The human sense of touch is an integral part of daily life. For tasks involving grasping and manipulation of objects, force feedback is a key requirement. Most of the systems give contact point or complete grasping force feedback; for precision grasping and other physical interactions, finger awareness and force feedback from independent fingers is essential. In this study a novel, wearable proprioceptive rehabilitation system is designed which restores the ability of identifying and distinguishing between individual fingers of a prosthetic hand or an exoskeleton in a non-invasive manner. Moreover, it provides different levels of force feedback from every finger as well, which enables the user to distinguish and control force in precision grasping activities. For testing the system accuracy, classical psychophysical methods were used on a group of 14 voluntary disabled subjects. The tests were conducted in both, ideal and real-world conditions i.e. without and with distractions and accuracies were calculated accordingly. A p-test was also conducted to observe significance between the samples of with and without distraction datasets. The system performed with an overall accuracy of 82.04% which was well above the min. performance measure of 60%. Vi-HaB is standalone system and can be mounted on any upper limb rehabilitation (prosthesis, exoskeleton) system for finger awareness and force feedback.

Quadrotors are small-sized, inexpensive aerial systems widely used for various indoor operations. Stable flight is a challenge for quadrotors due to low-cost sensors and indoor flight safety constraints add to their complexity. In this study, an Arduino based quadrotor is designed to test 2nd order Complementary filters for state estimation along with a controller with collision safety for indoor flight. Ultrasonic sensors are used for object detection during flight. Detailed hardware assembling along with the implementation of Complementary filter and PID controller is discussed. System tunning is done using the Heuristic method and system response is tested in real time. This study proves that by using the above techniques, a stable flight is achieved with collision safety using ultrasonic sensors.