DEVELOPED ROBOTS
SRL
FSRA
TSM-FDA
ACS-EXO
SRF
Dr. BHIVRAJ SUTHAR
Assistant Professor, Roboticist
Research Interests:
Bio-inspired Mechanisms, Actuators, Prosthetic Limbs, Supernumerary Robotic Limbs, Exosuits, Exoskeletons, Haptic Devices, Metamorphic Drone Manipulators and Artificial Intelligence.
Affiliations:
School of Artificial Intelligence and Data Science
COE: Brain Science and Applications
IDRP: Robotics & Mobility Systems
Indian Institute of Technology Jodhpur, India
Emails:
bhivraj@iitj.ac.in
Hello!
Dr. Suthar is working as an Assistant Professor at the School of Artificial Intelligence and Data Science at IIT Jodhpur, India. He is also associated with Robotics & Mobility Systems, IIT Jodhpur & AIIMS MedTech Centre. Before joining IIT Jodhpur, he was a Postdoctoral research fellow at the Robotic Centre at Khalifa University (UAE), Korea Advanced Institute of Science and Technology (Korea), Chungnam National University (Korea) and IIT Delhi (India). His research interests span a wide spectrum, including Bio-inspired Mechanisms, Actuators, Grippers, Prosthetic Limbs, Supernumerary Robotic Limbs, Exoskeletons, Haptic Devices, Drone Metamorphic Manipulators and Artificial
Intelligence. Dr. Suthar embarked on a transformative life journey encapsulated in the phrase "Robot artist to Roboticist." His passion for robotics ignited during his childhood, where he devoted his energies to developing Robotic systems. Over the years, he has carved an impressive track record, successfully developing over 15 innovative robots in-house and holding 7 patents. He earned his Ph.D. in Mechanical Engineering (Robotics) from Korea University of Technology and Education in 2015, a Master’s degree in Energy Engineering (Robotics) from IIT Delhi, and a B.E. in Electrical Engineering (Robotics) from CTAE, Rajasthan, India.
Acknowledging his outstanding contributions, Dr. Suthar has been honoured with prestigious awards, including the top 5 in WearRAcon Innovation Challenge Award-2022 by WearRAcon Society, USA, and top 10 in James Dyson Design Award-2021 by the Dyson Foundation, USA. The Korean Electrical Society bestowed upon him the Creativity and Innovation Award in 2021, and he received the Samsung Electro-Mechanics Award 2021 from the Korean Society of Electronics Engineering. In 2015, he was recognized with the SRISTI- Gandhian Young Technological Innovation Award by the PRESIDENT OF INDIA.
His scholarly impact is evident through more than 33 publications in esteemed conferences like ICRA, IROS, ROMAN, CASE, UR, NASA-AMS, AMSM, RAHA, ACMD, IEEE Haptics Symposium, ICCAS, AIR, and others. Dr. Suthar delivered short talks at the IROS Workshop in 2020 and 2021, showcasing his expertise. His prolific research contributions extend to more than 16 journal papers published in reputable journals such as ASME-Journal of Mechanisms and Robotics, IEEE Access, IEEE Sensors, IEEE Robotics & Automation Letters (RA-L), IEEE Transactions on Industrial Electronics, Mechatronics, Robotica, among others.
As an active member of IEEE, ASME, WRA, and RSI robotics societies, Dr. Suthar continues to push the boundaries of innovation, leaving an indelible mark on the field of Robotics and Artificial intelligence.
Latest News
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Published article "Development of a soft actuated glove based on twisted string actuators for hand rehabilitation" in BIOROB 2024, Germany, September 2024.
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Published article "Robotic Fingers: Advancements, Challenges, and Future Directions-A Comprehensive Review" in IEEE Access, August 2024.
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Published article "Design of robotic finger using twisted string actuator with modular passive return rotational joints to achieve high grasping force: Application to wearable sixth finger" in Journal of Mechatronics, Elsevier, May 2024.
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Published article "MGlove-TS: a Modular Soft Glove based on Twisted String Actuators and Flexible Structures" in Journal of Mechatronics, Elsevier, April 2024.
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Published article "Self-organising BFBEL control system for a UAV under wind disturbance” in IEEE Transactions on Industrial Electronics, June 2023.
