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    Design and fabrication of a robot for neurorehabilitation; Smart RoboWrist

    , Article 2nd International Conference on Knowledge-Based Engineering and Innovation, 5 November 2015 through 6 November 2015 ; 2015 , Pages 447-450 ; 9781467365062 (ISBN) Faghihi, A ; Haghpanah, S. A ; Farahmand, F ; Jafari, M ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc 
    In this paper design and fabrication of a wrist exoskeleton robot (ROBOWRIST) has been discussed. The robot has 3 degree of freedom, including flexion/extension, abduction/ adduction and pronation/supination based on the anatomical axis of the body. Four stepper motors are responsible for creating the motion. The exoskeleton can be used for neurorehabilitation and also post-surgery of wrist and forearm. Various therapeutic procedures with a precise tracking can be handled using the control algorithms. Each motor has a separate encoder to measure the angular position and send feedback to the controller. The design goal is to construct a reliable robot that is robust and applicable for... 

    Disability and vocational rehabilitation in rural settings : challenges to service delivery

    , Book ; Harley, Debra A ; Ysasi, Noel A ; Bishop, Malachy L ; Fleming, Allison R
    Springer International Publishing AG  2018

    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) Sepahi, S ; Hashemi, A ; Jafari, M ; Sharifi, M ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2019
    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  

    Effect of fatigue on torque output and electromyographic measures of trunk muscles during isometric axial rotation

    , Article Archives of Physical Medicine and Rehabilitation ; Volume 84, Issue 3 SUPPL. 1 , 2003 , Pages 374-381 ; 00039993 (ISSN) Ng, J. K. F ; Parnianpour, M ; Richardson, C. A ; Kippers, V ; Sharif University of Technology
    W.B. Saunders  2003
    Objectives: To examine the changes in torque output resulting from fatigue, as well as changes in electromyographic measures of trunk muscles during isometric axial rotation and to compare these changes between directions of axial rotation. Design: Subjects performed fatiguing right and left isometric axial rotation of the trunk at 80% of maximum voluntary contraction while standing upright. Setting: A rehabilitation center. Participants: Twenty-three men with no history of back pain. Interventions: Not applicable. Main Outcome Measures: Surface electromyographic signals were recorded from 6 trunk muscles bilaterally. The primary torque in the transverse plane and the coupling torques in... 

    Design of an Active Exoskeleton Robot to Assist Human Knee Motion

    , M.Sc. Thesis Sharif University of Technology Rezvani Ardestani, Sanaz Sadat (Author) ; Zohoor, Hassan (Supervisor)
    Nowadays nearly 1% of the world population depends on wheelchairs for walking and movement. Due to harmful changes in human lifestyle, different diseases like stroke and problems in musculoskeletal system are increasing noticeably. Despite the fact that wheelchairs have recently been improved they have faced big problems like forcing people not to move and just sit for a long period of time. Wearable robots not only help these patients to rehabilitate their disabled organ and walk, but also have a significant mental effect on them.
    The analysis of an exoskeletal orthosis designed for patients who have pain in one of their knees is presented. A mechanism for knee exoskeleton is analyzed... 

    Design and Construction of 3 DOF knee Rehabilitation Cartesian Robot

    , M.Sc. Thesis Sharif University of Technology Hashemi Jirdehi, Sahand (Author) ; Meghdari, Ali (Supervisor)
    Knew is the biggest and most complicated joint in the body.Morever knew creat mobility must bear the weight of body and have a stability during static and dynamic activities.Knew is exposed different forces that force to around ligaments and soft fibers.After knew injuries, administration of aid is the important part of rehabilitation program.Rehabilitation robots with ability of accuracy and repetitive practices are good method for reducing time and energy of physiotherapist.At this thesis a 3 DOF Cartesian robot is designed and constructed for rehabilitation of knew that can do every practices for rehabilitation.Steps of designing and constructing of robot are based on movments of knew... 

    LOKOIRAN - A novel robot for rehabilitation of spinal cord injury and stroke patients

    , Article International Conference on Robotics and Mechatronics, ICRoM 2013, Tehran ; 2013 , Pages 218-223 ; 9781467358118 (ISBN) Taherifar, A ; Hadian, M. R ; Mousavi, M ; Rassaf, A ; Ghiasi, F ; Sharif University of Technology
    This paper will focus on the design and development of a new gait training robotic device (LOKOIRAN) for patients with balance and locomotion disorders. The process of rehabilitation in this system is based on partial weight bearing system and programmable foot-plate training. The system consisted of several subsystems following: Driving and transmission system, back supporting system, leg exoskeleton, body weight support system and control system. A virtual reality environment was also designed and integrated to the system in order to motivate patients during rehabilitation protocol. The experimental tests on healthy subjects were performed to evaluate the performances of mechanical and... 

