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Virk, Gurvinder Singh
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Publications (10 of 31) Show all publications
Christensen, S., Bai, S., Rafique, S., Isaksson, M., O'Sullivan, L., Power, V. & Virk, G. S. (2019). AXO-SUIT: A Modular Full-Body Exoskeleton for Physical Assistance. In: Alessandro Gasparetto and Marco Ceccarelli (Ed.), Alessandro Gasparetto and Marco Ceccarelli (Ed.), Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics. Paper presented at MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy (pp. 443-450). Paper presented at MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy. Cham: Springer Netherlands, 66
Open this publication in new window or tab >>AXO-SUIT: A Modular Full-Body Exoskeleton for Physical Assistance
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2019 (English)In: Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics / [ed] Alessandro Gasparetto and Marco Ceccarelli, Cham: Springer Netherlands, 2019, Vol. 66, p. 443-450Chapter in book (Refereed)
Abstract [en]

This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close-end-user involvement are outlined and used in realizing the exoskeleton. Design of the resulting mechanics and electronics details for the lower and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. TheFB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.

Place, publisher, year, edition, pages
Cham: Springer Netherlands, 2019
Series
Mechanisms and Machine Science, ISSN 22110984 ; 66
Keywords
Exoskeleton, Full Body, Lower Body, Upper Body, Assistance
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-27926 (URN)10.1007/978-3-030-00365-4_52 (DOI)2-s2.0-85052801351 (Scopus ID)978-3-030-00364-7 (ISBN)978-3-030-00365-4 (ISBN)
Conference
MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy
Projects
AXOSUIT
Funder
Vinnova
Note

Papers presented at IFToMM Symposium on Mechanism Design for Robotics, 11-13 August 2018, Udine, Italy

Funding:

- EU AAL Programme- Innovation Fund Denmark- Agentschap Innoveren Ondernemen- Enterprise Ireland 

Available from: 2018-09-19 Created: 2018-09-19 Last updated: 2019-08-12Bibliographically approved
Tokhi, M. O. & Virk, G. S. (Eds.). (2017). Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR 2016. Paper presented at 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016, London, UK, 12-14 September 2016. Singapore: World Scientific
Open this publication in new window or tab >>Advances in Cooperative Robotics: Proceedings of the 19th International Conference on CLAWAR 2016
2017 (English)Conference proceedings (editor) (Refereed)
Place, publisher, year, edition, pages
Singapore: World Scientific, 2017. p. 896
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:hig:diva-22834 (URN)10.1142/9789813149137_fmatter (DOI)978-981-3149-12-0 (ISBN)978-981-3149-14-4 (ISBN)
Conference
19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016, London, UK, 12-14 September 2016
Available from: 2016-11-25 Created: 2016-11-25 Last updated: 2018-03-13Bibliographically approved
Virk, G. S., Park, H. S., Yang, S. & Wang, J. (2017). ISO modularity for service robots. In: M. Tokhi and G. S. Virk (Ed.), Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016. Paper presented at 19th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 12-14 September 2016, London, UK (pp. 663-671). Singapore: World Scientific
Open this publication in new window or tab >>ISO modularity for service robots
2017 (English)In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016 / [ed] M. Tokhi and G. S. Virk, Singapore: World Scientific, 2017, p. 663-671Conference paper, Published paper (Refereed)
Abstract [en]

Robot modularity has been an active area of research for several years and many innovative solutions have been developed which have as yet, not made significant impact on the world stage. To assist market developments, ISO robot modularity standardization was started in 2012 and the current paper presents an overview of the work to develop plug-n-play robot module specifications for service robots. Key definitions are presented together with generic modularization issues which have been identified for service robots.

Place, publisher, year, edition, pages
Singapore: World Scientific, 2017
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:hig:diva-22833 (URN)10.1142/9789813149137_0077 (DOI)000386326300077 ()2-s2.0-84999663716 (Scopus ID)978-981-3149-12-0 (ISBN)978-981-3149-14-4 (ISBN)
Conference
19th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 12-14 September 2016, London, UK
Available from: 2016-11-25 Created: 2016-11-25 Last updated: 2018-03-13Bibliographically approved
Villaronga, E. F. & Virk, G. S. (2017). Legal issues for mobile servant robots. In: A. Rodić, T. Borangiu (Ed.), Advances in Robot Design and Intelligent Control: . Paper presented at 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016; Belgrade, Serbia; 30 June-2 July 2016 (pp. 605-612). Springer
Open this publication in new window or tab >>Legal issues for mobile servant robots
2017 (English)In: Advances in Robot Design and Intelligent Control / [ed] A. Rodić, T. Borangiu, Springer, 2017, p. 605-612Conference paper, Published paper (Refereed)
Abstract [en]

