IDF No 1949 A Multimodal 3-degrees of Freedom Haptic Device

A Multimodal 3-degrees of Freedom Haptic Device

Technology Category/Market

Technology: A Multimodal 3-degrees of Freedom Haptic Device

Category: Assistive, Test Equipment & Design Manufacturing/Robotics & Automation

Industry: Biomedical/Gaming/Automotive

Application: Haptic sensation /Remote environment

Market: The global market size is estimated to be worth USD 3.9 billion in 2022 and is projected to reach USD 5.0 billion by 2028, at a CAGR of 3.7% during the forecast period.

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Problem Statement

  • Haptics, the sense of touch, combines kinesthetic and tactile forces for human interaction in remote or virtual environments.
  • Existing devices struggle to display tactile effects due to bulkiness and complexity.
  • Researchers propose devices that can render stiffness with shape or texture but not both, but face limitations in resolution and workspace.
  • Multi-fingered haptic interfaces are being developed to improve fidelity, workspace, and human adaptability, making them suitable for applications like rehabilitation, telesurgery, training, and gaming involving grasping, exploration, and manipulation.

Technology

  • A haptic device is a system that displays tactile sensations based on contact force, consisting of a texture module, actuators, a position control module, and an impedance control module.
  • The texture module displays tactile sensations based on a contact force, and the actuators simulate vibrations or shapes based on the selected texture and geometric shape.
  • The position control module creates a virtual environment with shape, shear, and texture, while the impedance control module provides stiffness based on the contact force.
  • The device generates feedback based on stiffness, texture, shear, or shape.
  • A grasper is a part of the device, with a first and second segment with finger access, allowing the user to exert force on the textures.
  • The device also has a position control module and an impedance control module, enabling the user to generate actions based on stiffness, texture, shear, or shape.

Key Features/Value Proposition

Task Sensation Sensor”

  • Includes grasper segment and texture module.
  • Spherical, connected to rollers.

Belt Division

  • Belt divided into zones.
  • Vibro-actuators placed under texture module.

Position Control Module

  • Includes gimbal arrangement for pitch and roll.
  • Includes linear guide and four-bar stiffness mechanism.

Texture Module

  • Includes semicircular cylindrical drum.
  • Includes vibro-actuators for shape simulation.

Texture Module

  • Includes first and second crowned rollers.
  • Includes drive roller.
  • Includes belt with textures.
Questions about this Technology?

Contact for Licensing

Research Lab

Prof.Asokan T

Department of Engineering Design

Intellectual Property

  • IITM IDF Ref 1949

  • Patent No: IN 549191

  • PCT/IN2020/050903

Technology Readiness Level

TRL- 4

Technology validated in lab

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IDF No 2491 Mass Afforestation Drone

Mass Afforestation Drone

Technology Category/Market

Category-Robotics & Automation / Aerospace & Defense Technologies

Industry Classification:

Unmanned aviation vehicles, Agriculture equipment and forestry equipment

Applications:

Manufacture of Drones for agriculture and afforestation applications.

Market report:

Agriculture Drones Market is projected to grow from USD 6.357 Billion in 2024 to USD 36.602 Billion by 2032 with a CAGR of 24.46%.

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Problem Statement

  • Unmanned aerial vehicles also known as drones are recently being used to perform tasks that require delivery of granulated materials over a large area.
  • Conventional drones are pre-filled with material, such as seeds, and are shot from a distance after analyzing the soil aerially. However, this causes crowding of the seeds at a particular spot leading lower germination rates.
  • Moreover, in conventional methods the area of land targeted has to be first analyzed manually to ensure the seeds are apt for that area. In afforestation work, it would be better if the soil is scooped and seed sowed at fixed gaps which requires human intervention.
  • There is a need to reduce human intervention and deliver payloads based on external conditions or pre-determined requirements.

Technology

  • The invention comprises a device adapted to be fitted to an unmanned aerial vehicle (UAV), the device comprising of a suspension system fixed to the base of the UAV, a payload regulator attached below the suspension system, a robotic arm connected to the suspension system that is adapted to receive the payload through it
  • The robotic arm has a rack and pinion mechanism to extend the arm to desired length, and a control system
  • The control system is connected to motors powered by a power source and adapted to operate the payload regulator, suspension system, and the robotic arm.
  • The system connecting the arm to the drone uses simple springs that locks/unlocks by means of a scotch-yoke mechanism that helps in stabilizing the drone while carrying suspended load.
  • The drone would fly over arable barren landscapes and first gauge the soil parameters using a penetrometer and prepare the soil while deciding the appropriate seeds before carrying out the seeding process.
  • A multicompartment seed box is used with sensors helps in mass afforestation by dropping seeds with mechanism to scoop the soil and sow the seeds

Key Features/Value Proposition

  • The invention allows coverage of large areas while enabling customization for individual locations, whereas conventional dispersal methods are not known to drop granulated materials at multiple individual locations over a large tract.
  • Conventional drones carrying heavy seed packages may become unstable during flight. Whereas, the invented technology uses springs that suspend the seed box from the drone while ensuring extra stability using a scotch yoke mechanism.
  • The present invention uses a seed package – customized seed which would be infused with nutrients to supplement the growth. Whereas, conventional drones lack such features
  • The present invention provides a unique structure to plant a specific number of seeds at regular intervals to prevent wastage of seeds while ensuring the correct selection of seeds without requirement of any manual intervention
Questions about this Technology?

Contact for Licensing

Research Lab

Prof. Manish Anand

Department of Mechanical Engineering

Intellectual Property

  • IITM IDF Ref 2491
  • IN : 549953- Patent Granted

Technology Readiness Level

TRL 1

Basic principles observed and reported

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IDF No 2266 A Surveillance Vehicle for Performing Survey in a Marine Environment

A Surveillance Vehicle for Performing Survey in a Marine Environment

Technology Category/Market

Category- Robotics & Automation

Industry Classification:

  • NIC(2008)-72- Scientific research and development; 2829- Manufacture of other special-purpose machinery; 26515 – Manufacture of radar equipment, GPS devices ,search ,detection ,navigation ,aeronautical and nautical equipment ;30112- Building of warships and scientific investigation ships.

Applications:

Bathymetric surveys, Marine surveillance, Survey of water bodies such as reservoirs.

Market report:

Global autonomous marine vehicle market was valued at USD 2.9 Billion in 2023 and is projected to grow to USD 8 Billion by 2032 with a CAGR of 12%.

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Problem Statement

  • In bathymetric survey, a depth with reference to Mean Sea Level (MSL) or Chart Datum (CD) of a water body is measured and underwater features of a water body are mapped for preparation of a bathymetric map.
  • Due to bulky size of conventional survey lounges, marine surveillance in close grid lines is not possible by survey lounges.
  • Conventional survey lounge utilizes hydrographic sensors, connected to an onboard computer preloaded with a proprietary software tool, for collecting data associated with marine surveillance. Transferring the data manually from a survey lounge to a station involves high cost, more time, and human effort.
  • Moreover, conventional survey lounges use fossil fuels that pollute the environment, while requiring human intervention for navigation and control.
  • There is a need for a marine Unmanned Autonomous Survey vehicle (UASV) that is capable of real-time transmission of data to remote stations while being capable of autonomous operation using renewable energy