    Design and implementation of a new body weight support (BWS) system

    , Article 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, 25 October 2017 through 27 October 2017 ; 2018 , Pages 69-75 ; 9781538657034 (ISBN) Hamidi Rad, M ; Behzadipour, S ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2018
    Gait training is a critical rehabilitation procedure for patients suffering from walking problems. It, however, puts the therapist in high orthopedic risk since he should prevent the patient from possible falling. Body weight support system is a new technology helping such patients and the involved therapist by unloading a percent of the patient's weight. A new over-ground body weight support is introduced in this article. The system is composed of two main modules namely unloading and traction. The unloading module is capable of suspending an individual's weight up to 1000N dynamically. The whole system is attached to an overhead rail, moving over the head of the patient by the traction... 

    The argus-II retinal prosthesis implantation; from the global to local successful experience

    , Article Frontiers in Neuroscience ; Volume 12, Issue SEP , 2018 ; 16624548 (ISSN) Farvardin, M ; Afarid, M ; Attarzadeh, A ; Johari, M. K ; Mehryar, M ; Nowroozzadeh, M. H ; Rahat, F ; Peyvandi, H ; Farvardin, R ; Nami, M ; Sharif University of Technology
    Over the past few years, visual prostheses (namely, Argus II retinal implant) and gene therapy have obtained FDA approval in treating blindness resulting from retinitis pigmentosa. Compared to gene therapy; Argus II is less costly with a demonstrated favorable outcome, though the vision is yet artificial. To obtain better results, expectation counseling and preoperative retinal assessment are critical. The global experience with Argus II has enrolled no more than 300 cases so far. The first Argus II retinal prosthesis in Iran was successfully implanted in Shiraz (October 2017). To date, Argus II artificial retina is implanted in four patients in Iran. Beside successful surgery and... 

    Rehabilitation of jacket offshore platforms using friction damper device and buckling restrained braces under extreme loads

    , Article Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment ; Volume 233, Issue 1 , 2019 , Pages 209-217 ; 14750902 (ISSN) Tabeshpour, M. R ; Komachi, Y ; Sharif University of Technology
    SAGE Publications Ltd  2019
    Some existing platforms may have some problems with probable extreme future loads such as earthquake. From economic point of view, it is preferable to retrofit and continue using of existing jackets in many cases, in comparison to a new installation. Two efficient rehabilitation methods of friction damper device and buckling restrained braces are presented and investigated numerically for seismic loads from far-fault and near-fault earthquakes. As an example, an existing four-leg service platform placed in the Persian Gulf (Ressalat) is considered and the results are presented. Because of low redundancy in jacket platforms (after buckling of compression members), it is important to... 

    Stroke Neuromusculoskeletal Modeling in Order to Understand Rehabilitative Interventions

    , Ph.D. Dissertation Sharif University of Technology Hajihosseinali, Majid (Author) ; Behzadipour, Saeed (Supervisor) ; Farahmand, Farzam (Supervisor)
    This dissertation focuses on modeling human hand movements post-stroke to understand rehabilitative interventions. The model consists of a multi-layer neural network as the motor cortex in the brain and a two-degree freedom biomechanical model with six muscles for the simulation of hand movement in the horizontal plane. A passive robotic device has been designed and manufactured to record planar hand movements. Movements during reaching tasks have been recorded in 24 chronic stroke patients, as well as 18 healthy subjects, using the robotic device. Statistical analysis of the data showed that movements in a particular direction (NW-SE) are more sensitive to stroke, improve after... 

    Medical robotics: State-of-the-art applications and research challenges

    , Article International Journal of Healthcare Information Systems and Informatics ; Volume 8, Issue 2 , 2013 , Pages 1-14 ; 15553396 (ISSN) Mirbagheri, A ; Baniasad, M. A ; Farahmand, F ; Behzadipour, S ; Ahmadian, A ; Sharif University of Technology
    Many research and development projects are being performed worldwide to develop new products and applications for computer-assisted and medical robotic systems. In this paper, an overview of selected state-of-the-art applications of robotic technology in medicine is presented. Four key areas of image-guided surgery, virtual reality in medicine, surgical robots, and robotic rehabilitation systems, are studied. As well, current challenges in research and development are discussed. Copyright  

    Reliability of center of pressure measures of postural stability in patients with unilateral anterior cruciate ligament injury

    , Article Journal of Applied Sciences ; Volume 8, Issue 17 , 2008 , Pages 3019-3025 ; 18125654 (ISSN) Hadian, M. R ; Negahban, H ; Talebian, S ; Salavati, M ; Jafari, A. H ; Sanjari, M. A ; Mazaheri, M ; Parnianpour, M ; Sharif University of Technology
    The aim of this study was to estimate the test-retest reliability of some commonly used center of pressure measures in postural control investigations of sport injuries under the diverse stressful postural conditions. Twelve patients with anterior cruciate ligament injury were evaluated on two separate sessions. The center of pressure was recorded from force platform and the following measures were calculated (1) standard deviation of amplitude (2) mean velocity (3) standard deviation of velocity (4) phase plane parameters and (5) area (95% confidence ellipse). Relative and absolute reliability was assessed using intra-class correlation coefficient and coefficient of variation, respectively.... 