This paper identifies key legal issues which are emerging for Mobile Servant Robots (MSRs), a sub-type of Personal Care Robots (PCR) defined in ISO 13482. New cases are likely to be introduced in the market soon even though appropriate and specific binding legal regulations regarding MSRs are missing and several questions need to be carefully considered. The main issues of concern are the need for a concrete and holistic definition of MSR, clarification on the confusion among new emerging ISO/IEC robot categories (especially between boundaries and gaps in machinery with medical device regulations), unclear liability scenarios (avoiding harm, prospective liability, butterfly effect), defining and regulating human-robot collaborations and relationships, ethical issues (mass surveillance, post-monitoring personal data), autonomy (from the robot but also from the user perspective), isolation scenarios, etc. Despite the recent technical advances, there is still a long way ahead and further research is needed to overcome a variety of associated legal and ethical issues which are emerging. 

Place, publisher, year, edition, pages
Springer, 2017
Series
Advances in Intelligent Systems and Computing, ISSN 2194-5357 ; 540
Keywords
Human-Robot Interaction (HRI), ISO 13482:2014, Legal aspects, Mobile servant robots, Personal care robot, Social robots, Biomedical equipment, Intelligent robots, Laws and legislation, Machine design, Machinery, Philosophical aspects, Robotics, Robots, Human robot Interaction (HRI), Personal care, Human robot interaction
National Category
Robotics Law
Identifiers
urn:nbn:se:hig:diva-23524 (URN)10.1007/978-3-319-49058-8_66 (DOI)000413022000066 ()2-s2.0-85007357480 (Scopus ID)9783319490571 (ISBN)978-3-319-49058-8 (ISBN)
Conference
25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016; Belgrade, Serbia; 30 June-2 July 2016
Available from: 2017-02-06 Created: 2017-02-06 Last updated: 2018-03-13Bibliographically approved
Haider, U., Nyoman, I. I., Kim, C., Masud, N., Virk, G. S. & Coronado, J. L. (2017). Modular EXO-LEGS for mobility of elderly persons. In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016. Paper presented at 19th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 12-14 September 2016, London, UK (pp. 851-859). Singapore: World Scientific
Open this publication in new window or tab >>Modular EXO-LEGS for mobility of elderly persons
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2017 (English)In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016, Singapore: World Scientific, 2017, p. 851-859Conference paper, Published paper (Refereed)
Abstract [en]

The paper presents details of the AAL Call 4 EXO-LEGS project aimed at developing and testing lower body assistive exoskeletons to help elderly persons perform daily living activities independently such as stable standing, sit-to-stand transfers and straight walking. The key components needed have been realized using mobility requirements and design preferences provided by an end user group comprising 118 members via 5 surveys. Modular human-centric concepts are followed for mechanical design, sensing and actuation, system integration, etc., to realize a BASIC exoskeleton prototype able to provide up to 30% power to assist the human perform the intended motions. Two ethical approvals have been obtained to involve end users in the research, development and test phases of the project. To date, 5 test subjects have tested the exoskeleton prototype in walking and the sit-to-stand test; summary results are presented in this paper.

Place, publisher, year, edition, pages
Singapore: World Scientific, 2017
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:hig:diva-22835 (URN)10.1142/9789813149137_0099 (DOI)000386326300099 ()2-s2.0-84999806599 (Scopus ID)978-981-3149-12-0 (ISBN)978-981-3149-14-4 (ISBN)
Conference
19th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 12-14 September 2016, London, UK
Projects
EXO-LEGS
Funder
EU, Horizon 2020VINNOVA, 2012-03255
Available from: 2016-11-25 Created: 2016-11-25 Last updated: 2018-03-13Bibliographically approved
Yang, C., Virk, G. S. & Yang, H. (Eds.). (2017). Wearable Sensors and Robots: Proceedings of International Conference on Wearable Sensors and Robots 2015. Paper presented at International Conference on Wearable Sensors and Robots, ICWSR 2015, 16-18 October 2015, Hangzhou, China. Springer, 399
Open this publication in new window or tab >>Wearable Sensors and Robots: Proceedings of International Conference on Wearable Sensors and Robots 2015
2017 (English)Conference proceedings (editor) (Refereed)
Abstract [en]

