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Total 24 records

    vThe effect of saddle-assistive device on improving the gait parameters of patients with the lower limbs weakness: a pilot study

    , Article Journal of Bionic Engineering ; Volume 17, Issue 6 , 2020 , Pages 1175-1185 Hojjati Najafabadi, A ; Amini, S ; Farahmand, F ; Sharif University of Technology
    Springer  2020
    Abstract
    To help walking, using assistive devices can be considered to reduce the loads caused by weight and to effectively decrease the propulsive forces. In this study, a mobility Saddle-Assistive Device (S-AD) supporting body weight while walking was evaluated on two healthy volunteers. This device is based on the support of body weight against gravity with the help of a saddle, which is not used in other passive mobility assistive devices. To prove the efficiency of this device, the experimental results obtained while walking with this device were compared with those related to walking without the assistive device. The results showed that this device could significantly reduce the forces and... 

    Robust control of LVAD based on the sub-regional modeling of the heart

    , Article Scientia Iranica ; Volume 23, Issue 6 , 2016 , Pages 2934-2943 ; 10263098 (ISSN) Ravanshadi, S ; Jahed, M ; Sharif University of Technology
    Sharif University of Technology  2016
    Abstract
    Left Ventricular Assist Devices (LVAD) have received renewed interest as a bridge-to-transplantation as well as a bridge-to-recovery device. Ironically, reports of malfunction and complications have hindered the growth of this device. In particular, the main concern is LVAD's susceptibility to excessive backlash and suction as a result of ows that are either too low or high, respectively. This study utilizes a well-established physiological model of the cardiovascular system as a reliable platform to study a proposed adaptive robust controller for a rotary motor based LVAD which overcomes such shortcomings. Proposed controller performance is evaluated by comparing simulated natural heart... 

    Modeling and Intelligent Control of Heart Assist Device

    , M.Sc. Thesis Sharif University of Technology Takhtechian, Parisa (Author) ; Jahed, Mehran (Supervisor)
    Abstract
    Congestive heart Failure (CHF) which occurs when the heart is no longer able to pump the blood sufficiently is a worldwide growing health concern. In the U.S. alone, an estimated 8 million people will be diagnosed with heart failure by 2030.Cardiac transplantation with limitations in donor availability, cannot solely resolve this global health concern. Therefore many patients must use alternative remedies, namely Artificial Heart and Ventricle Assist Device (VAD). The Left Ventricular Assist Device (LVAD) is a mechanical pump that is implanted in patients with congestive heart failure to help the left ventricle in pumping blood to the circulatory system. They are known to... 

    Mechanism and Control System Design for Exoskeleton With two Degrees of Freedom for the Fingers

    , M.Sc. Thesis Sharif University of Technology Yekta, Ramin (Author) ; Zohoor, Hassan (Supervisor) ; Farzad, Maryam (Supervisor)
    Abstract
    According to epidemiological studies conducted in Iran, nowadays, about 200 to 300 people in Iran suffer from stroke. The hands, including fingers, are the most injured and cause one’s disability and creates many direct and indirect costs for the person and the government. In addition to stroke, injuries caused by the use of various apparatus are responsible for hands disruption. It is usually referred to a physiotherapist for the physical disabilities treatment, the treatment process is quite long and time-consuming (usually a one-year physiotherapy). After this treatment, the physiotherapist will prescribe exercise and radiation therapies for the patient. Therefore, in recent years the... 

    Design and Manufacturing of an Exoskeleton Mechanism for Lower Limbs with Active and Semi-Passive Joints According to Biomechanical Principles

    , M.Sc. Thesis Sharif University of Technology Shariat, Afshin (Author) ; Zohoor, Hassan (Supervisor) ; Firoozbakhsh, Keikhosrow (Co-Advisor) ; Vossoughi, Gholamreza (Co-Advisor)
    Abstract
    Today, people living in all over the world are faced with the arrival of Biomechanics and Human need of rehabilitation equipment is growing. Wearable robots have created a new field in service robots’ world. Unlike industrial robots, these robots are strongly interacting with humans. Physical interaction between humans and robots considered one of the exciting and challenging research topics. With attention to this issue, research projects have been started in the department of mechanical engineering of Sharif University of technology to design, manufacture and control a wearable robot with few degrees of freedom used in the lower joints. In this thesis, initially focused on the conceptual... 