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Published article "Design of Adaptive Sensor Coupling-based Upper Limb 7-DOF Exoskeleton for Smooth Human Motion Tracking: ASC-EXO” in IEEE Sensors Journal, April 2023.
RESEARCH INTERESTS
Soft Actuators
The conventional actuators used in exosuit make it more challenging for researchers and engineers to design compact, lightweight, and wearable systems that would be truly portable and non-restrictive for the wearer. My work focuses on developing lightweight, compliant, fully portable, comfortable, energy-efficient and powerful soft twisted string actuator systems (TSAs) that can eliminate the use of rigid actuation systems and structures.
Exoskeleton and Exosuit
The wearable exoskeleton and exosuit are paving the way toward robotic abilities that are vital for a wide range of applications, including assistance, rehabilitation, telemanipulation, human-machine interaction, and more. An essential challenge is to make an exosuit using active textile-like conventional clothes. I am designing and developing a comfortable, fully portable, compact exosuit to assist the daily life activities of human beings.
Metamorphic Drone Arm with a Gripper
The reconfigurable and deployable drone arm with gripper technology has enormous potential for solving real-world challenges. It can do activities in hazardous environments where humans can not enter and can control remotely. It is a vital solution for many applications including; parcel delivery, inspection, gripping, aerial manipulation, and more.
EXPERIENCE
October 2023- Till now
Assistant Professor
School of Artificial Intelligence & Data Science
COE-Brain Science and Applications
IDRP- Robotics & Mobility Systems
Indian Institute of Technology, Jodhpur, India
December 2022- September 2023
Co-founder
Polybot Pvt. Ltd. India
Research and Development, Mechatronics and Robotics System Design
About me
December 2021- October, 2023
Postdoctoral Research Fellow
Center for Autonomous Robotic Systems, Khalifa University, United Arab Emirates
Projects: Design and Development of a supplementary robotic finger for the assistance of chronic stroke patients
August 2020-November, 2021
Postdoctoral Research Fellow
Intelligent System and Emotional Engineering Laboratory, Department of Mechatronics, Chungnam National University, South Korea
Projects: (1) Design and development of a deployable and foldable aerial manipulator with a gripper for aerial manipulation
(2) Design of a supplementary robot arm for assistance in construction work
June 2015-February 2016
Junior Research Fellow
Industrial Research & Development Unit, Indian Institute of Technology Delhi (IIT Delhi)
Projects: Design and development of 7-DOF exoskeleton for telemanipulation of KUKAKR5.
July 2010-August 2012
Junior Research Fellow
Industrial Research & Development Unit, Indian Institute of Technology Delhi (IIT Delhi)
Responsibilities: (1)Design and development of 7 DOF exoskeleton (2) Calibration of exoskeleton for teleoperation of KUKA KR 5. (3) Kinematic modeling and dynamics analysis of Exoskeleton Robot.
EDUCATION
February 2016-August 2020
Doctor's Degree (Robotics, Mechanical))
KOREATECH and KAIST, South Korea
Doctoral dissertation title: Development of Twisted String Actuator-based Assistive Upper Limb Exosuit
August 2012-May 2015
Master's Degree (Robotics, Center for Energy)
Indian Institute of Technology Delhi, India
Master dissertation title: Design and Simulation of Solar panel cleaning robot based on Inchworm mechanism.
July 2006-June 2010
Bachelor's Degree (Electrical Engineering)
College of Technology and Engineering Udaipur, Rajasthan, India
Major: Electrical Engineering
AWARDS
• WearRAcon Innovation Challenge Award-2022, USA: Head Motion Controlled Foldable Supplementary Robot
Arm Exosuit for Construction Work: FSRA-Exosuit was selected as a finalist in WearRAcon Innovation Challenge
Award-2022, USA.
• Top 10 in James Dyson Design Award-2021, South Korea: Deployable and foldable drone arm (DFRA) for Covid-19medical supply and foldable robotic arm for collaborative work (FRAC) were selected as finalists for James DysonDesign Award, South Korea, July 19, 2021.
• Creativity and Innovation Award-2021, South Korea (Prize money-500$): Awarded for ”Bird’s Nest Re-moval Technology from Electric Poles Using Drone’s Folding Robot Arm” by the Korean Electrical Society, SouthKorea, July 15, 2021.