Technology

  • The UASV comprises of sensors for surveillance of marine environments and a communication system to transmit data such as parameters and health data of the vehicle in real time to a remote station
  • Sensors comprise echo sounder, multi beam apparatus, water current meter, Acoustic Doppler Current Profiler (ADCP), Conductivity, Temperature and Depth (CTD) sensor, a side scan Sound Navigation and Ranging (SONAR), a submerged density meter, a sound velocity sensor, a weather station, a distance sensor, a camera, a sound velocity meter, a motion sensor, and a Global Navigation Satellite System (GNSS) receiver.
  • The electric power is stored in battery units through one or more of photovoltaic panels, an Alternating Current (AC) power source, and a Direct Current (DC) bus panel.
  • The electric propulsion system provides thrust force to the surveillance vehicle in a controlled manner. the surveillance vehicle is operated in one of a differential steering mode, an azimuth steering mode, and an azimuth differential steering mode through a multiphase electric drive controller, a navigation controller, and a centralized controller.
  • The navigation module is configured to detect presence of an obstacle in the pre-defined trajectory to be followed by the surveillance vehicle, determine, using a distance sensor, a distance relative direction between the surveillance vehicle and the obstacle through a collision avoidance and annunciation system, and alter the pre-defined trajectory
  • The distance sensor is one or more of a Light Detection and Ranging (LiDAR) sensor and a Radio Detection and Ranging (RADAR) sensor interfaced to collision avoidance and annunciation system.
  • The communication system transmits near real-time post processed data by acquiring nearby tide in form of tide data from an Automatic Tide Gauge (ATG) using Message Queuing Telemetry Transport (MQTT) and File Transfer Protocol (FTP) through the Smart Telemetry System (STS).

Key Features/Value Proposition

  • The invented UASV has been successfully demonstrated in all three modes of operation suitably for the hydrographic requirements of major Indian ports such as KPL, Chennai and SMP Kolkata.
  • Conventional systems have time consuming data processing systems. Whereas, the edge computing in the invented UASV enables near real-time post processing by acquiring nearby tide the Tide data from the Automatic Tide Gauge (ATG) using MQTT, FTP to compensate the motion data to the acquired depth by the echo sounder. This enables the possibility to make quick and reliable decisions during studies such as dredging estimates without much survey effort.
  • Compared to fossil fuel based conventional systems the invented UASV uses clean solar energy to power its operations.
  • The invented UASV with inbuilt obstacle avoidance system can be easily preprogrammed for autonomous surveys requiring little human intervention. Whereas, conventional systems required high-skill human intervention.
Questions about this Technology?

Contact for Licensing

Research Lab

Prof. Murali K

Department of Ocean Engineering

Intellectual Property

  • IITM IDF Ref 2266
  • IN 543627 Patent Granted

Technology Readiness Level

TRL 6

Technology demonstrated in relevant environment

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IDF No 2591 Step Climbing Apparatus

Step Climbing Apparatus

Categories for this Invention

Category – Robotics & Automation

Applications – Construction Sites, Rescue Operations

Industry – Agriculture Technology (AgTech), Construction and Infrastructure

Market –  Global automatic stair climbing wheelchair market size is estimated to grow by USD 818 million, at a CAGR of 13.1% between 2023 and 2028.

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Problem Statement

  • Conventional equipment cannot navigate the stepped and sloped terraces, leading to reduced farming productivity and manual labor.
  • Current climbing technologies are complex, bulky, expensive, and lack stability and adaptability for steep slopes.
  • Autonomous agricultural robots are effective only on flat terrains and do not address the unique challenges of step farming.

Technology

  • Advanced Climbing Mechanism: The step climbing apparatus features a gear train, telescopic slider unit, and a four-bar linkage system to enable efficient traversal of steps and steep slopes up to 90 degrees, enhancing mobility and stability on uneven terrains.
  • Active Control for Stability: The apparatus includes an active control mechanism and vibration-dampening features to prevent tilting and damage to the payload, ensuring stable operation while climbing and navigating irregular surfaces.
  • Versatile Applications: Designed for terraced agricultural fields, the apparatus can also be utilized in construction, industrial processes, and rescue operations, offering robust performance in challenging environments.

Key Features / Value Proposition

1. Efficient Terrain Navigation:

  • Advanced gear train and telescopic slider system enable smooth traversal of steps and steep slopes.

2. High Stability and Control:

  • Integrated active control mechanism and vibration-dampening features prevent tilting and damage, ensuring reliable performance on uneven terrains.

3. Robust Climbing Capabilities:

  • Capable of climbing steep slopes up to 90 degrees with precision, addressing challenges in steep agricultural and industrial environments.

4. Enhanced Mobility:

  • Four-bar linkage system and curved blade wheels optimize traction and maneuverability, facilitating efficient operation on irregular surfaces.

5. Versatile Application:

  • Adaptable design for use in agriculture, construction, and rescue operations, providing a broad range of applications in various industries.

6. Durable and Reliable:

  • Built with robust components and self-locking gears, ensuring long-term durability and consistent performance in demanding conditions.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Rengaswamy Jayaganthan

Department of Engineering Design

Intellectual Property

  • IITM IDF Ref. 2591
  • IN 542650 – Patent Granted

Technology Readiness Level

TRL – 4

Technology validated in lab scale.

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IDF No 1470 Remotely Operable Underwater Robotic Systems

Remotely Operable Underwater Robotic Systems

Categories for this Invention

Technology: Underwater robotic systems ;

Industry: Robotics, Autonomous Underwater Vehicles; Application: Remotely Operated Vehicle, Defense & Security, Scientific Research & etc.

Market: The global underwater robot market is projected to reach US$5.57billion by the end of 2034 at a CAGR of 13.7% during the forecast period (2024-34).

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Problem Statement

  • The problem statement discussed in the present invention is how to provide device/system to test & inspect underwater assets, & floors or reservoirs without complex & difficult operation including additional instruments and control system.
  • Hence, there is a need to address the issue & said invention provides the solution efficiently.

Technology

Present patent describes an underwater system for inspecting reservoirs or tanks comprising of:

  • a robotic vehicle comprising of a chassis, a single cylindrical hull mounted on the chassis with wheels and a motor in a motor enclosure connected to a navigation system, positioning system, vision system, and a non-destructive evaluation system;
  • a processing means to control the robotic vehicle and receive a plurality of data from the systems mounted on the vehicle; a control system to drive the vehicle (100) in accordance with the instructions received from the control system.
  • The system is having the non-destructive evaluation system which includes ultrasound transducers  mounted on the vehicle connected to the processing means.
  • said processing means is a programmable microprocessor with storage and display means. Said system is tested under various environment. (Image of a test case (on Aluminum plate) shown herein)

Key Features / Value Proposition

Unique Modular Design including other Industrial Features

  • Capable of accommodating multiple non-destructive evaluation sensors, peripheral electronic as well as mechanical systems.
  • It has an encoder-based dead-reckoning positioning system independent of the properties of the fluid.
  • Three-point contact chassis without suspension minimalizes the slippage problem & provides better control of the vehicle.
  • Its on-board platform is capable of real time data transfer of sensor, telemetry & video data.
  • The front two wheels are powered using brushless DC motors and an Omni-directional wheel used at the back to facilitate smooth and stable turns of the vehicle. Further provide better braking and control features.
  • The vehicle is made negatively buoyant to avoid pitch, yaw, roll & heave motion control.
  • The vehicle can be operated under flammable fluidic conditions as well.
  • Claimed invention has large mounting capacity & a plug and play payload architecture.
  • The proposed system is compact in size & modular to enable upgradation of technology.
  • The system is designed also for online inspection of storage tanks & pressure vessels.
  • The system can also be used for tanks in nuclear power industries & scientific exploration purposes.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Prabhu Rajagopal

Prof. Krishnan Balasubramanian

Department of Mechanical Engineering

Intellectual Property

  • IITM IDF Ref. 1470

  • IN Patent No. 516897

Technology Readiness Level

TRL-4

Technology validated in Laboratory

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IDF No 1401 Automated Steering Rack Centering System for Automobiles

Automated Steering Rack Centering System for Automobiles

Categories for this Invention

Category- Automobile & Transportation/ Robotics & Automation

Industry Classification:

  • NIC (2008)- 29101 Manufacture of passenger cars; 29102 Manufacture of commercial vehicles such as vans, lorries, over-the-road tractors for semi-trailers etc. 29301 Manufacture of diverse parts and accessories for motor vehicles such as …. steering wheels, steering columns and steering boxes etc. 28180 Manufacture of power-driven hand tools

Applications:

Steering rack centering in cars, can be modified for use in other applications such as heavy duty automobiles, off-road vehicles, ships, airplanes where centering of a symmetric steering mechanism is needed.

