative Study and Selection of a Controller for a Waist-Assistive Exoskeleton(Springer Science and Business Media Deutschland GmbH, 2024) Thomas, M.J.; Mohanta, J.; Sahoo, S.; Santhakumar, S.This paper describes the conceptual design and comparative simulation study of three controller strategies—Proportional Integral Derivative (PID), PD-based Computed Torque Control and PD-based Sliding Mode Control (SMC) for a waist-assistive exoskeleton. The exoskeleton is modelled in Simulink, and its joint control is simulated for a predefined desired trajectory. The motor, joint and link parameters are incorporated into the Simulink model to match the properties and evaluate the performance similar to the real-time system. In addition, MSC ADAMS-based simulation study is also performed to validate the dynamic model of the exoskeleton. The preliminary study indicates that the SMC controller shows better tracking accuracy than the other two strategies. The proposed exoskeleton is designed to reduce the effort taken by the user during regular sit-to-stand and weight-lifting operations. It is intended to lower the strain the lumbar muscles take during standing and lifting operations over the long run. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.Item Development of an Intuitive Autonomous Ground Robot for Indoor Delivery Applications(Springer Science and Business Media Deutschland GmbH, 2025) Peter, J.; Thomas, M.J.; Gokulkrishna, S.; Cholappally, K.; Santhakumar, S.Efficient and reliable parcel delivery services are always desired in different sectors such as hospitals, offices, industries and households. One promising solution to meet, this need is the application of Autonomous Mobile Robots (AMRs) capable of navigating complex indoor environments to deliver packages and goods. Generally, AMRs are used for the last-mile delivery of parcels. The end users of such robots have different skill sets, and the robot must have a simple user interface to ensure easy usability. This paper presents an AMR with an intuitive Graphic User Interface (GUI) and aesthetic design. It is enough for the end user to define the goal locations on the resulting map shown on the robot screen. The AMR will autonomously navigate to the given goal location. Besides, the effectiveness of sensor fusion and a comparative study of various combinations of sensor fusion are also described in this paper. In addition, the application of LiDAR odometry and its performance is also analyzed in this paper. The primary objective of this study is to identify an approach that improves the AMR’s tracking accuracy and makes it suitable for dynamic work environments. This paper describes the development of an AMR for last-mile delivery purposes, and its proof of concept is evaluated on the fabricated prototype. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.Item Academic Insights and Future Prospects of Soft Robotics: Architecture, Material, Control and Application(Springer, 2024) Thomas, M.J.; Santhakumar, S.Soft Robotics is an emerging field with the potential to address real-world problems with newer possibilities and safer human–robot interactions. Generally, soft robots comprise materials with moduli ranging from 104 to 109 Pa. The significant characteristics of soft robots include their high flexibility, compatibility, and superior environmental adaptability. Despite the several advantages of soft robots, many physical limitations exist due to their structural compliance and the viscoelastic behaviour of the material which leads to non-linear deformations in the material. This very reason necessitates sophisticated and novel sensing, actuation and non-linear control methods for soft robots. This review paper provides a comprehensive understanding of the advancements in soft robots and finally outlines the gaps in this field, currently limiting their usage in several applications. The pros and cons of the various technologies are discussed, and possible strategies for the superior performance of soft robots and their prospects are outlined in this paper. © Indian Institute of Science 2025.