top of page

PROJECTS

AUGMENTED REALITY GAIT TRAINING INTERFACE FOR LOWER LIMB EXOSKELETONS:

As part of my research at the ROAR Lab at Columbia University, I developed an Augmented Reality (AR) application on the Microsoft HoloLens for providing a real-time visual feedback of the users current gait cycle. The application receives joint angles through UDP from Inertial Measurement Units (IMUs) attached to the exoskeletal cuffs. The joint angles are used to perform forward kinematics to create a AR stick figure of the person's lower limbs. The user tries to follow the new gait trajectory uploaded by the developer through Haptic and Visual Feedback. 

20190121_145904_HoloLens.jpg
20190121_145942_HoloLens.jpg

ADVANCED ROBOTIC MANIPULATION: SURGICAL INSTRUMENT DELIVERY DEVICE (S.I.D.D.) 

I was a part of a team that designed and created a prototype end-effector that was used to grasp and deliver miniature tools like surgical instruments.It is a very unique application since it did not aim to replace nurses but augment the resources within the operating room. It is an under-actuated manipulator with a very simple yet innovative two-finger mechanism - a fixed and a movable finger. We designed the manipulator in Solidworks and performed it inverse kinematics and path planning with Robot Operating System (ROS). 

normal.JPG
extended.JPG

APPLIED ROBOTICS: PROJECTS IMPLEMENTING ROS ON SIMULATED ROBOTS 

Project 1: I implemented Cartesian control on simulated KUKA and UR5 Robot Arms using ROS.

Project 2: I developed a "Rapidly-exploring Random Tree (RRT)" algorithm for the collision-free path planning of the simulated KUKA Robot arm using numerical inverse kinematics.

Project 3: I executed the Extended Kalman Filter (EKF) to keep predicting and correcting a 2D robot car's current position based on nearby sensors.

BRAIN COMPUTER INTERFACE LAB: CLASSIFICATION OF IMAGINED MOVEMENT USING EEG SIGNALS

I implemented Common Spatial Pattern (CSP) filters in MATLAB on EEG Signals to visualize left and right imagined movement. I trained a Linear Discriminant Analysis (LDA) classifier and used that to determine imagined movement direction in my test data. 

featureseparation.JPG

On the left is a graph that compared the signals in Channel space (before applying CSP) and the signals in CSP Space. I learnt that applying the CSP space to signals allows for clear separation between left and right imagined movement. Further, I used 90% of my data as a training set and tried classifying the remaining 10% of my data. I got a standard error of 0.0038 which implies that my model is good and has consistent accuracy.

MY PUBLICATIONS, HONORS, AND PANELIST OPPORTUNITIES:

  • Panelist & Presenter: IEEE EMBS Clinical System Identification Virtual Minisymposium: Real-Time Parameter Estimation of the Lungs using the Least Squared Estimation Approach and Iterative Optimization Approach

  • S. Rambabu, K. Kartik Sriram, Siddharth Chamarthy, P. Parthasarathy, V. Ratna kishore, A proposal for a correlation to calculate pressure drop in reticulated porous media with the help of numerical investigation of pressure drop in ideal & randomized reticulated structures, Chemical Engineering Science, Volume 237, 2021, 116518, ISSN 0009-2509, https://doi.org/10.1016/j.ces.2021.116518.

  • R. Hidayah, L. Bishop, X. Jin, S. Chamarthy, J. Stein and S. K. Agrawal, "Gait Adaptation Using a Cable-Driven Active Leg Exoskeleton (C-ALEX) With Post-Stroke Participants," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28, no. 9, pp. 1984-1993, Sept. 2020, doi: 10.1109/TNSRE.2020.3009317.

  • S. Chamarthy, R. Hidayah, A. Shah, M. Fitzgerald-Maguire and S. K. Agrawal, "Walking With Augmented Reality: A Preliminary Assessment of Visual Feedback With a Cable-Driven Active Leg Exoskeleton (C-ALEX)," in IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3948-3954, Oct. 2019, doi: 10.1109/LRA.2019.2929989.

  • R. Hidayah, X. Jin, S. Chamarthy, M. M. Fitzgerald and S. K. Agrawal, "Comparing the Performance of a Cable-Driven Active Leg Exoskeleton (C-ALEX) Over-Ground and on a Treadmill," 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), Enschede, 2018, pp. 299-304. doi: 10.1109/BIOROB.2018.8487771

  • Honorary mention for engineering at NYC Media Lab ‘18 - AR feedback application on HoloLens for gait training on exoskeletons

  • Karthick Srinivasan, C.S.K. Siddharth, L.V. Arun Kaarthic, M. Thenarasu, Evaluation of Mechanical Properties, Economic and Environmental Benefits of Partially Replacing Silica Sand with Biomass Ash for Aluminium Casting, Materials Today: Proceedings, Volume 5, Issue 5, Part 2, 2018, Pages 12984-12992,

bottom of page