Market drivers:

Automobile Industry In India is estimated at USD 126.67 billion in 2024, and is expected to reach USD 187.85 billion by 2029, growing at a CAGR of 8.20% during the forecast period.

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Problem Statement

  • In the automobile manufacturing process the steering column rack is centered prior to installation of the steering wheel to ensure that it is positioned in a neutral rotary orientation when the vehicle is travelling straight.
  • Currently the centering of the steering rack is done manually by operators based on a combination of estimated number of turns and visual references. This process is prone to operator error and risks damaging the clock spring unit.
  • There is a need for an automated steering centering system that aids the operators, reduces process time and meets the process requirements

Technology

  • The invention relates to an automated steering rack centering system comprising a sophisticated handheld tool which brings the steering column into the centre or neutral or zero rotary orientation from any other angular position by single push button operation.
  • An electronic control unit (ECU) consisting of sensors and a microcontroller for running a steering centering program. The steering strokes the steering column to move the steering rack from a first end (right or left) to a second end (left or right) representative of a full stroke of the steering rack is measured by electronic control unit (ECU) through rotary encoder. The ends of steering rack are detected, when the current drawn by the electric motor reaches a predetermined Level.
  • The total stroke is measured by an ECU module through the rotary encoder and subsequently the steering column is rotated towards the center to a position that is one half of the steering rack stroke measured between the first and second ends.
  • The vehicle-specific, user selectable steering centering process includes the capability to select the vehicle model at the start of the centering process by entering the model code using an input device interfaced with the ECU module.

Key Features / Value Proposition

  • Compared to the conventional manual process of steering rack centering the invented automated process reduces scope of error as it less dependent on operator skill thus nearly eliminating operator error.
  • The known steering rack stroke corresponding to a particular vehicle model is already stored in the program in the form of encoder counts, thereby eliminating the need to sweep the steering rack through an entire stroke during the centering process.
  • The automated method avoids damage to the clock-spring unit that is coaxially installed between the steering wheel and steering column. Whereas, the conventional method of manual centering may result in damage of the clock-spring unit due to the random asymmetry in the position of the front axles prior to the centering process.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. P V Manivannan

Department of Mechanical Engineering

Intellectual Property

  • IITM IDF Ref.1401
  • IN 383113 Patent Granted

Technology Readiness Level

TRL 5

Technology Validated in Relevant environment

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IDF No 1643 Artemis: Railroad Crack Detection Robot

Artemis: Railroad Crack Detection Robot

Categories for this Invention

Technology: Railroad Crack Detection Robot;

Industry: Railway Industry,

Application: Railway Industry;

Market: The global rail flaw detection robot market is projected to grow at a CAGR of 7.10% during 2024-2030.

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Problem Statement

  • The conventional maintenance of the railway tracks, it become highly difficult and unreasonably costly to manually go and check for cracks in railway tracks.
  • Further if it left undetected, which may lead to derailments.
  • Derailments are a serious challenge for railways and cause great loss of life .
  • Hence, it is needed to address the issues.
  • Present invention addresses above challenges & provide solutions efficiently.

Technology

  • The present invention describes a non-destructive, non-interrupting rail road continuously operable inspection system for detecting defects in a rail track.
  • Said non-destructive, non-interrupting continuously operable inspection method for detecting defects in a rail track.
  • The Robot travel along a track, & using ultrasound technology, infrared technology, & eddy current based sensors, it would detect crack.

  • During operation, Robot reaches the earmarked station, and share data which helps to know exactly where the cracks located for corrective measures. 

  • The robot can move on the inner portions of the railway tracks in such a way that railway locomotives can move from above on the same track.
  • For achieving this feat, the axes of the wheels are aligned vertically.
  • To move above the fish plates, the use of custom made spring suspension system are incorporated., Further, for the stability of the robot, there are six wheels used along with six suspensions incorporated.(3 wheels on either side) (Refer Fig 1A)

Key Features / Value Proposition

Technical Perspective:

  • Uniqueness in the Robot Design, therefore the robot can be integrated with the existing railway infrastructure easily.
  • Said Robot can move on the inner portions of the railway tracks in such a way that railway locomotives can move from above on the same track.
  • The system comprises of a carriage base means adapted for being self propelled within a two-rail track.
  • A plurality of sensors & the most preferred is an array of ultrasonic, infrared sensors, eddy current based sensors & transducers in between its tires which roll along a rail web adapted for transmission & reception of ultrasonic beams into and from the at least one rail for detection of defects within the rail.
  • The system also includes a data acquisition means in communication with the plurality of sensor means.
  • The Methods used by the railways for accident deterrence cause disruptions in the regular working of the Indian Railways, causing losses.
  • Provide real time solution in terms of real time transmission whenever a crack is detected.
  • The transmitted message includes location of the crack & the time of detection.
  • Facilitate GSM sim module which works on cellular network, alternatively,

-as a failsafe(in case of network errors) measure the location of the cracks in a SD card using a microcontroller SD card shield.

  • Eliminates visual inspection & manual inspection, & save time, secure process, avoid the risk of human lives.

Industrial Perspective:

  • The robot design facilitates the addition & usage of equipment for the main purpose (crack detection) as well as for secondary purposes like surveillance.
  • This cost-effective design is also completely modular for easy maintenance of the robot.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Inventors:

Shashwat Kumar Sahoo

Kavan Paresh Salva

Anoubhav Agarwal

Department of  Biotechnology

Yash Deepak Patil

Department of Civil Engineering

Intellectual Property

  • IITM IDF Ref. 1643

  • IN Patent No: 460037

Technology Readiness Level

TRL-4

Technology validated in Laboratory

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IDF No 1962 Segment Actuated Shape Memory Alloy Based Smart Flexible Manipulator

Segment Actuated Shape Memory Alloy Based Smart Flexible Manipulator

Categories for this Invention

Category- Miniature ROV Manipulators, Robotics & Automation

Applications – Precision Remote Operated Vehicles (ROVs), Smart Actuation Systems

Industry– Oil and Gas. Environmental Monitoring, Underwater Construction, Maritime and Naval Defense.

Market – Global observation mini ROV market size was USD 72.43 million in 2021 and the market is projected to touch USD 263.26 million by 2032 at a CAGR of 12.45%.

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Problem Statement

  • Underwater ROVs face significant challenges in stability and control due to the complex interactions between the manipulator and the ROV, compounded by buoyancy, fluid pressure, wave interactions, and drag forces.
  • Conventional manipulators are too large and heavy to be effectively used on miniature ROVs, limiting their applicability in confined underwater environments.
  • Traditional electric motor and hydraulic actuators are unsuitable for small ROVs due to their size and weight, while flexible manipulators, though lighter, still pose installation challenges.

Technology

  • The present invention relates to the field of compliant robotic manipulators. In particular, it relates to smart and flexible manipulators based on shape memory alloys.

Smart Material-Based Manipulator:

  • The invention introduces a light-weight manipulator for small ROVs, utilizing shape memory alloy (SMA) wires to reduce fluid interaction and enhance control and stability.