    LVAD Functional and Transient Response Analysis and Control

    , M.Sc. Thesis Sharif University of Technology Talebian Ardestani, Mohammad Taher (Author) ; Jahed, Mehran (Supervisor)
    Abstract
    When heart failure occurred, revascularization to body’s organs and consequently covering the metabolic demands of different sections faces with problem. Chronic heart failure is the first reason of mortality all over the world. Traditional treatment for CHF at end stage is heart transplantation. But some of patients don’t have the opportunity to benefit from heart transplantation because of aging, health conditions and lack of donors. On the other hand, Left Ventricular Assist Devices that are using for supporting a ventricle suffering from failure face with basic chalanges for example, backflow in lower speeds and suction in higher speed. These constrictions necessitate maximum and minimum... 

    The Design of Ventricular Assist Devices and Analysis of Blood Flow Within them

    , M.Sc. Thesis Sharif University of Technology Tabrizchi, Zahra (Author) ; Ahmadian, Mohammad Taghi (Supervisor) ; Afshin, Hossein (Supervisor)
    Abstract
    Heart is a muscular organ, which pumps blood through the blood vessels of the circulatory system. The pumped blood carries oxygen and nutrients to the body, while carrying metabolic waste to the lungs. Heart is sort of like a pump, or two pumps in one. The right side of heart receives blood from the body and pumps it to the lungs. The left side of the heart does the exact opposite: It receives blood from the lungs and pumps it out to the body. However, in end-stage heart failure, the heart can no longer pump enough blood to meet the body’s needs, in which case implantable left ventricular assist devices provide support for patients at risk of death from end-stage heart failure.Centrimag... 

    Measuring and Remote Monitoring of Vital Signs

    , M.Sc. Thesis Sharif University of Technology Mozaffari, Ali (Author) ; Atarodi, Mojtaba (Supervisor)
    Abstract
    With the increasing number of elderly people as a proportion of the total population in the world and the aging of the world's population, the need for medical care has increased. On the one hand, most of the elderly population have chronic diseases such as diabetes, hypertension, etc., which do not require hospitalization in healthcare centers, but they need to monitor their health status. Given the progress of technology, the measurement of vital body signals has been made possible with non-invasive methods. In this thesis, an attempt has been made to provide a wearable and portable solution for the measurement, monitoring, and collection of vital signals based on the Internet of Things... 

    Prediction of the lower extremity muscle forces during stair ascent and descent

    , Article 2008 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC 2008, 3 August 2008 through 6 August 2008, New York City, NY ; Volume 3, Issue PART B , 2009 , Pages 1589-1593 ; 9780791843253 (ISBN) Selk Ghafari, A ; Meghdari, A ; Vossoughi, G. R ; Design Engineering Division, ASME ; Sharif University of Technology
    2009
    Abstract
    An inverse dynamics musculoskeletal model of the lower extremity was combined with an optimization technique to estimate individual muscular forces and powers during stair ascent and descent. Eighteen Hill-type musculotendon actuators per leg were combined into the eleven functional muscle groups based on anatomical classification to drive the model in the sagittal plane. Simulation results illustrate the major functional differences in plantar flexors of the ankle and extensors of the knee and hip joints during ascent and descent. The results of this study not only could be employed to evaluate the rehabilitation results in the elderly but also could be used to design more anthropometric... 

    Prediction of the lower extremity muscle forces during stair ascent and descent

    , Article ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2008, Brooklyn, NY, 3 August 2008 through 6 August 2008 ; Volume 3, Issue PARTS A AND B , July , 2008 , Pages 1589-1593 ; 9780791843277 (ISBN) Selk Ghafari, A ; Meghdari, A ; Vossoughi, G. R ; Sharif University of Technology
    2008
    Abstract
    An inverse dynamics musculoskeletal model of the lower extremity was combined with an optimization technique to estimate individual muscular forces and powers during stair ascent and descent. Eighteen Hill-type musculotendon actuators per leg were combined into the eleven functional muscle groups based on anatomical classification to drive the model in the sagittal plane. Simulation results illustrate the major functional differences in plantar flexors of the ankle and extensors of the knee and hip joints during ascent and descent. The results of this study not only could be employed to evaluate the rehabilitation results in the elderly but also could be used to design more anthropometric... 