These proceedings present the latest information on regulations and standards for medical and non-medical devices, including wearable robots for gait training and support, design of exoskeletons for the elderly, innovations in assistive robotics, and analysis of human–machine interactions taking into account ergonomic considerations. The rapid development of key mechatronics technologies in recent years has shown that human living standards have significantly improved, and the International Conference on Wearable Sensor and Robot was held in Hangzhou, China from October 16 to 18, 2015, to present research mainly focused on personal-care robots and medical devices. The aim of the conference was to bring together academics, researchers, engineers and students from across the world to discuss state-of-the-art technologies related to various aspects of wearable sensors and robots.  

Place, publisher, year, edition, pages
Springer, 2017. p. XI, 587
Series
Lecture Notes in Electrical Engineering, ISSN 1876-1100 ; 399
Keywords
robotics, robots, sensors, wearable sensors, wearable robots
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-22755 (URN)10.1007/978-981-10-2404-7 (DOI)2-s2.0-84992650846 (Scopus ID)978-981102403-0 (ISBN)978-981-10-2404-7 (ISBN)
Conference
International Conference on Wearable Sensors and Robots, ICWSR 2015, 16-18 October 2015, Hangzhou, China
Available from: 2016-11-14 Created: 2016-11-14 Last updated: 2018-03-13Bibliographically approved
Virk, G. S., Haider, U., Nyoman, I. I., Masud, N., Mamaev, I., Hopfgarten, P. & Hein, B. (2016). Design of EXO-LEGS exoskeletons. In: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015: . Paper presented at 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 6-9 September 2015, HangZhou, China (pp. 59-66).
Open this publication in new window or tab >>Design of EXO-LEGS exoskeletons
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2016 (English)In: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 2016, p. 59-66Conference paper, Published paper (Refereed)
Abstract [en]

The paper describes the design details for realising the EXO-LEGS assistive exoskeletons for Ambient Assisted Living (AAL) applications based on modelling and simulation studies performed for key mobility functionalities in activities for daily living such as stable standing in open space and straight walking. The results provide the basis for selecting sensors and actuators to develop the needed assistive exoskeletons to help the elderly to stay active and independent for as long as possible.

Keywords
Mobile robots; Walking aids, Ambient assisted living (AAL); Assistive; Daily living; Modelling and simulations; Sensors and actuators, Exoskeleton (Robotics)
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-23261 (URN)000391656500011 ()2-s2.0-84999837795 (Scopus ID)978-981-4725-23-1 (ISBN)
Conference
18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 6-9 September 2015, HangZhou, China
Available from: 2017-01-09 Created: 2017-01-09 Last updated: 2019-03-19Bibliographically approved
Haider, U., Nyoman, I. I., Coronado, J. L., Kim, C. & Virk, G. S. (2016). User-centric Harmonized Control for Single Joint Assistive Exoskeletons. International Journal of Advanced Robotic Systems, 13(3), Article ID 115.
Open this publication in new window or tab >>User-centric Harmonized Control for Single Joint Assistive Exoskeletons
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2016 (English)In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, no 3, article id 115Article in journal (Refereed) Published
Abstract [en]

The world is ageing and this poses a challenge to produce cost-effective solutions that can keep elderly people independent and active by assisting them in daily living activities. In this regard, this paper presents a new control method to provide physical assistance for any of the user joints (e.g., hip, knee, elbow, etc.) as needed by the wearer, by means of an assistive non-medical single joint exoskeleton with a "harmonized controller" capable of providing assistance in a natural way, and varying the assistance as needed by the user performing some activity. The control method is aimed at exoskeletons to provide assistance to users facing difficulty in any activity such as walking, sit-to-stand, etc., and, other than providing assistance as needed, it can also reduce the muscular effort for a completely healthy user. Harmonized control uses exoskeleton-integrated force sensors and motion sensors to identify the user's intentions and the assistance level required, generating appropriate control signals for the actuators by implementing a simple PID controller. To verify the proposed harmonized-control technique, simulations using MATLAB/SIMULINK were performed for a single joint system. An experimental test rig for a single joint was also developed using MATLAB Xpc Target for real-time control. User tests were also carried out for the knee joint and the results obtained from simulations, experimentation and user tests are reported and discussed here. The results achieved to date and reported here show harmonized control to be a promising user-centric solution for the development of single joint assistive exoskeletons for support as needed by the user in daily living activities.

