Sharif Digital Repository

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... 

The electro-oxidation of methanol on nickel and nickel-copper alloy modified glassy carbon electrodes (GC/Ni and GC/NiCu) in a 1 M NaOH solution at different concentrations of methanol was studied by the method of ac-impedance spectroscopy. Two semicircles in the first quadrant of a Nyquist diagram were observed for electro-oxidation of methanol on GC/Ni corresponding to charge transfer resistance and adsorption of intermediates. Electro-oxidation of methanol on GC/NiCu shows negative resistance in impedance plots as signified by semi-circles terminating in the second quadrant. The impedance behavior shows different patterns at different applied anodic potential. The influence of the... 

In this paper, a new impedance-based teleoperation strategy is proposed for assist-as-needed tele-rehabilitation via a multi-DOF telerobotic system having patient–master and therapist–slave interactions. Unlike a regular teleoperation system and as the main contribution of this work to minimize the therapist's movements, the therapist's hand only follows the patient's deviation from the target trajectory. Also it provides a better perception of the patient's problems in motor control to the therapist The admissible deviation of the patient's limb from a reference target trajectory is governed by an impedance model responding to both patient's and therapist's interaction forces. As the other... 

Nickel - copper alloy modified glassy carbon electrodes (GC/NiCu) prepared by galvanostatic deposition were used for the electrocatalytic oxidation of glucose in alkaline solutions. The electro-oxidation of glucose in a 1 M NaOH solution at different concentration of glucose was studied by the method of ac-impedance spectroscopy. The impedance behavior show different patterns, capacitive, and inductive loops and negative resistances, at different applied anodic potential. The influence of the electrode potential on the impedance pattern is studied and a quantitative explanation for the impedance behavior of glucose oxidation is put forward by a proposed mathematical model. At potentials...