    Using a saddle-assistive device equipped with mechanical orthosis for walking of the person with incomplete spinal cord injury

    , Article Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine ; Volume 235, Issue 9 , May , 2021 , Pages 1088-1095 ; 09544119 (ISSN) Hojjati Najafabadi, A ; Amini, S ; Farahmand, F ; Sharif University of Technology
    SAGE Publications Ltd  2021
    Abstract
    The majority of the people with incomplete spinal cord injury lose their walking ability, due to the weakness of their muscle motors in providing torque. As a result, developing assistive devices to improve their conditionis of great importance. In this study, a combined application of the saddle-assistive device (S-AD) and mechanical medial linkage or thosis was evaluated to improve the walking ability in patients with spinal cord injury in the gait laboratory. This mobile assistive device is called the saddle-assistive device equipped with medial linkage or thosis (S-ADEM). In this device, a mechanical orthosis was used in a wheeled walker as previously done in the literature. Initially,... 

    Development and Control of Intelligent Assistive Exo-Glove

    , M.Sc. Thesis Sharif University of Technology Abarghouei, Arash (Author) ; Salarieh, Hassan (Supervisor)
    Abstract
    Despite the advancement of technology in the world still some parts of the work are done by human hands. Gloves that increase fingers force can cause less fatigue, greater accuracy and efficiency in carrying out their duties in person.Also patients with muscle weakness due to M.S. or apoplexy, or elderly people are unable to do the simplest tasks. A wearable robotic glove that can restore hand function can increase the quality of life for people with mobility problems. The aim of this research is to design, build and control a conceptual prototype of a flexible wearable robot to increase fingers force by cable mechanism; and in this glove, force and position control concurrently is done by... 

    Design and Manufacturing of Left Ventricular Assist Device for Patients Undergoing Cardiac Surgery

    , M.Sc. Thesis Sharif University of Technology Ahmadidoust, Ehsan (Author) ; Ahmadian, Mohammad Taghi (Supervisor) ; Firouzbakhsh, Keikhosrow (Supervisor)
    Abstract
    The heart is a powerful muscle whose primary function is to pump blood into the body. many cardiac patients reach a stage that can no longer be kept function of their heart to a satisfactory level by using medication thus doctors undergo surgery. The common problem occurs to most patients undergoing cardiac surgery is that after the surgery, the patient's heart during a short period of time is unable to supply blood with the flow rate and pressure required for all organs, especially the end organs of the body. In this conditions, ventricular assist device help the patients. These devices are used parallel with patient’s heart and supply the large portion of blood that patient’s body needs.... 

    Design Of a 3 DOF Robotic Exoskeleton With EMG Based Controller fFor Human Shoulder Joint

    , M.Sc. Thesis Sharif University of Technology Soleymani, Mohammad Ali (Author) ; Zohoor, Hassan (Supervisor)
    Abstract
    Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has five degrees of freedom in order to help the flexion/extension and abduction/adduction shoulder. Dynamic and kinematic model of elbow, forearm, and wrist is developed to determine the amounts of torques which are required in the joint actuators mounted on the... 

    Improvement and Manufacture of The Wearable Assistive Device to Support Spine in Static Holding Tasks

    , M.Sc. Thesis Sharif University of Technology Heydari, Hadi (Author) ; Parnianpour, Mohammad (Supervisor) ; Hoviattalab, Maryam (Supervisor)
    Abstract
    One of the most common diseases associated with musculo-skeletal ailment is low back pain which is epidemic among general public so that billions of dollars is spent annually to treat this disease. There are back pain prevention strategies include training on correct lifting, ergonomic tool design, and industrial automation amongst others. In recent years, assistive devices have also been used to prevent back pain. There are assistive devices that can be installed on the body and significantly have reduced forces required for Erector Spinae muscle and Lumbar moments. In this research, at first the anatomy of the spine and muscles and method of processing Electromyography (EMG) of muscles... 