• Samsung Electro-Mechanics Award-2021, South Korea (Prize money-300$): Awarded for ”Foldable DroneArm for stable Dust cleaning performance” by Korean Society of Electronic Engineering, South Korea, July 01, 2021
• Demo runner-up in Asia Haptics Conference: A Novel Ferro-Fluid-based Fingertip Tactile Display for Con-currently Displaying Texture and Geometric Perception, in Asia Haptics-2018, San Francisco, USA.
• Gandhian Young Technological Innovation Awards (GYTI): Award received by the President of INDIA for innovation ”Inchworm mechanism for solar panel cleaning robot” at Rashtrapati Bhawan New Delhi, INDIA, March 2015.
• Delhi Class of 89 Innovation Award: Shortlisted for the finalist of IIT Delhi Class of 89 Innovation Award 2015.
• Young Professional Engineering Award: Awarded by the dean of College of Technology Engineering, Udaipur, Rajasthan, India, Sept 2015.
• Best Paper Award: Received at the ”National Conference on Solar Robotics”, Jamia Milia Islamia, New Delhi, India, August 2015.
• Junior Research Fellowship-2011, India: Recipient of a Junior Research Fellowship from the Department of
Science and Technology (DST) India, August 2011
DELIVERED TALKS
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Bhivraj Suthar Yejin Choi and Seul Jung, ”Foldable Supplementary Robot Arm Exosuit for Collaborative Work: FSRA-Exosuit”, IROS Workshop-2021 on Challenges and Opportunities of Human-robot Symbiosis, October 2021, Singapore.
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Bhivraj Suthar and Vikramaditya Dave, ”Bhivraj Suthar and Vikramaditya Dave, ”Bio-inspired Cat-Leap Parkour Rolling Mechanism (CPRM): Design Inception to Realization, and Applications”, IROS Workshop-2020 on Mechanisms and Design from Inception to Realization, Las Vegas, U.S.A
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Mechanical Design Tools: Fusion360, Inventor, Solid works and Abaqus
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Simulation and Control Tools: Matlab, Arduino and LabVIEW
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Programming Tools: C++, Matlab and Python
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Animation Tools: Maya and Adobe Premiere
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Editing Tools: Adobe Illustrator and Microsoft Visio
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Office Tools: Microsoft Word, Powerpoint and Latex
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3D Printing: Familiar with solid, soft and metallic 3 D printers
SKILLS AND PROFESSIONAL TRAININGS
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Training on the KUKA robot programming
basic programming and advanced programming of KUKA Robot at the Indian Institute of Technology Delhi, India (2012).
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Technical Course
Fundamentals of Space Vehicle Mechanisms at the Johnson Space Center, NASA, USA (2022).
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Short-term training on the teleoperation of a robot
Master/Slave manipulator at the Bhabha Atomic Research Centre (BARC), Mumbai, India (2014).
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Short-term training on real-time simulation for spacecraft
Dynamics and Real-Time Simulation for spacecraft at the Jet Propulsion Laboratory (JPL), NASA, Pasadena, California, USA (2019).
PATENTS
• Bhivraj Suthar “Reconfigurable water jet fire fighting drone,” Indian Patent, Application number: 202311003108
• Bhivraj Suthar, Mohammad Zubair and Sachin Kansal, “5-DOF flexure mechanism base to suppress noise in a rotary sensor for a robotic system”, Application number: 362283-001
• Bhivraj Suthar, Balkishan Suthar and Ravi Ranjan “Self-Adjustable Chasses of Quad Rotor Unmanned Arial Vehicle,” Application Number: 408/DEL/2015
• Bhivraj Suthar, Nidhi Sindhu, “ Design of four finger hand”, Application no- 409/DEL/2015
• Ravi Ranjan, Bhivraj Suthar, Venkat Chintala, “A system for NOx (Nitrogen Oxides) emission after treatment in automobiles,” Application no- 332/DEL/2015
• Ravi Ranjan, Bhivraj Suthar, Venkat Chintala, “ Multi-hole auto swirl type fuel Injector,” Application number- 333/DEL/2015
JOURNALS
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Bhivraj Suthar, Mohd.Zubair, Sachin Kansal and Sudipto Mukherjee, ”Design of Adaptive Sensor Coupling-based Upper Limb 7-DOF Exoskeleton for Smooth Human Motion Tracking: ASC-EXO”, IEEE Sensors Journal (Q1), IF-4.32, April 2023,
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Omar Faris, Huda Alyammahi, Bhivraj Suthar, Rajkumar Muthusamy, Umer Hameed Shah, Irfan Hussain, Dongming Ganb, Lakmal Seneviratne and Yahya Zweiri,” Design and Experimental Evaluation of a Sensorized Parallel Gripper based on the Periscope Principle”, Journal of Mechatronics, Elsevier (Q1), IF-3.65, April 2023,
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Mohammad Zubair, Bhivraj Suthar and Seul Jung, ”Design and Analysis of Flexure Mechanisms for Human Hand Tremor Compensation,” IEEE Access (Q1), IF- 3.367, 2022.
