Sourajit Mukherjee

Indian Institute of Engineering Science and Technology, Shibpur, Central Mechanical Engineering Research Institute

Papers

Total Citations

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About

Sourajit Mukherjee is a robotics researcher whose work spans continuum robots, humanoid manipulation, and assistive exoskeletons. His most cited paper, “Kinematics and Teleoperation of Tendon Driven Continuum Robot” (2018, 17 citations), addresses the challenge of controlling hyper-flexible, compliant robots for medical applications—enabling them to navigate complex curvilinear pathways for endoscopic and surgical procedures. Mukherjee has also made significant contributions to robotic grasping: his 2021 study on grasp-energy optimization (4 citations) introduces a novel algorithm that minimizes net energy usage in a five-fingered, twenty-degree-of-freedom humanoid hand, using a compliant contact model with nonlinear spring-damper dynamics. His work on humanoid lower limb exoskeletons (2020, 3 citations) analyzes single-support phase gait kinematics and kinetics, targeting rehabilitation for aging populations and stroke patients. Additionally, his 2019 study on compliant contact modeling of a humanoid robotic thumb (2 citations) develops an analytical model integrating forward/inverse kinematics and inverse dynamics for precise grasping. Mukherjee’s research uniquely bridges medical robotics, energy-efficient manipulation, and assistive devices, demonstrating tangible impact in both theoretical modeling and practical robotic design.