Human Intent DrivenControl for AssistiveDevices -

Human Intent Driven Control for Assistive Devices

Rehabilitation Robotics

A smart, muscle-sensing wearable that adapts in real time to movement needs-offering natural, flexible support for easier rehabilitation and mobility.

Institute:
CSIR CMERI Durgapur

PI Name:
Dr. Soumen Sen

Technology Readiness Level (TRL)
4

Problem
Addressed

The project addresses the lack of impedance regulation
in current collaborative robots and assistive devices.
While Cobots can follow human-guided motion, they
struggle with safe force modulation during physical
interaction. Existing exoskeletons often use bulky or
inefficient actuators. High-pressure PAMs are unsuitable
for mobile, wearable applications. Additionally, most
systems fail to detect and interpret both motion and
impedance intent from the user.

About the
Technology

The technology combines human intent detection with adaptive actuation systems. It uses EMG, motion, and force sensors to interpret both motion and impedance intent. Variable Impedance actuators and soft pneumatic muscles mimic human-like compliance. A soft elastomeric exoskeleton with embedded variable stiffness is developed for rehabilitation. Realtime machine learning models drive the control for responsive physical assistance.

Dual-mode intent recognition: Simultaneous identification of user’s motion and impedance intent using EMG and sensor fusion.
Biomimetic actuation: Use of variable Impedance actuators and soft pneumatic muscles to replicate human muscle behavior.
Low-pressure soft exoskeleton: A hyperelastic silicone-based wearable with embedded variable stiffness for adaptive rehabilitation.

Application Areas & Use Cases

Rehabilitation: Assists stroke patients and the elderly with mobility and muscle therapy.
Industrial Support: Enhances worker performance in load handling and precision tasks like assembly or drilling.
Defense: Provides wearable support systems to reduce fatigue and improve mobility for soldiers.

Actuators: Variable Impedance actuators (motor based and soft pneumatic muscle actuators)
Sensors: EMG sensors and Multi-axes Force/Torque sensors
Controllers: Motion and Impedance Controllers using ML-based software
Soft Materials: Hyperelastic silicone (Polysiloxane) for soft, safe actuation
Prototyping Tools: 3D Printer and Precision Moulds for actuator fabrication

Important Announcements

Payment

Registered Office:

MZ-122, IIT Delhi, Hauz Khas, New Delhi-110016 India

Corporate Office:

IHFC, Block – A, Research & Innovation Park, IIT Delhi, Hauz Khas, New Delhi – 110016

GSTN Number:

07AAFCI6629H1ZE

Designed & Developed by eClerx

+91 7042654553

contact@ihfc.co.in

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