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gait-cycles
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From passive dynamic walking to ankle push-off actuation: An MSC ADAMS approach to design
, Article 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018, 23 October 2018 through 25 October 2018 ; 2019 , Pages 400-405 ; 9781728101279 (ISBN) ; Ehteshami Bejnordi, V ; Tehrani Safa, A ; Naraghi, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
The main focus of this paper is on how the biped robot has a stable passive gait cycle as well as going through a stable journey on a level ground merely with push-off actuation. During recent years humanoids have been in the center of attention due to several reasons some of which are: compactness of the structure, low energy consumption, humanoid behavior and last but not least being of great use in medical field. In this paper, equations of motion regarding the passive phase as well as push-off are simulated in MATLAB software. For the next step, a comparison between these two stable gait cycles is made so as to figure out the difference between energy injected to the system by push-off...
Studying the Gait kinematics of Cerebral Palsy Patients Using the Uncontrolled Manifold Method
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
Cerebral Palsy is the most common motor disability in childhood. It’s caused by an injury or impaired development of brain. As result, CP children have disability in motor system. All people with cerebral palsy have problem with movement. The symptoms of CP vary from person to person. Therefore, gait analysis was used to investigate those child’s problems and help therapist to find better therapy. Given that, we analyze stance phase of gait cycle of CP children. Also, we calculate and compare variability between traditional development (TD) children and CPs to find a better understanding of how central nerves system (CNS) work. Kinematic Data during walking were collected from 100 CP and TD...
Kinematic and dynamic analysis of the gait cycle of above-knee amputees
, Article Scientia Iranica ; Volume 13, Issue 3 , 2006 , Pages 261-271 ; 10263098 (ISSN) ; Rezaeian, T ; Narimani, R ; Hejazi Dinan, P ; Sharif University of Technology
Sharif University of Technology
2006
Abstract
The change of gait pattern and muscular activity following amputation is thought to be responsible for the higher incidence of joint degenerative disorders observed in amputees. Considering the lack of consistent data in the literature, the purpose of the present study was to measure and analyze the spatio-temporal variables, the kinematics and, particularly, the net joint moments of the intact and prosthetic limbs of above knee amputee subjects during walking and to compare the results with those of normals. The gait characteristics of five transfemoral amputees and five normal subjects were measured using videography and a force platform. The human body was modeled as a 2-D sagittal plane...
Simulation of a Knee Joint Replacement During a Gait Cycle Using Finite Element Analysis and Verifying the Results by Experimental Knee Simulator
, M.Sc. Thesis Sharif University of Technology ; Firoozbakhsh, Keikhosrow (Supervisor) ; Farahmand, Farzam (Supervisor) ; Narimani, Roya (Supervisor)
Abstract
In knee injuries that may not have the ability to improve and knee function is disturbed, usually total knee replacement surgery is performed. There are several ways in order to study the effect of different parameters and how the parameters affect the total knee disability, including removal from the patient body, laboratory studies and computer simulations. Study of damaged prosthesis from viewpoint of availability and laboratory ones from cost and duration of time encounter with problems, so the computer simulation have priority. In this project, a dynamic model of a total knee prosthesis during gait cycle has been developed with the help of finite element software. In this project,...
Embodiment Approach Used by a Quadruped Robot to Learn How to Walk
, M.Sc. Thesis Sharif University of Technology ; Bagheri Shouraki, Saeed (Supervisor)
Abstract
The researches done on legged robots can be categorized in two main groups: based on analytical methods and intelligent methods. All researched done by intelligent methods are similar in adaptation of learning methods. Robots can improve their actions with learning and there is no need to do an exact modeling of environment and system. Also this is adaptive to changes in system and environment. There are different approaches for studying intelligence in cognitive science. Embodiment approach focuses on body, its properties and connection to environment. Controller, morphology and environment effect doing the tasks in embodiment. Morphology contains sensors, shapes of elements, actuators and...
Design and Implementation of Variable Impedance Control for Lower-Limb Exoskeletons with Desired Gate Refinement
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The main goal of this thesis is to develop and implement a variable Impedance control method with the ability to refine the desired gait in an online manner. For this purpose, a dataset consisting of 89 healthy gaits was utilized. Then, “Basic shapes” were driven using principal component analysis and their meaningfulness was investigated. Regarding the meaningfulness of coefficients of basic shapes, a normality metric was defined to evaluate the human gaits. Furthermore, as a reference gait refinement in Impedance control, an outer loop was added to change the desired gait, according to traversed gait. Kalman filter was used to estimate the coefficients of basic shapes in this loop. In...
Design optimization of an above-knee prosthesis based on the kinematics of gait
, Article 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08, Vancouver, BC, 20 August 2008 through 25 August 2008 ; 2008 , Pages 4274-4277 ; 9781424418152 (ISBN) ; Farahmand, F ; Parnianpour, M ; Sharif University of Technology
2008
Abstract
A dynamic model of an above-knee prosthesis during the complete gait cycle was developed. The model was based on a two-dimensional multi-body mechanical system and included a hydraulic and an elastic controller for the knee and a kinematical driver controller for the prosthetic ankle. The equations of motion were driven using Lagrange method. Simulation of the foot contact was conducted using a two-point penetration contact model. The knee elastic and hydraulic controller units, the knee extension stop, and the kinematical driver controller of the ankle were represented by a spring and a dashpot, a nonlinear spring, and a torsional spring-damper within a standard prosthetic configuration....
Intelligent control of powered exoskeleton to assist paraplegic patients mobility using hybrid neuro-fuzzy ANFIS approach
, Article 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006, Kunming, 17 December 2006 through 20 December 2006 ; 2006 , Pages 733-738 ; 1424405718 (ISBN); 9781424405718 (ISBN) ; Meghdari, A ; Vossoughi, G. R ; Sharif University of Technology
2006
Abstract
Integrating humans and robotics technology into one system offers multiple opportunities for creating assistive technologies that can be employed in biomechanical, industrial, and aerospace applications. The present study deals with employing the adaptive neuro-fuzzy inference system (ANFIS) approach in rule base derivation for powered exoskeleton intelligent control to assist paraplegic patient mobility. By employing the hybrid learning algorithm, optimal distributed membership functions to describe the mapping relation in the input and output parameters of the gait cycle were derived. As the proposed control strategy was unaffected by changing human dynamics, the reliability and robustness...