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All Journal IAES International Journal of Robotics and Automation (IJRA)
Ramanathan, Kuppan Chetty
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Automotive Engineering Electrical & Electronics Engineering

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Design and development of knee rehabilitation robot Sharma, Devashish; Shaik, Sahil Ahamed; Rajagopal, Saran; Mohan, Manju; Ramanathan, Kuppan Chetty; Lingampally, Pavan Kalyan
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 4: December 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i4.pp423-431

Abstract

This research presents a comprehensive design and analysis of a knee rehabilitation platform aimed at aiding individuals with knee dysfunction. Dysfunction in the knee joint can lead to an imbalance in gait and posture during activities of daily living (ADLs) such as standing, walking, and running. This study focuses on developing a 2-degree-of-freedom (2-DoF) knee rehabilitation device capable of mimicking linear and angular movements. A slider mechanism-based knee rehabilitation device is developed and simulated alongside various other mechanisms. The proposed mechanism achieves 32.5° of flexion for a linear movement of 0.45 m within 6 seconds, outperforming other mechanisms. To validate simulation results, a 3D-printed model is fabricated, and experimental studies are conducted under no-load conditions, showing close alignment with simulation outcomes with a deviation of ±5%. The device’s key features include portability, compliance, compactness, and enhanced stiffness. Future research will involve conducting pilot studies to further evaluate the practical efficacy and potential enhancements of the proposed knee rehabilitation platform.
Design and development of a modular magnetic wheeled robot for out-pipe inspection Rajendran, Sugin Elankavi; Ramanathan, Kuppan Chetty; Guasekaran, Harish Kumar; Pinagapani, Arun Kumar; Devaraj, Dinakaran; Mathanagopal, Ramya
IAES International Journal of Robotics and Automation (IJRA) Vol 14, No 3: December 2025
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v14i3.pp331-344

Abstract

This paper presents the design of a modular mobile robot capable of climbing and inspecting vertical ferromagnetic pipes using magnetic wheels. Mobile robots used for climbing ferromagnetic surfaces employ magnetic tracks, wheels, and magnets attached to the robot’s body. When it comes to ferromagnetic pipes, magnetic wheels and magnets attached to the body can be used. Among them, magnetic wheels are commonly used for inspecting ferromagnetic pipes. While current robots are suitable for large pipes, they are not practical for smaller ones. To address this gap, a small-sized robot equipped with a magnetic wheel system that ensures both strong attachment and smooth movement along vertical ferromagnetic surfaces is developed. The robot’s magnetic adhesion performance was analyzed through simulations using finite element method magnetics and validated through laboratory experiments. The results show an average error of only 8.25% between simulation and real-world tests, confirming the system’s reliability for external pipe inspection.
Co-Authors Devaraj, Dinakaran Guasekaran, Harish Kumar Lingampally, Pavan Kalyan Mathanagopal, Ramya Mohan, Manju Pinagapani, Arun Kumar Rajagopal, Saran Rajendran, Sugin Elankavi Shaik, Sahil Ahamed Sharma, Devashish