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A Study on Automatic and Early Detection of Lameness in Dairy Cattle
, M.Sc. Thesis Sharif University of Technology ; Akbari, Javad (Supervisor)
Abstract
Lameness in dairy cattle is a crucial welfare issue in dairy industry, and over the years scientists are attempting to present a detection method. In recent years it is attracting more attention to make the identification and discrimination of sounds and lames systematic and automatic. Right now, the most hopeful results have been obtained through the measurement of Ground Reaction Forces (GRF) of hooves, and analysis of load distribution between four legs, which seems applicable for wide use in dairy industry. However, the accuracy, validity, and reliability of discrimination is still far from an acceptable point, that is because of a great lack in understanding quantitative effects of the...
Design and Fabricate Force Plate Device to Gathering and Processing Data for Automatic Detection of Lameness in Ruminants
, M.Sc. Thesis Sharif University of Technology ; Akbari, Javad (Supervisor)
Abstract
Lameness in dairy cattle is a crucial welfare issue after infertility and mastitis in dairy industry, and over the years scientists are attempting to present a detection method. In recent it is attracting more attention to make the identification and discrimination of sounds and lames systematic and automatic. Right now, the most hopeful results have been obtained through the measurement of Ground Reaction Forces (GRF) of hooves, and analysis of load distribution between four legs, which seems applicable for wide use in dairy industry.However, the accuracy, validity, and reliability of discrimination is still far from an acceptable point, that is because of a great lack in understanding...
Classification Cerebral Palsy patients by the Differences in Patterns of Center of Pressure Progression and Ground Reaction Force
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
Cerebral palsy (CP) is one of the most common diseases that cause by brain injury or abnormalcy and occur while brain is developing before, during or just after birth. people with cerebral palsy face certain problems associated with the control of their muscles, these conditions will make simple activities such as sitting, walking or taking objects very difficult for a person.In the case of gait analysis and its effectiveness, there are many articles and studies. In general, experts have used gait analysis to diagnose and treat problems in cerebral palsy patients. Experts have studied on cerebral Palsy using gait analysis directly and indirectly. In indirect cases, patients are classified...
A novel stable robust adaptive impedance control scheme for ankle prostheses
, Article 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, 25 October 2017 through 27 October 2017 ; 2018 , Pages 63-68 ; 9781538657034 (ISBN) ; Sharifi, M ; Salarieh, H ; Alasty, A ; Sharif University of Technology
Abstract
A stable robust adaptive impedance control strategy is introduced here as a model-based low-level control scheme for active ankle prostheses. The effects of amputee-prosthesis and prosthesis-environment interactions are included in the controller design. An interesting feature of the proposed controller is that only shank and ankle angles and angular velocities, and ground reaction forces are required to implement the control law. In other words, no feedback from amputee-prosthesis interaction forces and moment, global or local positions, and accelerations of amputated place is required. Using a Lyapunov analysis, exponential convergence characteristics of the proposed controller are proven....
Prediction of Ground Reaction Forces and Center of Pressure During Different Lifting Tasks Using Inverse Dynamics and Machine Learning Methods
, M.Sc. Thesis Sharif University of Technology ; Arjmand, Navid (Supervisor)
Abstract
Ground reaction forces (GRFs) and their centers of pressure (CoPs) are essential inputs in musculoskeletal models of the spine that study load-lifting tasks. While GRFs and CoPs are usually measured in vivo via force-plates, they can be predicted based on motion equations, developed in AnyBody Modelling System (AMS) thus eliminating the need for laboratory equipment and in vivo measurements. This study aims to develop an easy-to-use yet accurate model that predict GRFs and CoPs during different Manual Material Handling (MMH) activities using AnyBody Modelling System and artificial neural networks. First, the accuracy of the AMS GRF prediction algorithm was evaluated for 8 normal- and 4...
P 043 – Center of pressure progression and ground reaction forces are altered in cerebral palsy crouch gait
, Article Gait and Posture ; Volume 65 , 2018 , Pages 307-308 ; 09666362 (ISSN) ; Khandan, A ; Arab Baniasad, M ; Baghdadi, S ; Farahmand, F ; Zohoor, H ; Sharif University of Technology
Elsevier B.V
2018
Robust ground reaction force estimation and control of lower-limb prostheses: theory and simulation
, Article IEEE Transactions on Systems, Man, and Cybernetics: Systems ; 2018 ; 21682216 (ISSN) ; Nguyen, T. T ; Sharifi, M ; Fakoorian, A ; Simon, D ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2018
Abstract
Ground reaction force (GRF) characteristics of amputee walking are important for the analysis of clinical gait data, and also to update model reference adaptive impedance (MRAI) controllers. GRF estimation is a better alternative than direct GRF measurement because of the disadvantages of load cells, such as high cost, integration difficulties due to weight and physical dimensions, the possibility of overload, and measurement noise. This paper presents four robust MRAI observer/controller combinations for GRF estimation-based control of a prosthesis and a legged robot model in the presence of parametric uncertainties and unmodeled dynamics, in which the robot model is employed to mimic...