Flexible and Independent Actuation:

  • The SMA-based manipulator features segmented actuation coils that allow different segments of the manipulator to change shape independently, improving maneuverability and precision.

Two-Way Shape Memory Effect:

  • The SMA wires provide a two-way shape memory effect, enabling the manipulator to alternate between two shapes based on temperature changes, facilitating diverse manipulation tasks without the need for fixed support structures.

Key Features / Value Proposition

Enhanced Precision and Control

  • Independent segment-wise actuation of the SMA wire ensures precise and stable manipulator movements.

Lightweight Design

  • The SMA-based manipulator weighs less than 100 grams, ideal for small observation class ROVs without needing support structures.

Versatile Shape Memory Effect

  • The two-way shape memory effect allows the manipulator to switch between predefined shapes for diverse tasks.

Increased Reachability

  • Segmented design allows the manipulator to reach 2n positions, enhancing operational flexibility and range.

Simplified Actuation

  • Electric current-based actuation simplifies the control mechanism compared to traditional motor or hydraulic systems.

Scalable Solution

  • Increasing the number of segments significantly multiplies the reachable points without adding weight or complexity.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Prabhu Rajagopal,

Department of Mechanical Engineering

Intellectual Property

  • IITM IDF Ref. 1962
  • IN 495614 – Patent Granted

Technology Readiness Level

TRL – 3

Proof of concept stage.

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IDF No 1323 Method a Functionality Focused Hybrid Design of an Observation Class Bio-inspired Underwater Remotely Operated Vehicle

Method a Functionality Focused Hybrid Design of an Observation Class Bio-inspired Underwater Remotely Operated Vehicle

Categories for this Invention

Category – Advanced Underwater Robotics, Robotics & Automation.

Applications – Scientific Exploration, Subsea Oil and Gas Observation

Industry  – Marine Robotics, Oil and Gas

Market – Global underwater robotics market is projected to touch USD 553.71 Million by 2032, exhibiting a CAGR of 6.8%.

Advancements in Autonomous Navigation and Sensing Technology to Accelerate Market Growth.

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Problem Statement

  • Inefficient Propulsion: Conventional ROVs use rotary propellers that consume more power for required maneuverability, leading to lower propulsive efficiency.
  • Complex Control Systems: Bio-inspired underwater vehicle designs offer higher efficiency but suffer from complex control system designs.
  • Limited Battery Life: Efficient propulsion and maneuverability are crucial for autonomous underwater observation vehicles with limited battery capacity.

Technology

  • The present invention relates to a functionality-focused hybrid design of a bio-inspired underwater remotely operated vehicle.

Integrated Hybrid Propulsion System:

  • The invention combines a bio-inspired caudal fin propulsion system with conventional rotary thrusters to achieve high efficiency for long-distance navigation and improved maneuverability for complex operations.

Simplified Control and Stability:

  • The design minimizes control system complexity while enhancing stability and maneuverability by optimizing the placement and orientation of propulsion systems, hull shape, and weight distribution.

Modular and Adaptable Design:

  • The vehicle’s modular design allows for easy replacement and customization of components, making it suitable for various underwater missions and applications with minimal modifications.

Key Features / Value Proposition

The main features of the invention are:

  • Shape of the hull is streamlined and such that the vehicle has natural pitching for the vehicle to lean towards the direction of heaving.
  • The flapping axis orientation and weight distribution is such that the amplitude of body oscillations while flapping is minimal.
  • The bio-inspired flapping mechanism has a slotted lever and flexible fin, with the flexibility of the fin chosen such that the heave leads the pitch by about 90 degrees.
  • The design is capable of moving straight long distances propelled by the efficient bio-inspired fin and maneuvering with rotary thrusters. This gives better overall efficiency for a given mission.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Prabhu Rajagopal,

Department of Mechanical Engineering

Intellectual Property

  • IITM IDF Ref. 1323
  • IN 538228 – Patent Granted
  • PCT/IN2016/000272

Technology Readiness Level

TRL – 5

 validation in relevant environment.

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IDF No 1711 An Automated Surface and Underwater Inspection Robot with Split Hull

An Automated Surface and Underwater Inspection Robot with Split Hull

Categories for this Invention

Category- Automation & Robotics

Industry Classification:

  • NIC (2008)- 72- Scientific research and development; 2829- Manufacture of other special-purpose machinery; 26515– Manufacture of radar equipment, GPS devices, search, detection, navigation,aeronautical and nautical equipment; 30112– Building of warships and scientific investigation ships

Applications- offshore oil and gas industry, the defense sector, maritime search and rescue, oceanographic research, underwater archaeology and environmental monitoring.

Market report: Revenue from worldwide sales of autonomous underwater vehicles is estimated at US$ 3.42 billion in 2024 and is forecasted to increase at a CAGR of 15.6% to reach US$ 14.58 billion by 2034

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Problem Statement

  • Use of boats for survey of water bodies is labor intensive and cumbersome for large areas while risking lives of people. Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) help overcome these challenges
  • However, conventional single hull torpedo shaped robots require a longer single body design to accommodate several components this impacts maneuverability in constrained spaces.
  • There is a need for a split hull under water inspection robot that that can operate as an ROV as well as AUV with easy maneuverability.

Technology

  • The automated surface and underwater inspection robot comproses multiple hulls, multiple thrusters attached using thruster clamps, a tether, and a communication device
  • The front hull carries sensor components, the middle hull acts as a command and control module and the rear hull carries batteries
  • The hulls connected by a hinge joint mechanism which facilitates in-plane rotation of 5 hulls about z-axis. Balancing blocks (Buoyancy balancers) are attached to the bottom of each hull to obtain lower center of gravity and hence the rolling stability of the robot
  • The tether is attached to the rear hull and powered and controlled from an external station, and the communication device is attached to the top most portion of the hulls to communicate to a control base.
  • Designed to operate both as an ROV (using onboard camera) and an AUV (Bathymetry mode) near the water surface level fully immersed..

Key Features / Value Proposition

  • Splitting the long hull into multiple bodies reduces the turning diameter considerably when compared to single hull robots. This will improve the maneuverability in constrained spaces such as oil tanks, water bodies etc.
  • In AUV bathymetry mode the robot can record parameters such as pH level, Conductivity, Radiation level, Water depth, temperature etc., at equally spaced points throughout the surface of water body.
  • Compared to conventional single hull robots the the multiple hull concept allows modularity where an additional component can be added to the robot in an extra hull without disturbing the current systems.
  • Effect of water forces on the navigation (especially while taking a turn) of robot will be lesser on M-HULL as each hull has different orientation such that forces due to the water flow in a particular direction will not act with the same intensity on every hull as in the case of a single hull robot.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof Prabhu Rajagopal

Department of  Mechanical Engineering

Intellectual Property

  • IITM IDF Ref. 1711
  • IN 474777- Patent Granted

Technology Readiness Level

TRL 4

Technology Validated in Lab

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IDF No 1861 Device for Adjusting Joint Stiffness

Device for Adjusting Joint Stiffness

Categories for this Invention

Technology: Device for vary stiffness control

Category: Joints of Robotics system

Industry: Electronic system & Design Manufacturing/Robotics Manufacturing

Application: Robotics Joint System

Market: The global market size was USD 757 million in 2021 and market is projected to touch USD 4232.94 million by 2031, exhibiting a CAGR of 18.8% during the forecast period

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Problem Statement

  • Robots with rigid links require adjustable joint elasticity for interaction with humans, robots, and the environment.
  • Active methods require expensive sensors or torque-controlled motors, causing time lag and potential damage to robot structures.
  • Passive compliance control uses passive elements like springs or elastic materials to maintain stiffness.
  • Conventional devices use continuously powered actuators to change joint angle and stiffness.
  • The stiffness adjusting architecture is determined by application, with spring properties changing to vary joint stiffness.
  • The disclosure describes a device and apparatus for varying stiffness, addressing limitations in existing compliance control systems for robotic joints, adjusting elasticity based on task requirements.