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Sachin Kansal, Mohd.Zubair, Bhivraj Suthar, and Sudipto Mukherjee, ”Tele-operation of an Industrial Robot by an Arm Exoskeleton for Peg-in-Hole Operation Using Immersive Environments,” Robotica (Q1), IF- 1.50, 2022.
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Bhivraj Suthar and Seul Jung, ”Design and Feasibility Analysis of a Foldable Robot Arm for Drones Using a TwistedString Actuator: FRAD,” IEEE Robotics and Automation Letters (Q1), IF- 3.6, 2021.
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Bhivraj Suthar and Seul Jung, ”Design and Bending Analysis of a Metamorphic Parallel Twisted-Scissor Mechanism”.in the Transactions of ASME-Journal of Mechanisms and Robotics (Q1), IF- 2.4, 2021.
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Rahul Shrivastava, Prabhat Kumar, Sudhakar Tripathi, Vivek Tiwari, Dharmendra Singh Rajput, Gadekallu Thippa Reddy, Bhivraj Suthar, Saurabh Singh and In-Ho Ra, ”A Novel Grid and Place Neuron’s Computational Modeling to Learn Spatial Semantics of an Environment”, Applied Sciences (Q2), IF- 2.67, 2020
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Muhammad Arshad Khan, Bhivraj Suthar, Igor Gaponov and Jee-Hwan Ryu ”Single Motor-based Bidirectional Twisted StringActuation with Variable Radius Pulleys,” IEEE Robotics and Automation Letters (Q1), IF- 3.608, 2019
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Rajkumar Gupta, Mangal Sharma, Davinder Pal Singh, Bhivraj Suthar, Subir Kumar Saha, ”Further Improvements to the Device by IIT Delhi for the Manufacturing of Beads from Holy Basil (Tulasi),” International Journal of Current Science(Q2), IF- 0.75, 2015.
SELECTED CONFERENCE PUBLICATION
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Bhivraj Suthar, Mohammad Zubair, Sachin Kansal and Sudipto Mukherjee, ”Development of a Compliant Joint Based Upper Limb Exoskeleton for Stable Tele-manipulation: CJ EXO,” IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2022), August 21-24, 2022, Seoul National University, Seoul, Republic of Korea.
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Bhivraj Suthar and Seul Jung, ”Conceptual Design of an Extendable Rope-inspired Module Space Orbit Arm for Maneuvering: ERM- SOA,” 46th NASA Aerospace Mechanisms Symposium-2022, May 11-13, 2022, NASA Johnson Space Center and Lockheed Martin Space, USA.
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Bhivraj Suthar, YeJin Chio, and Seul Jung, ”Design and Experimental Evaluation of Foldable Robot Arms for holding and Installation Work: FRAHI”, 30th IEEE International Conference on Robot and Human Interactive Communication (ROMAN-2021), August 8 - 12, 2021, Canada.
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Bhivraj Suthar and Seul Jung, ”Design of a Novel Twisted-Scissor Structure for Foldable Robot Arm”, 18th International Conference on Ubiquitous Robots (UR-2021), South Korea.
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Mohammad Zubair, Ye Jin Choi, Bhivraj Suthar and Seul Jung, ”Vibration Suppression Mechanism for Foldable Robot Arm for Drones”, 18th International Conference on Ubiquitous Robots (UR-2021), South Korea.
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Bhivraj Suthar and Seul Jung, ”Conceptual design and Feasibility Analysis of Foldable Robotic Arms for CollaborativeWork: FRAC”, 17th IEEE International Conference on Automation Science and Engineering (CASE-2021), Lyon, France.