Keywords
Assistive Exoskeleton, Control Method, User-centric Control, Harmonized Control
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-22110 (URN)10.5772/63791 (DOI)000377335500003 ()2-s2.0-84993971917 (Scopus ID)
Available from: 2016-07-06 Created: 2016-07-06 Last updated: 2018-03-13Bibliographically approved
O’Sullivan, L., Power, V., Virk, G. S., Masud, N., Haider, U., Christensen, S., . . . Voncke, K. (2015). End user needs elicitation for a full-body exoskeleton to assist the elderly. In: Ahram, T., Karwowski, W. and Schmorrow, D. (Ed.), 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the  affiliated conferences: . Paper presented at 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015), 26-30 July 2015, Las Vegas, Neevada, USA (pp. 1403-1409). Amsterdam: Elsevier
Open this publication in new window or tab >>End user needs elicitation for a full-body exoskeleton to assist the elderly
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2015 (English)In: 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the  affiliated conferences / [ed] Ahram, T., Karwowski, W. and Schmorrow, D., Amsterdam: Elsevier, 2015, p. 1403-1409Conference paper, Published paper (Refereed)
Abstract [en]

For ageing individuals, declining physical functional capacity can lead to loss of independence, decreased engagement in the community and reductions in quality of life. As such, solutions that can effectively and affordably supplement older adults’ diminishing functional capacity, and thus facilitate maintained independence and social participation over time are urgently required. The AXO-SUIT project - funded by the European Commission under the Ambient Assisted Living Joint Programme is developing assistive exoskeleton devices for older adults with impaired mobility and/or difficulties in performingactivities of daily living. This paper will report on-going research which aims to identify end user needs, and thus provide inputs to specify the design requirements of the AXO-SUIT exoskeletons. The objectives of this initial questionnaire study are to identify the functional assistance requirements of potential end users of the AXO-SUIT in terms of mobility, reaching and handling, and full-body support for performing activities of daily livingat home and in the wider community. The end user requirements identified will be used to formulate functional specifications for the AXO-SUIT lower-body and upper-body sub-systems, which will ensure that the AXO-SUIT prototypes will provide for the specific mobility, reaching and handling needs of end users, and also to provide useful insights into the perspectives and needs of end users in relation to assistive exoskeletons in general.

Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2015
Keywords
Assitive exoskeleton; Elderly; End user needs
National Category
Medical Engineering Occupational Health and Environmental Health
Identifiers
urn:nbn:se:hig:diva-22872 (URN)10.1016/j.promfg.2015.07.302 (DOI)000383740301068 ()2-s2.0-85009948889 (Scopus ID)
Conference
6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015), 26-30 July 2015, Las Vegas, Neevada, USA
Available from: 2016-11-28 Created: 2016-11-28 Last updated: 2018-03-13Bibliographically approved
Srinivas, S., Virk, G. S. & Haider, U. (2015). Multipurpose supernumerary robotic limbs for industrial and domestic applications. In: 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR): . Paper presented at Conference of 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015, Conference, 24-27 August 2015, Miedzyzdroje, Poland (pp. 289-293). IEEE conference proceedings
Open this publication in new window or tab >>Multipurpose supernumerary robotic limbs for industrial and domestic applications
2015 (English)In: 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR), IEEE conference proceedings, 2015, p. 289-293Conference paper, Published paper (Refereed)
Abstract [en]

Robotic exoskeleton arms have been around for a long time and they have successfully evolved from research prototypes to commercial products. Multipurpose supernumerary robotic limbs (MSRLs) have been recently introduced as new types of aids which do not directly replace missing limbs, but they are additional mechanical arms with changeable end-effectors which can be worn by the user to provide needed functionalities. This paper presents the mechanical design and kinematics modelling and control of a MSRL system. The MSRL presented could have good application in industrial and domestic situations.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2015
Keywords
AHRS, kinematics, leader-follower method, mechanical design, robotic arm, wearable personal robotics
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-21508 (URN)10.1109/MMAR.2015.7283889 (DOI)000374287000053 ()2-s2.0-84964414038 (Scopus ID)978-1-4799-8702-3 (ISBN)978-1-4799-8701-6 (ISBN)
Conference
Conference of 20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015, Conference, 24-27 August 2015, Miedzyzdroje, Poland
Available from: 2016-05-19 Created: 2016-05-19 Last updated: 2018-03-13Bibliographically approved
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