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Bioengineering

Publications & Patents

Research contributions and intellectual property from the Department of Bioengineering, CMC Vellore

Granted Patents 2 patents
2023
Modular and portable plug-and-train robot for providing hand rehabilitation

Aravind Nehrujee, Sujatha Srinivasan, Sivakumar Balasubramanian

Indian Patent No. 442706 · granted August 3, 2023

2023
An arm rehabilitation robot and a method for upper-limb training and assessment

Sandeep Guguloth, Sujatha Srinivasan, Sivakumar Balasubramanian

Indian Patent No. 466323 · granted November 6, 2023

Pending Patents 5 patents
2023
A single-DOF Mobile Arm Support for Therapeutic and Assistive applications (MARS)

Prem Kumar, Aravind Nehrujee, Sujatha Srinivasan, Sivakumar Balasubramanian

App. No. 202341031441 · filed May 3, 2023

2023
Multi-functional hand rehabilitation device

Sriramachandran V, Aravind Nehrujee, Sivakumar Balasubramanian

App. No. 202341051049 · filed July 28, 2023

2025
An arm movement tracking assembly for tracking movement of a user's Upper limb or arm

Sujith Christopher, Sivakumar Balasubramanian

App. No. 202541006822 · filed January 28, 2025

2025
System and method for assessment and training in balance rehabilitation

Arjun Ram P, Sivakumar Balasubramanian

App. No. 202541025882 · filed March 21, 2025

2025
An Apparatus for the Rehabilitation of Ankle and Toe Function (ATOBOT)

Neelakshi Ganguly, Lishwanth RK, Manish Anand, Sujatha Srinivasan, Sivakumar Balasubramanian

App. No. 202541100905 · filed October 17, 2025

Journal Publications 21 papers
2024
Identification of Patient-Specific EMG Detectors for Robot-Assisted Therapy Using Rest and Move State EMG Data

Monisha Yuvaraj, A.T. Prabakar, Varadhan S.K.M, Etienne Burdet, Ander Ramos-Murgialday, Sivakumar Balasubramanian

IEEE Access

2024
Autoencoder-Based Approaches for Upper Limb Use Detection

Parvathy Neelakandan, Varadhan SKM, Sivakumar Balasubramanian

IEEE Access

2024
GMAC – A simple measure to quantify upper limb use from wrist-worn accelerometers

Sivakumar Balasubramanian

IEEE Transactions on Neural Systems and Rehabilitation Engineering DOI

2024
A systematic investigation of detectors for low signal-to-noise ratio EMG signals

Monisha Yuvaraj, Priyanka Raja, Ann David, Etienne Burdet, Varadhan SKM, Balasubramanian S

F1000Research DOI

2023
The Facilitators and Barriers to Home-based Robotic Rehabilitation in India: A Pilot Feasibility Study

Nehrujee A, Prabhakar A, Balaraman S, Bombatkar R, Prakash H, SamuelKamaleshKumar S, Aaron S, Bhattacharya S, Srinivasan S, Balasubramanian S

Frontiers in Stroke DOI

2023
Design and Characterization of a Self-Aligning End-Effector Robot for Single-Joint Arm Movement Rehabilitation

Mathavan Jeyabalan P.K., Nehrujee A., Elias S., Magesh Kumar M., Sujatha S., Balasubramanian S.