Technology

FEATURES:

A joint axis (151) connecting

  • Input link (131) and
  • Output link (133)

Includes

  • Middle link (117),
  • Stiffness axis (141),

Cam (111),

  • Pair of Opposing cam followers (114A,114B)
  • Pair of Opposing cam slots (112A,112B)

Springs

  • First springs (121A) and
  • Second springs (121 B)

Stiffness Variability

  • Stiffness is variable through springs.
  • Cam  rotated about stiffness axis to adjust tension.
  • Device adjusts stiffness offset between stiffness axis and joint axis.

Key Features / Value Proposition

The device is simple and reliable.

Compact

  • Compactness allows modularity and less energy consumption.
  • Reduces power consumption without continuous stiffness motor operation.

Stiffness

  • Stiffness of the joint is related to the offset ‘𝑏’ by:
  • 𝐾 = 2𝑘𝑥(𝑥2+ 𝑏2).
  • Stiffness of the output link is adjusted by changing a position of the first and the third block in a linear direction by the first actuator.
  • Stiffness controlled by the proposed variable stiffness mechanism (VSM).
  • Mechanism can be scaled based on force, stiffness, or task requirement.
  • High force bandwidth enables extreme states without changing components or design.
  • High range of joint/output link angle for continuous tuning.
  • Energy stored during impact and released for additional energy gain.
  • Robot or serial/parallel chain configuration allows modules with different cam profiles and nonlinear springs.
  • Manual adjustment decouples joint stiffness and motion.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Asokan T

Department of Engineering Design.

Intellectual Property

  • IITM IDF Ref. 1861

  • Patent No: IN 494078

Technology Readiness Level

TRL-3

Experimental proof of concept

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IDF No 1583 Underwater Manipulator Using Variable Buoyancy Actuators

Underwater Manipulator Using Variable Buoyancy Actuators

Categories for this Invention

Technology: Underwater Manipulator;

Industry: Oil & Gas, Environment Engineering;

Applications: Extraction & mining, Robotics.

Market: The global underwater Robotics market is projected to grow at a CAGR of 10.8% during 2024-2032.

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Problem Statement

  • The underwater robots are being employed for various operations at higher depths, where human reach is impossible in wide applications range from search & rescue, inspection & deployment of pipes, & underwater structures, sampling of the ocean & its resources, etc. Thereby, it is required underwater remotely operated vehicles which are equipped with manipulators. Manipulators are usually serially linked rigid arms with each arm individually actuated using electric or hydraulic motors. Sealing of motors to operate at higher depths is a challenging task & the system becomes bulkier. The existing underwater vehicles, variable buoyancy system/engine is an integral part designed along with other subsystems, having other issues.
  • Hence there is a need to address the issues.

Technology

  • Present invention describes an underwater manipulator.
  • Said manipulator comprises at least one elongated flexible structure anchored at one end & rotatable 360° about the anchor point, & having an end effector at the other end.
  • The flexible structure comprising a plurality of arms connected at pin joints, each arm configured to rotate within a plane to a predetermined angle, wherein each arm comprises:
  • a rigid link; and
  • a variable buoyancy element forming at least a portion of the length of the arm, & the variable buoyancy element configured with flexible bellows actuated using a linear actuator assembly.
  • The variable buoyancy element is configured to vary buoyancy of the arm to cause a moment that results in motion of the arm in upward or downward direction.
  • Further, the manipulator is configured to place the end effector at a 3-dimensional location within a predetermined radius of the elongated flexible structure.
  • The pin passive joint is configured to restrict rotation of the arm to an angle of rotation Ѳ which ranges between 0° to 90°.
  • The linear actuator assembly comprises a linear actuator piston operated using hydraulic or electric means.
  • Further, a method of manipulating an underwater manipulator is described.

 

Key Features / Value Proposition

Technical Perspective:

Standalone Unit: 

  • The manipulator is configured to be a standalone and anchored to a base unit on the sea or ocean floor.
  • The arms of the manipulator are of varying sizes with variable buoyancy elements of capacity based on size of arm and with a biggest link placed closest to the anchor point.

Manipulator:

  • The manipulator is configured to be an add-on to any autonomous underwater vehicle (AUV).
  • Each arm is configured to be neutrally buoyant to reduce the load on the preceding arms.
  • The moment caused due to the actuation of the variable buoyancy element is either positive or negative based on the position of the center of buoyancy (CoB) with respect to the center of gravity (CoG) along the axis of the manipulator.
  • The manipulator is configured with an encoder to provide feedback including angle of orientation of each link and the depth at which the variable buoyancy element is placed.

Industrial Perspective:

  • The standalone device is cost-effective & reliable.
  • The efficient underwater manipulator is easily anchored to a base unit on any sea or ocean floor.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Asokan T

Department of Engineering Design

Intellectual Property

  • IITM IDF Ref. 1583

  • Patent No. 490423

  • PCT Application No: PCT/IN2018/050655

Technology Readiness Level

TRL- 3/4

Proof of Concept ready, tested and validated in Laboratory

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IDF No 1888 A Smart, Remotely Operated Fire-Fighting Hose

A Smart, Remotely Operated Fire-Fighting Hose

Categories for this Invention

Technology: Fire Fighting Hose;

Industry: Assistive device, Robotics & Sensors;

Applications: Fire Fighting Robot.

Market: The global Fire fighting Robot market is projected to grow at a CAGR of 9.95% during forecast period (2024-2030).

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Problem Statement

  • The prior art fire fighting method involves the fire fighters to manually put out the fire from a certain distance.
  • Said prior art methods are ineffective in controlling the spreading of fire under such circumstances.
  • To extinguish the fire quick & effectively, there is a requirement for the tip of the conventional fire fighting hose to be in close proximity to the origin of fire to effectively dispense the extinguisher at the site of the fire.
  • Further said fire fighter robots lack the sense of discretion that human posses & remotely operated system have to carry a lot of system.
  • Hence there is a need to address the issues.

Technology

  • Present invention describes a firefighting system having a remotely steerable nozzle.
  • Said system comprising:
  • a reservoir having pressurized liquid to be dispensed therefrom;
  • a hose assembly configured to dispense the liquid from the reservoir to a remotely located fire site.
  • Further, the hose assembly comprises a hose, a connector, a hydraulic elevation line including two or more steering nozzle lines.
  • The hose is having a first & a second end, the first end attached to the reservoir & the second end attached to a hose tip having a nozzle.
  • a connector is configured to detachably connect the second end to the hose tip.
  • The hydraulic elevation line running through the interior of the hose & is connected to a conduit.
  • Further two or more steering nozzle lines are connected to one or more half-steering conduits.
  • The operation of claimed device is illustrated in the figure.

Key Features / Value Proposition

Technical Perspective:

Fire-Fighting Materials: 

  • The system has designed to operate using any material or fluid configured to put out a fire, examples of fluid could be water, or in some cases gas-generating substances such as sodium bicarbonate, dissolved carbon-di-oxide, etc.
  • Further firefighting material may be solid powder such as of monoammonium phosphate, sodium bicarbonate, potassium bicarbonate or other material.

Nozzle Performance:

  • The remote steerable hose is affixed with a thermal camera that provides signal to a control console located at the liquid reservoir.
  • The Hose tip has a flat or tapered nozzle wherein the nozzle is configured to splash water in all directions equally.
  • The Nozzle is configured to direct a jet of liquid at the vane, wherein the wheel assembly thereby turns or steers in the desired direction.