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Bhivraj Suthar and Seul Jung, ”Design and Feasibility Analysis of a Foldable Robot Arm for Drones Using a TwistedString Actuator: FRAD”, IEEE International Conference on Intelligent Robots and Systems (IROS-2021), Prague, Czech Republic.
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Bhivraj Suthar and Vikramaditya Dave, ”Bio-inspired Cat-Leap Parkour Rolling Mechanism (CPRM): Design Inception to Realization, and Applications”, IROS-workshop 2020, Las Vegas, U.S.A.
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Bhivraj Suthar, and Jee-Hwan Ryu, ”A Study on Guided Twisted String Actuation Systems: Mathematical Model and Experimental Evaluation,” International Workshop on Active Materials and Soft Mechatronics (AMSM2019), October 16-19, 2019 at Incheon, South Korea.
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Muhammad Arshad Khan, Bhivraj Suthar, Igor Gaponov, Jee-Hwan Ryu, ”Design of Variable Radius Pulley for linearized Input-Output Transmission Characteristics of Twisted String Actuator,” International Workshop on Active Materials and Soft Mechatronics( AMSM2019), October 16-19, 2019 at Incheon, South Korea.
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Muhammad Arshad Khan, Bhivraj Suthar, Igor Gaponov, and Jee-Hwan Ryu ”Single Motor-based BidirectionalTwisted String Actuation with Variable Radius Pulleys” in IEEE International Conference on Robotics and Automation(ICRA-2019), November 4 – 8, 2019 in The Venetian Macao, Macau, China.
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Bhivraj Suthar, Igor Gaponov, and Jee-Hwan Ryu, ”Soft Twisted String Actuator Module for Wearable Robotic Ap-plications” International workshop on Active Materials and Soft Mechatronics (AMSM2018), October 2018 at KAIST, South Korea.
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Bhivraj Suthar, Muhammad Usman, Hyunseok Seong, Igor Gaponov, and Jee-Hwan Ryu “Preliminary Study of twisted String Actuation Through a Conduit Toward Soft and Wearable Actuation “in IEEE International Conference on Robotics and Automation (ICRA2018), May. 21-25, 2018 at Brisbane, Australia.
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Harsimran Singh, Bhivraj Suthar, Syed Zain Mehdi, and Jee-Hwan Ryu ”Ferro-Fluid Based Portable Finger-tip HapticDisplay and it's Preliminary Experimental Evaluation” in IEEE Haptics Symposium 2018, March 25-28, 2018, San Francisco California, USA.
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Muhammad Usman, Bhivraj Suthar, Hyunseok Seong, Igor Gaponov, and Jee-Hwan Ryu “A Study on Life Cycle of Twisted String Actuators: Preliminary Results “ in IEEE International Conference on International Conference on Intelligent Robots and Systems (IROS-2017) Sept. 2017 at Vancouver Convention Centre, BC, Canada.
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Muhammad Usman, Bhivraj Suthar, Hyunseok Seong, Elliot Hawkes, Igor Gaponov, and Jee-Hwan Ryu “TwistedString-based Module with Passive Return Mechanism “ in IEEE International Conference on Robotics and Automation (ICRA-2017)” May 29 to June 3, 2017, at Sands Expo and Convention Centre, Marina Bay Sands in Singapore.
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Lamyanba Heisnam, Bhivraj Suthar, “20 DOF robotic hand for teleoperation: Design, simulation, control and accuracy test with leap motion” in IEEE International Conference on Robotics and Automation for HumanitarianApplications (RAHA 2016) December 18-20th 2016, Amrita University, Kerala, India.
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Mohd. Zubair, Sachin Kansal, Bhivraj Suthar, Sudipto Mukherjee “Kinematic Mapping of Exoskeleton with Virtual KUKA Robot” in IEEE International Conference on Robotics and Automation for Humanitarian Applications (RAHA 2016) December 18-20th 2016, Amrita University, Kerala, India.
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Mohd.Zubair, Bhivraj Suthar, Sachin Kansal, Sudipto Mukherjee “Evolution of the Exoskeleton” The 8th Asian Conference on Multibody Dynamics (ACMD-2016), August 7 - 10, 2016, Kanazawa, Japan.
DEVELOPED ROBOTS
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IROS_Workshop_2020 (Mechanisms and Design from Inception to Realization)