    Efficient Offloading in Ambient Cloud

    , M.Sc. Thesis Sharif University of Technology Golkarifard, Morteza (Author) ; Movaghar Rahimabadi, Ali (Supervisor)
    Abstract
    Execution speed seriously bothers application developers and users for wearable devices such as Google Glass. Intensive applications like Mobile Augmented Reality (MAR) suffer from significant delays when CPU is busy. Energy is another concern when the devices are in low battery level but users need them for urgency use. To ease such pains, one approach is to expand the computational power by cloud offloading. This paradigm works well when the available Internet access has enough bandwidth. Another way, however, is to leverage nearby devices for computation offloading, which is known as device-to-device (D2D) offloading. In this paper, we present Dandelion, a unified code offloading system... 

    Design, Manufacturing and Parametric Optimization of a Left Ventricular Assisted Device

    , M.Sc. Thesis Sharif University of Technology Mohammadi, Javad (Author) ; Zohoor, Hassan (Supervisor) ; Firoozbakhsh, Keikhosrow (Supervisor) ; Ahmadian, Mohammad Taghi (Co-Supervisor)
    Abstract
    The heart is a vital part of the body whose primary function is to pump blood throughout the body. The world's leading cause of deaths is due to heart problems. Today, most countries invest heavily in solving these problems and preventing the resulting deaths. One solution for patients with advanced heart disease is to use ventricular assist devices. This device is Used in parallel to the patient's heart, completely or partially replaces the normal functioning of the heart and provides much of the blood needed by the body. The purpose of this study is to design, manufacture and parametrically optimize a ventricular assist pump and its driver system. Since blood is clotted in contact with... 

    Design and Efficient Implementation of ECG-based Detection Algorithm for Dangerous Myocardial Problems

    , M.Sc. Thesis Sharif University of Technology Saadatnejad, Saeed (Author) ; Hashemi, Matin (Supervisor) ; Vosooghi Vahdat, Bizhan (Co-Advisor)
    Abstract
    Cardiovascular diseases are the first leading cause of death in the world also in IRAN. Early detection of such problems can decrease the costs also can help to cure the patient but it needs continuous monitoring and automated classification of hearbeats. Mobile devices and wearable gadgets are good solutions which can help patients before visiting the doctor.In this research, an algorithm is introduced which with the help of ECG signal detects dangerous myocardial problems. Our approach is using deep learning method which were not considered much before. In the proposed algorithm ECG signal is processed in order to get features and with dimensionality reduction, input of the network gets... 

    Elderly Fall Detection Using Smart Wearable Devices

    , M.Sc. Thesis Sharif University of Technology Arezoomand, Arman (Author) ; Arghavani Hadi, Jamal (Supervisor) ; Fakharzadeh, Mohammad (Supervisor)
    Abstract
    Elderly falls are one of the leading causes of injury and death to this growing population. In this project, an elderly fall detection system has been designed and built in the form of a wearable device that allows the elderly to be constantly monitored by wearing it continuously. The system hardware is made in the form of a wearable watch that fastens to the left hand of the elderly and continuously monitors the signals of its three sensors, which are accelerometer, gyroscope, and magnetometer. The system continually applies its initial diagnostic method to the signals and sends motion information to a host computer via a wireless connection in the event of a fall. The primary diagnostic... 

    A novel approach towards control of exoskeletal systems as an assistive device for human's upper extremity

    , Article JICTEE 2014 - 4th Joint International Conference on Information and Communication Technology, Electronic and Electrical Engineering ; 2014 Ghassemi, M ; Jahed, M ; Sharif University of Technology
    Abstract
    With increasing importance of exoskeletons as rehabilitation apparatuses, suitable and delicate control strategies has received much attention. In order to control the exoskeleton, there should be a complete understanding of torques produced by the limb itself which makes the musculoskeletal modeling of the limb essential but also complex. In addition, the musculoskeletal model can be used to discover the user's desired movement to control the exoskeleton. In this paper a complete musculoskeletal model for the elbow with two degrees of freedom is developed and simulated. Next the model is used to determine user's desired movement. Finally based on this evaluation, an exoskeleton model is...