Industrial Perspective:

  • The device is portable, easy to handle, highly cost-effective & reliable.
  • Facilitates a unique system for the remotely steerable hose mechanism of the fire extinguishing system intended for use in buildings & even to climb staircases.
  • Provides mechanically robust & reliable system with very small number of electronic components facing hazardous environment as in proximity to a fire.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Boby George

Department of Electrical Engineering,

Intellectual Property

  • IITM IDF Ref. 1888

  • IN Patent No. 523626 (Granted)

Technology Readiness Level

TRL- 3

Proof of Concept ready, tested and validated in Laboratory

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IDF No 1705 Method of Power Control in CNC Hot Wire Machines Inventors

Method of Power Control in CNC Hot Wire Machines Inventors

Categories for this Invention

Category-

Robotics & Automation

Industry Classification:

  • NIC (2008)- 28292- Manufacture of machinery for working soft rubber or plastics or for the
  • manufacture of products of these materials
  • NAICS (2022)- 335314- Relay and Industrial Control Manufacturing; 326140– Polystyrene Foam Product Manufacturing

Applications– Precision manufacturing, Expanded Polystyrene foam cutting

Market Drivers-

  • Foam Cutting Machines Market is valued at USD 166.15 Billion in 2023 and is expected to reach USD 224.85 Billion by the end of 2030 with a CAGR of 6.59%.

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Problem Statement

  • Hot wire machines with CNC Controller cut Expanded polystyrene (EPS) by melting the material while moving through the material.
  • The heat produced by the hot wire needs to be controlled
  • If the heat is more, then accuracy of the final object will reduce because of over melting. Conversely, with low heat bowing of wire occurs while cutting.
  • There is need for an intelligent system to control the power to the heating element as per the feed rate of cutting to achieve precise shapes and curvatures.

Technology

  • The numerically controlled hot wire cutting machine comprises a computing machine, a control unit, a machine tool, and a power source with constant and dynamic supply modes for controlling power.
  • The electronic circuit of the power control unit is configured to receive a variable spindle PWM signal from the controller and amplify the received PWM signal based on the feed rate of cutting.
  • The hot wire heating element is configured to receive the amplified power from the electronic circuit to increase, decrease or maintain the temperature
  • The G-code was generated in a computer aided manufacturing (CAM) software and fed to the Arduino controller using CNC software.

Key Features / Value Proposition

  • The method achieves effective cutting at the sharp corners and difficult curvatures achieving greater accuracy compared to conventional hot wire machines
  • An intelligent system has been developed to control the power to the heating element of a hot wire machine which enables precise manufacturing reducing scope of human error.
  • The dynamic mode essentially ensures that the amount of the power supplied is consistent even when the machine is accelerating or stopped.
  • The power only turns on when the machine moves. This generally makes the hot wire safer to operate.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Sathyan Subbiah

Department of Mechanical Engineering

Intellectual Property

  • IITM IDF Ref. 1705
  • IN 380852 – Patent Granted

Technology Readiness Level

TRL – 4

Technology validated in lab scale.

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IDF No 2361 Novel Dune Rover Configuration for Improved Lateral Stability and Mobility in uneven Terrains.

Novel Dune Rover Configuration for Improved Lateral Stability and Mobility in uneven Terrains.

Categories for this Invention

Category – Robotics and Automation

Applications – Agriculture, Exploration, Transportation, Hazard Monitoring

Industry – Robotics, Autonomous Vehicles, Agricultural Technology, Aerospace, Logistics, Space Rover platforms, Manufacturing

Market – The Robotics Market size is estimated at USD 45.85 billion in 2024, and is expected to reach USD 95.93 billion by 2029, growing at a CAGR of 15.91% during the forecast period (2024-2029).

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Problem Statement

  • Existing wheeled robotic platforms lack stability in lateral and longitudinal directions over uneven terrain.
  • There is a demand for a solution that can enhance stability enabling wheeled robots to navigate challenging terrains reliably and efficiently.
  • The primary goal of the design is to obtain postural stability in all-terrain rovers with the least number of actuators possible, which will reduce overall cost and result in a less sophisticated control strategy.

Technology

Rocker arm assembly :

  • Split rocker-arm assembly interconnected with dual differential allows for the synchronous as well as asynchronous actuation on uneven terrain.

Differential gearbox mechanism :

  • Dual differential layer can achieve pitch averaging and actively control chassis roll using only single actuator and the offset arm spur gear arrangement.

Mid-shaft design :

  • Incorporates a mid-shaft arrangement with coaxial spur arrangement enabling passive movement for pitch stabilisation.

Rocker shaft connector :

  • Features a connector with groove ball bearing and gear arrangement to synchronize the gearbox mechanisms on the top and bottom layers of the chassis, ensuring coordinated movement.

Rocker shaft connector :

  • Incorporates timing pulley-belt to prevent the rover from collapsing under its own weight.

Key Features / Value Proposition

User Perspective:

  • Improved Stability: Users benefit from enhanced stability, enabling more reliable navigation in challenging terrains.
  • Versatile Applications: The invention’s stability across various terrains expands its utility in agriculture, exploration, transportation, and hazard monitoring.

Technical Perspective:

  • Unified Actuation: Utilizes a single actuator for roll and pitch control, simplifying system design and reducing control complexity .
  • Synchronization Mechanism: Differential gearbox and timing pulley-belt system ensure coordinated movement, optimizing stability control.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Asokan T

Robotics Lab, Department of Engineering Design

Intellectual Property

  • IITM IDF Ref. 2361
  • IN 466271 (Patent Granted)

Technology Readiness Level

TRL- 4

Technology validated in Lab scale.

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IDF No 1733 Compact and Minimalist Observation Class Bio Inspired Robotic Vehicle for Septic Tank and Sewer Line Inspection

Compact and Minimalist Observation Class Bio Inspired Robotic Vehicle for Septic Tank and Sewer Line Inspection

Categories for this Invention

Technology:; Inspection system;

Industry: Infrastructure, Waste Management;

Applications: Waste management;

Market: The global inspection robots market is projected to grow at a CAGR of 20%  during 2024-2032.

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Problem Statement

  • Generally, manual scavenging of septic tanks is most dangerous practice which has taken many lives during operation.
  • Based on technical survey, the prior art used sphere of robotics trying to replace the manual scavenging.
  • Said prior art robotic system has an issue like limitations to pipeline crawlers.
  • Further the prior art robotics system includes other issues, related to unable to swim through water in case of higher sewage volume, failure of propulsion.
  • Hence, there is a need to address above issues and present invention provides solution in efficient manner.

Technology

  • The present invention describes an inspection system having hull designed in a preselected shape and a motor casing positioned outside the hull for holding motors. (Refer Figures)
  • Said inspection system further comprises sensors for inspecting a predefined area and at least two fins for enabling a movement of the inspection system in the predefined area.
  • In this instance, the first fin is provided at a front side and a second fin provided at a rear side.
  • The two fins are actuated through motors.
  • Cameras are connected at different positions over the hull and said cameras are controlled through motors and the control system for controlling navigation of the inspecting system inside the predefined area.
  • The inspection system is implemented as a robotic septic tank inspection system (robotic vehicle).

Key Features / Value Proposition

Technical Perspective:

  • The shape of the hull of inspection system is cylindrical shape.
  • The inspection system includes a bio inspired propulsion, with minimum use of actuators with high degree of maneuverability, compact in size.
  • The inspection system also comprises cleaning sub-modules for enabling a cleaning functionality of the predefined area.
  • The predefined area comprises an area inside a water body comprises a water tank, or a sewer line.
  • The actuation of each of the front and rear fin enables station keeping despite the vehicle being slightly positively buoyant.(Four degrees of freedom are achieved by this ROV-heave (up/down), pitch, yaw and surge (forward/backward).
  • The navigation of the inspection system is controlled by using a control system.
  • The front view of inspection area is captured by endoscope camera configured outside the inspection system & side view of inspection area is captured by webcam configured onto the servo motor (full 360 degrees side view).
  • The short circuit problem (due to tethers damage) can be tackled by utilizing onboard battery packs configured in the transmitter module of the inspection system.

