P
Parvathi Sunilkumar
Researcher at Indian Institutes of Technology
Publications - 4
Citations - 16
Parvathi Sunilkumar is an academic researcher from Indian Institutes of Technology. The author has contributed to research in topics: Parallel manipulator & Motion control. The author has an hindex of 1, co-authored 4 publications receiving 3 citations.
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Book ChapterDOI
Dynamics and Motion Control of a Three Degree of Freedom 3-PRRR Parallel Manipulator
TL;DR: An augmented proportional-derivative (PD) controller along with gravity compensation for the motion control is presented, which transforms the closed-loop dynamics of the manipulator into decoupled, and thus it becomes easier to quantify the motion performance.
Book ChapterDOI
Conceptual Design and Control of a Sitting-Type Lower-Limb Rehabilitation System Established on a Spatial 3-PRRR Parallel Manipulator
Santhakumar Mohan,Parvathi Sunilkumar,Larisa Rybak,Dmitry Malyshev,Sergey Khalapyan,Anna Nozdracheva +5 more
TL;DR: The conceptual design of a new sitting-type lower-limb rehabilitation robot along with simplified motion control for its passive range of motion therapies is put forth here and the suggested system’s design is demonstrated and verified using computer-based numerical simulations.
Journal ArticleDOI
Graphical interactive user interface system for a stationary trainer to perform lower limb rehabilitation tasks
TL;DR: The graphical interactive user interface system of a stationary trainer for performing lower-limb rehabilitation tasks is presented and the interactive simulator of the stationary trainer is demonstrated and verified using computer-based numerical simulations.
Book ChapterDOI
Investigation of Interference-Free Workspace of a Cartesian (3-PRRR) Parallel Manipulator
TL;DR: An algorithm for obtaining the largest volume cuboid that inscribes the interference-free workspace of a Cartesian (3-PRRR) parallel manipulator is proposed, which can be used as a performance index for the mechanism under investigation.