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A novel upper-limb rehabilitation robot with 4 DOFs: design and prototype
, Article Proceedings of the 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018, 23 October 2018 through 25 October 2018 ; 2019 , Pages 434-438 ; 9781728101279 (ISBN) ; Hashemi, A ; Jafari, M ; Sharifi, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
In recent years, robotic rehabilitation has been utilized in treatment and recovery of patients with disabilities. In this paper, a novel design and kinematic analysis of a 4-DOF robot for upper-limb rehabilitation are proposed. The main novelty of this design is its mechanism for wrist and fingers motions which is added to the shoulder and elbow mechanism without any noticeable weight increase in the moving parts of the robot. For this purpose, a cable driven mechanism is implemented at the robot end-effector to move the wrist and fingers parts, and the corresponding actuators are placed at the base of the robot. © 2018 IEEE
Dynamic response of tank trains to random track irregularities
, Article Meccanica ; Volume 53, Issue 10 , 2018 , Pages 2687-2703 ; 00256455 (ISSN) ; Noorian, M. A ; Haddadpour, H ; Sharif University of Technology
Springer Netherlands
2018
Abstract
This paper presents a dynamic analytical model for tank train vibrations. The train is considered as a system of 27 degrees of freedom consisting of lateral, roll, yaw, vertical, and pitch motions for the vehicle body and its two bogies and lateral, roll and vertical motions for the four wheel-sets. Liquid sloshing in the tank is modeled using an equivalent mechanical mass-spring model. Coupling between the vehicle system and the railway track is realized through the interaction forces between the train and the rail, where the vertical and lateral irregularity profiles of the track are regarded as stationary ergodic Gaussian random processes and simulated by polynomial functions. Random...
Adaptive impedance control of UAVs interacting with environment using a robot manipulator
, Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; Oct , 2014 , p. 636-641 ; Sharifi, M ; Sharif University of Technology
Abstract
In this paper, a nonlinear adaptive impedance controller is proposed for UAVs equipped with a robot manipulator that interacts with environment. In this adaptive controller, by considering the nonlinear dynamics model of the UAV plus the robot manipulator in Cartesian coordinates, all of model parameters are considered to be completely uncertain and their estimation is updated using an adaptation law. The objective of the proposed adaptive controller is the control of manipulator's end-effector impedance in Cartesian coordinates to have a stable physical interaction. The adjustable Cartesian impedance is a desired dynamical relationship between the end-effector motion in Cartesian...