Improving sit-to-stand transition by the saddle-assistive device in the spinal cord injury: A case study
, Article Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine ; Volume 235, Issue 7 , 2021 , Pages 735-742 ; 09544119 (ISSN) ; Amini, S ; Farahmand, F ; Sharif University of Technology
SAGE Publications Ltd
2021
Abstract
Physical problems caused by fractures, aging, stroke, and accidents can reduce foot power; these, in the long term, can dwindle the muscles of the waist, thighs, and legs. These conditions provide the basis for the invalidism of the harmed people. In this study, a saddle-walker was designed and evaluated to help people suffering from spinal cord injury and patients with lower limb weakness. This S-AD works based on body weight support against the previously report designs. This saddle-walker consisted of a non-powered four-wheel walker helping to walk and a powered mechanism for the sit-to-stand (STS) transfer. A set of experiments were done on the STS in the use of the standard walker and...
Development and Validation of Biomechanical Model for Calculation of Moment into the Intervertebral L5-S1 Disc and the amount of NIOSH Permissible Limit Load During Lifting Activity
, M.Sc. Thesis Sharif University of Technology ; Parnianpor, Mohammad (Supervisor) ; Narimani, Roya (Supervisor)
Abstract
Lifting is considered a major risk to people's health in life, particularly to the workers. Appropriate wearable tools for measuring the individual’s kinematic and kinetic movement are required for examining and analyzing the lifting activity to prevent injury in the workplace. Different wearable systems have been developed to calculate the force applied on the foot sole to analyze movement in various areas of gait analysis, occupational biomechanics, sports, and other areas. The accuracy and precision of these systems need to be tested before application in any of these areas. In this study, 3 subjects performed five different activities of symmetrical lifting by placing Pedar insoles in...
A Study on the Relationship Between Muscle, Kinematics, and Kinetic Synergies During Human Gait
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
Human body movements are achieved by activating a number of muscles. It has been shown that the central nervous system (CNS) plays the main role in controlling rhythmic activities (including walking, chewing, etc.). However, the way the central nervous system works in controlling different parts of the body has always been discussed due to the excess degrees of freedom to perform certain tasks. Controlling a group of muscles (under the name of muscle synergy analysis) instead of each one of them has been one of the most attractive and efficient recent ideas to better understand the CNS function. Also, a similar concept can be expressed for kinematic synergies (by the degrees of freedom of...
Effects of motion segment simulation and joint positioning on spinal loads in trunk musculoskeletal models
, Article Journal of Biomechanics ; Volume 70 , March , 2018 , Pages 149-156 ; 00219290 (ISSN) ; Eskandari, A. H ; Shirazi Adl, A ; Arjmand, N ; El-Ouaaid, Z ; Plamondon, A ; Sharif University of Technology
Elsevier Ltd
2018
Abstract
Musculoskeletal models represent spinal motion segments by spherical joints/beams with linear/nonlinear properties placed at various locations. We investigated the fidelity of these simplified models (i.e., spherical joints with/without rotational springs and beams considering nonlinear/linear properties) in predicting kinematics of the ligamentous spine in comparison with a detailed finite element (FE) model while considering various anterior-posterior joint placements. Using the simplified models with different joint offsets in a subject-specific musculoskeletal model, we computed local spinal forces during forward flexion and compared results with intradiscal pressure measurements. In...
A novel robust model reference adaptive impedance control scheme for an active transtibial prosthesis
, Article Robotica ; Volume 37, Issue 9 , 2019 , Pages 1562-1581 ; 02635747 (ISSN) ; Sharifi, M ; Salarieh, H ; Alasty, A ; Sharif University of Technology
Cambridge University Press
2019
Abstract
In this paper, a novel robust model reference adaptive impedance control (RMRAIC) scheme is presented for an active transtibial ankle prosthesis. The controller makes the closed loop dynamics of the prosthesis similar to a reference impedance model and provides asymptotic tracking of the response trajectory of this impedance model. The interactions between human and prosthesis are taken into account by designing a second-order reference impedance model. The proposed controller is robust against parametric uncertainties in the nonlinear dynamic model of the prosthesis. Also, the controller has robustness against bounded uncertainties due to unavailable ground reaction forces and unmeasurable...
Comparing methods for 3d inverse dynamics analysis of squat lifting using a full body linked segment model
, Article Journal of Mechanics in Medicine and Biology ; Volume 20, Issue 3 , 2020 ; Parnianpour, M ; Tabatabai Ghomsheh, F. T ; Toosizadeh, N ; Tanbakoosaz, A. L. I ; Sharif University of Technology
World Scientific Publishing Co. Pte Ltd
2020
Abstract
Objective: The main objective of this study was to assess the accuracy of bottom-up solution for three-dimensional (3D) inverse dynamics analysis of squat lifting using a 3D full body linked segment model. Least squares solution was used in this study as reference for assessment of the accuracy of bottom-up solution. Findings of this study may clarify how much the bottom-up solution can be reliable for calculating the joint kinetics in 3D inverse dynamics problems. Methods: Ten healthy males volunteered to perform squat lifting of a box with a load of one-Tenth of their body weights. The joint moments were calculated using 110 reflective passive markers (46 anatomical markers and 64 tracking...