Industrial Perspective:

  • Easily applicable in alien septic/sewer tanks and further applicable as disaster management tool, and other septic/sewer environments.
  • Cost-effective Robotic vehicle effectively minimize human intervention.

Questions about this Technology?

Contact For Licensing

sm-marketing@imail.iitm.ac.in
ipoffice2@iitm.ac.in

Research Lab

Prof. Prabhu Rajagopal

Department of  Mechanical Engineering

Intellectual Property

  • IITM IDF Ref. 1733

  • IN Patent No: 411893

Technology Readiness Level

TRL-4

Proof of Concept ready, tested in lab.

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IDF No 2241 A Master Slave Tele-operated Surgical Robotic System for Robotic Surgery Training

A Master Slave Tele-operated Surgical Robotic System for Robotic Surgery Training

Technology Category/Market

Category: Assistive, Test Equipment & Design Manufacturing, Robotics & Automation

Industry: Medical Robotics, Robotic Surgery Training Systems, healthcare institutions, medical professionals

Applications: Surgical Training and Education, Patient-Specific Procedure Planning, Medical Device Testing, Military & Disaster Response, Robot-Assisted Surgery Development, Research & Development

Market: The global surgical robotics market was valued at $8,705.3 M in 2022 and is anticipated to reach $18,410.9 M by 2032, witnessing a CAGR of 7.78% during the period 2022-2032.

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Problem Statement

  • There are many limitations of manual laparoscopic surgery such as limited dexterity of movement, limited field of view, fatigue of surgeon during extended operation procedure, inversion of hand movement and lack of tremor compensation.
  • Various patents and publications on robotic training systems are referenced to address the limitations of manual laparoscopic surgery.
  • Robotic systems with 7 Degrees of Freedom (DOF) are available, providing improved dexterity and surgical outcomes. However, these systems are expensive and training on them is costly.
  • Simulation-based training platforms exist but do not fully prepare surgeons for commercial robotic systems. A seamless transition is needed between training and using actual systems.
  • The instant innovation includes a tele-operated robotic surgical trainer of master arm with 6 DOF and strategically distributed masses for balance, a compliant grasper mechanism, and optimized tether guides that aims to facilitate the training of new robotic surgeons, overcoming the cost & skill acquisition associated commercial systems.

Technology

The instant invention discloses novel systems, devices and methods of designing a tele-operated robotic surgical system that is aimed at training surgeons those are new to robotic surgery.

Method:

A method of maintaining equilibrium in the master arm assembly of a surgical robotic training system comprising (Refer FIG 1 & 2) at least a pair of master arm assemblies, a pair of slave arm assemblies, comprising an adjustable passive arm assembly comprising a parallelogram based remote center of motion (RCM) module, an L-arm mounting the parallelogram based RCM module and a surgical tool placed in a first face of the RCM module and attached at a distal end, a central controller, and a camera arm assembly.

The method comprising the steps of:

  • obtaining by the central controller a movement from the master arm thereof;
  • obtaining a one or more joint currents in the master arm assembly;
  • obtaining one or more joint positions and a grasper position in the master arm assembly;
  • calculating the total force on the grasper that is a function of the joint current;
  • calculating the imbalance force on the grasper based on the force of gravity on one or more joint positions and grasper position;
  • identifying that movement is unintentional when the total force on the grasper is in a range of values closer to the imbalance force on grasper or identifying that movement is intentional otherwise;
  • calculating the direction of motion of the grasper if the movement is intentional;
  • actuating the motors to assist motion of the master arm; and
  • actuating the joints using motor drives; and
  • locking joints with the motor torque if movement is unintentional.

 

Key Features/Value Proposition

  1. Effective Training: This system makes medical training efficient, saving time and resources. Surgeons can practice safely, improving their skills.
  2. Better Patient Care: Well-trained surgeons provide better care with fewer complications. Training reduces surgical errors, enhancing patient safety.
  3. Cost Efficiency: The system’s precision reduces errors, saving healthcare institutions money.
  4. Advanced Devices: Manufacturers can improve their surgical devices, making them more attractive to hospitals and surgeons.
  5. Versatile Technology: This technology isn’t limited to surgery. It allows remote surgery for distant patients and provides a competitive edge for manufacturers.
  6. Innovation: Continuous development drives healthcare innovation, expanding its applications and benefits.
Questions about this Technology?

Contact for Licensing

Research Lab

Prof. Ashokan T

Department of Engineering Design

Intellectual Property

  • IITM IDF Number: 2241
  • Application Number: 202142041390

Technology Readiness Level

TRL – 3

Proof of Concept

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IDF No 2409 Dishwasher for Cleaning Utensils

Dishwasher for Cleaning Utensils

Technology Category/Market

Category:, Robotics & Automation, Applied Mechanics & Mechanical Engineering

Industry: Appliance and Home Appliance Industry

Applications: Household Use, Restaurants, Cafeterias, School, Hostel & Industrial Kitchens, Military & Camp Facilities Catering & Food services, Hotels, Hospitals, Hospitality & Healthcare Facilities.

Market: The global dishwasher market size was valued at $ 25,370.0 M in 2020, and is estimated to reach $ 54,293.4 M by 2030, registering a CAGR of 7.5% from 2021 to 2030.

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Problem Statement

  • Dishwashers are machines used for automatic dish cleaning, using hot water and scrubbing mechanisms.
  • Manual dishwashing relies on physical scrubbing, while dishwashers use hot water spray.
  • Dishwashers are not very popular in India due to cost, space requirements, & pre-rinsing dishes.
  • Also, they are not efficient in removing tough stains from oil & spices of Indian cooking.
  • By getting motivation for potential Time, Water, and Energy saving, an eco-friendly & efficient automatic dishwasher is disclosed in this present patent.

Technology

The instant invention discloses a dishwasher for cleaning utensils comprising:

  • a first cleaning assembly for cleaning one or more flat utensils arranged vertically in a horizontal plane of dishwasher,
  • a second cleaning assembly for cleaning one or more flat utensils arranged horizontally in a vertical plane of the dishwasher,
  • a third cleaning assembly for cleaning one or more curved utensils

Each of the first, second & third cleaning assembly comprises of a pressure exerting member for imparting pressure to the scrubbing member in a pre-determined direction. Refer: Fig 1 & 2.

Key Features/Value Proposition

User Perspective:

  • Hassle-free and efficient dish cleaning for various utensil types, with Effective Stain Removal, ensuring spotless dishes.
  • Convenient, Easy operated, automated, and time-saving.
  • Suitable for different kitchen needs and utensil shapes, offering versatility.
  • The proposed mechanism aims to better remove tough stains from oil and spices compared to existing dishwashers.

Industrial Perspective:

  • Enhanced Efficiency: Boosts productivity in commercial settings by speeding up dishwashing.
  • Expanded Market: Addresses specific cleaning challenges, broadening its market appeal.
  • Customizable: Adaptable for diverse industrial kitchens, accommodating various setups.
  • Hygiene Compliance: Ensures compliance with strict hygiene standards in critical industries.
  • Improved Product: Represents an innovative and superior dishwasher for a broader market.