Robotics DOI

2022
Comparing algorithms for assessing upper limb use with inertial measurement units

T Subash, A David, S ReetaJanetSurekha, S Gayathri, S Samuelkamaleshkumar, H Prakash, N Malesevic, C Antfolk, SKM Varadhan, A Melendez-Calderon, S Balasubramanian

Frontiers in Physiology DOI

2022
2021
Plug-and-Train Robot (PLUTO) for Hand Rehabilitation: Design and Preliminary Evaluation

A Nehrujee, H Andrew, Reethajanetsurekha, A Patricia, S Samuelkamaleshkumar, H Prakash, S Srinivasan, S Balasubramanian

IEEE Access

2021
A self-aligning end-effector robot for individual joint training of the human arm

S Balasubramanian, S Guguloth, JS Mohammed, S Srinivasan

Journal of Rehabilitation and Assistive Technologies Engineering DOI

2021
A Framework for Sensor-Based Assessment of Upper-Limb Functioning in Hemiparesis

A David, T Subhash, SKM Varadhan, A Melendez-Calderon, S Balasubramanian

Frontiers in Human Neuroscience DOI

2021
Quantification of the relative arm-use in patients with hemiparesis using inertial measurement units

A David, S ReethaJanetSureka, S Gayathri, SJ Annamalai, S Samuelkamleshkumar, A Kuruvilla, HP Magimairaj, SKM Varadhan, S Balasubramanian

Journal of Rehabilitation and Assistive Technologies Engineering DOI

2021
Estimating Movement Smoothness From Inertial Measurement Units

A Melendez-Calderon, C Shirota, S Balasubramanian

Frontiers in Bioengineering and Biotechnology DOI

2019
A Smartphone-based gaming system for vestibular rehabilitation: A usability study

A Nehrujee, L Vasanthan, A Lepcha, S Balasubramanian

Journal of Vestibular Research

2019
Technology-aided assessments of sensorimotor function: current use, barriers and future directions in the view of different stakeholders

C Shirota, S Balasubramanian, A Melendez-Calderon

Journal of NeuroEngineering and Rehabilitation DOI

2018
Is EMG a viable alternative to BCI for detecting movement intention in severe stroke?

S Balasubramanian, E Garcia-Cossio, N Birbaumer, E Burdet, A Ramos-Murguialday

IEEE Transactions on Biomedical Engineering

2018
Red cell indexes made easy using an interactive animation: do students and their scores concur?

U Kachroo, E Vinod, S Balasubramanian, N Prince

Advances in Physiology Education DOI

2017
SITAR: a system for independent task-oriented assessment and rehabilitation

A Hussain, S Balasubramanian, N Roach, J Klein, N Jarrassé, M Mace, A David, S Guy, E Burdet

Journal of Rehabilitation and Assistive Technologies Engineering DOI

2016
On the assessment of coordination between upper extremities: towards a common language between rehabilitation engineers, clinicians and neuroscientists

C Shirota, J Jansa, J Diaz, S Balasubramanian, S Mazzoleni, NA Borghese, A Melendez-Calderon

Journal of NeuroEngineering and Rehabilitation DOI

2016
Investigation of isometric strength and control of the upper extremities in multiple sclerosis

A Hussain, S Balasubramanian, I Lamers, S Guy, P Feys, E Burdet

Journal of Rehabilitation and Assistive Technologies Engineering DOI

Preprints 3 papers
2025
Effect of Role of Robotic Assistance on Upper-limb Sensorimotor Recovery: A Systematic Review and Meta-Analysis

Ritwika Choudhuri, John Solomon, Aravind Nehrujee, Sujatha Srinivasan, Sivakumar Balasubramanian

medRxiv DOI

2024
Romiumeter: An Open-Source Inertial Measurement Unit-Based Goniometer for Range of Motion Measurements

Diwakar Basinepalli Reddy, Abhishek, Amal Andrews, Lenny Vasanthan, Sivakumar Balasubramanian

bioRxiv DOI

2022
On the Role of Robotic Assistance in Upper-Limb Neurorehabilitation

A Nehrujee, S Srinivasan, S Balasubramanian

Preprints

Conference Publications 1 papers
2020
A Plug-and-Train Robotic Kit (PLUTO) For Hand Rehabilitation: Pilot Usability Study

A Nehrujee, A Hallel, A Patricia, S Samuelkamaleshkumar, H Prakash, S Srinivasan, S Balasubramanian

BioRob DOI