Technology Perspective:

  • Mechanical Innovation: Incorporates advanced mechanical mechanisms for precision cleaning.
  • Automation: Streamlines dishwashing through automated processes, reducing manual labor.
  • Versatile Application: Adaptable technology suitable for various dishwasher models and sizes.
  • Smart Sensors: Utilizes sensors to optimize cleaning pressure based on food residue levels.
  • Effective Stain Removal: Employs technology to tackle challenging stains, including oil and spices.
  • It uses Slider Crank and Scotch Yoke mechanisms for flat plate and bowl cleaning.
  • Different pressure levels are applied to dishes based on food concentration.

Model Design:

First Cleaning Assembly:

  • This assembly has a horizontal link that can move side to side and rotate about one end.
  • A frame moves up and down along a vertical path guided by a vertical link.
  • There’s a scrubbing member attached to the frame using a four-bar linkage (slider-crank mechanism) that allows it to move up and down for cleaning flat utensils.

Second Cleaning Assembly:

  • It consists of a frame that moves along a guided path provided by a rotatable link.
  • A scrubbing member is part of this assembly.
  • A vertical link is responsible for moving the frame and the four-bar linkage mechanism vertically.
  • The scrubbing member, through the four-bar linkage, can move to clean flat utensils.

Third Cleaning Assembly:

  • This assembly uses a scotch-yoke mechanism that moves within a frame’s guideway.
  • A scrubbing member is designed for cleaning curved utensils.
  • The scrubbing member connects to a slider within the scotch-yoke mechanism, allowing it to move in a specific direction.
  • The slider connects to a rotatable plate within the scotch-yoke mechanism to enable precise movement for cleaning the inner surface of curved utensils.

These cleaning assemblies use various mechanical mechanisms to move scrubbing members in different ways to effectively clean both flat and curved utensils.

Questions about this Technology?

Contact for Licensing

Research Lab

Prof. Jayaganthan R

Department of Engineering Design

Intellectual Property

  • IITM IDF Number: 2409
  • Application Number: 202241058435

Technology Readiness Level

TRL – 3

Proof of Concept

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IDF No 1318 Method for Controllable Variable Buoyancy System based on Actuated Flexible Members or Structures for Underwater System

Method for Controllable Variable Buoyancy System based on Actuated Flexible Members or Structures for Underwater System

Technology Category/Market

Category – Robotics & Automation, Mechanical Engineering, Marine & underwater technology.

Applications – Energy/ Infrastructure, Environmental Engineering.

Industry – Ocean Exploration, Oil and gas industry

Market – The global autonomous underwater vehicle market size was valued at USD 1,563.9 Mn in 2021 and is projected to reach USD 5,063.0 Mn by 2030, expanding at a CAGR of 14.3% during, 2022-2030. 

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Problem Statement

  • Existing variable buoyancy systems for underwater vehicles lack precise control over depth positioning and often suffer from inefficiencies in adjusting buoyancy, leading to suboptimal performance and limited applicability.
  • A need for a precise and efficient variable buoyancy system that can control the depth of underwater vehicles and systems with high accuracy.
  • The versatile buoyancy control solution that can function as both a standalone system for sensor station depth control and as an add-on for various underwater vehicles, enhancing their maneuverability and performance.

Technology

Actuated Buoyancy:

  • The invention employs bellows with linear actuators for precise buoyancy control in underwater systems.

Depth Precision:

  • Actuation at neutral position achieves accurate positive or negative buoyancy for precise depth manipulation.

Customized Bellows:

  • The design incorporates bellows parameters determine expansion and compression, tailoring buoyancy changes.

Integrated Hull Design:

  • Rigid hull integrates actuators, ensuring system stability and restricting pitch and roll movements.

Modular Scalability:

  • Incorporates multiple bellows and actuators for higher buoyancy levels, adaptable to AUVs, ROVs, and submarines.

Advantages of the invention:

  1. Since the variation in buoyancy is momentary, the power consumed to actuate the linear actuator is very less.
  2. The Linear actuator can be made nonback-drivable by design, in which case, the force on the bellow due to external pressure cannot compress the bellow. This makes the bellow operable at larger depths.
  3. The heave velocity depends on the difference between weight and the buoyancy of the system. With this invention the buoyancy can be increased or decreased to a larger extent which will make the system move faster in the depth column.
  4. Since this is a standalone variable buoyancy system, it can be used as an add-on to the existing underwater vehicles to vary the buoyancy.
  5. Manipulation of underwater systems for precise movement and positioning can be easily achieved.

Key Features/Value Proposition

Technical Perspective:

  • This invention introduces a novel approach to buoyancy control using bellows and linear actuators, ensuring fine-tuned depth adjustments and addressing limitations in existing underwater vehicle systems.

User Perspective:

  • This invention translates to more accurate data collection, increased operational range, and simplified depth control, making underwater exploration, research, and tasks safer and more effective.
Questions about this Technology?

Contact for Licensing

Research Lab

Prof. Asokan T

Department of Engineering Design

Intellectual Property

  • IITM IDF Ref. 1318
  • IN 399832 (PATENT GRANTED)

Technology Readiness Level

TRL- 4

 Technology validated in lab.

 

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IDF No 2143 Intelligent fire-fighting robot and method thereof

Intelligent fire-fighting robot and method thereof

Technology Category/Market

Technology:  Fire fighter robot;

Industry: Industry; Applications: Industrial Application, Fire fighter robot;

Market: The global Fire fighter robot market is projected to grow at a CAGR of 9.7% during 2023 to 2031;

Image

Problem Statement

  • Generally, it is noted that existing fire-fighting systems that replace humans include mobile self-contained & remote-controlled robots which are capable of safely operating in a combustible atmosphere.
  • Such robots in general include non-sparking & non-arcing electro-mechanical & electronic components including a positively pressurized enclosure that houses the electro-mechanical & electronic components to prevent intrusion of the combustible atmosphere into the enclosure.
  • However, these clamping mechanisms are not flexible enough to adapt to different object dimensions for providing a precise grip over the objects and existing robots do not provide accurate and better gripping of the objects on the robot’s path.
  • Hence, there is a need to mitigate above challenges & provide efficient solution.

Technology

  • The present invention describes an intelligent and autonomous fire-fighting robot and method for moving in a hazardous field, detecting fires, and thereby extinguishing the fires.
  • Said fire-fighting robot comprises a motion unit to move around in the hazardous field, a camera unit with multiple cameras to capture multiple frame images, and

    a fire sensing unit to detect the presence & depth of fires, & a control unit with artificial intelligence that activates at least one robotic arm and fire extinguishing unit based on inputs received from the camera unit & the fire sensing unit. (Refer fig.1)

  • Said method is used for detecting and extinguishing fire & is capable of removing obstacles during the operation from the robot’s path without human intervention, shown in Fig.2. The intelligent & autonomous fire-fighting robot is shown hereinbelow:

     

Key Features/Value Proposition

Technical Perspective:

  • Provides an autonomous fire-fighting robot that is waterproof & temperature resistant & Said fire-fighting robot comprises oxygen mask.
  • Facilitates the autonomous fire-fighting robot that implements an inverse kinematics algorithm to determine joint angles and positions of gripper end effectors of a robotic arm comprised in the robot.

Industrial Perspective:

  • Provides said robot that moves in any kind of terrain & uneven surface for monitoring & locating fires in a site, & operates effectively, quickly & safely.
  • Designed robot can effectively aid firefighters & thereby mitigate the effects of an accident. Hence, a quick & efficient response can be achieved at the right time which could save multiple lives.
  • Easily deploying the designed fire-fighting robot at desired locations either in single or multiple based on the requirement, where the location site must be monitored for fire accidents.
Questions about this Technology?

Contact for Licensing

Research Lab

Prof. Jayaganthan

Department of Engineering Design

Intellectual Property

  • IITM IDF Ref. 2143

  • Patent No: 411358

Technology Readiness Level

TRL- 4

Proof of Concept ready& validated.

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