    Design, Fabrication and Clinical Test of a Hand Rehabilitation Device

    , M.Sc. Thesis Sharif University of Technology Arab Baniasad, Mina (Author) ; Farahmand, Farzam (Supervisor) ; Narimani, Roya (Supervisor)
    Stroke is the main cause of disability in the world and the third cause of death, so spreading rehabilitation technique for post stoke patients is one of the most important targets un these days. The first prototype hand rehabilitation device was designed and fabricated in RCSTIM in 2008. Since the first prototype had been proved its effectiveness in clinical tests in the next phase industrial production of the device had to be considered at first all of the problems that had been observed during the clinical tests had to be solved for the future production. In the first series of experiments, clinical limitation and the interaction between the patient and the physiotherapist with the device... 

    The development of a Smart Shoulder-wheel for Analysis of Shoulder Tendonitis Injuries

    , M.Sc. Thesis Sharif University of Technology Hashemi, Naser (Author) ; Behzadipour, Saeed (Supervisor)
    Nowadays the process of making smart rehabilitations' equipment is at the centre of physicists' attention, so this affair is a matter of research in the medical engineering.Amongst of the advantages of this method there are: increasing the efficiency, recording patients' information, no need for continuous physiotherapists and therapists' presence in all the process of medical treatment, and saving time and money. In addition, due to removing traditional methods of rehabilitation, the precision and control ability of medical treatment is considerably increased, reducing the unexpected injuries during the exercise. The shoulder wheel is one of the useful devise in clinics physiotherapy... 

    Effect of Melt Quality & Melt Flow on Defects in Gravity Casting of AS5U3G Aluminum Alloy

    , M.Sc. Thesis Sharif University of Technology Pourhaghani, Arash (Author) ; Varahram, Naser (Supervisor)
    AS5U3G and AS7U3G are two prevalent types of alloy which are used in producing cylinder head. In this research AS5U3G alloy is studied. Gravity casting is one of the method of producing this part. Produced porosities in cylinder head casting process, cause leakage in this part. In order to solve this problem, some actions have been taken that we can divide them into quality operations improvement of melt and making changes in casts. The sampling is done in four levels to evaluate the gas porosity and shrinkage. In these levels, pressure and degassing duration and strontium's modifying in a fixed temperature have been evaluated. Based on reports by comparing density of relative samples, it... 

    Design and Construction of a Soft Actuated Exoskeleton for Hand Rehabilitation of Stroke Patients

    , M.Sc. Thesis Sharif University of Technology Razavi Zadehgan, Ali Akbar (Author) ; Ghafari, Ali (Supervisor) ; Meghdari, Ali (Supervisor)
    The main goal of this thesis is the design and development of a rehabilitation device for helping patients “to improve blood circulation” & retain and recover their abilities if possible that were lost during the stroke or a accident like that (my research in karaj/iran shows that it is possible by just movement of the specific body part). The focus is on hand in this thesis because Injuries to the hand are common and can be very debilitating since our hands are our primary means for interacting with our world. For rehabilitation in case of human hand there are several practices that should be done for patients either in home or in a rehabilitation center, time and money that is supposed to... 

    Mechanical design, fabrication, kinematics and dynamics modeling, multiple impedance control of a wrist rehabilitation robot

    , Article International Conference on Robotics and Mechatronics, ICROM 2015, 7 October 2015 through 9 October 2015 ; 2015 , Pages 290-295 ; 9781467372343 (ISBN) Sajadi, M. R ; Nasr, A ; Moosavian, S. A. A ; Zohoor, H ; Sharif University of Technology
    Institute of Electrical and Electronics Engineers Inc  2015
    Rehabilitation is the best approach for patients who suffer physical disability of their upper-limbs. Maintaining the intensity of exercise during treatment is the main factor that makes the robots suitable for rehabilitation since robots do not get tired and do the exercises with constant intensity under supervision of the doctor. Two main categories of rehabilitation robots are End-Effector based robots and wearable robots. According to the fact that most problems occur in need of rehabilitation for hand wrist area, in this paper a wearable rehabilitation robot has been developed for the wrist. Nowadays, wearable robots attract more attention than the other group. Wearable robots are... 

    Design and development of a hand robotic rehabilitation device for post stroke patients

    , Article Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference ; 2009 , Pages 5026-5029 ; 1557170X (ISSN) Rashedi, E ; Mirbagheri, A ; Taheri, B ; Farahmand, F ; Vossoughi, G. R ; Parnianpour, M ; Sharif University of Technology
    Robot-mediated rehabilitation is a rapidly advancing discipline that seeks to develop improved treatment procedures using new technologies, e.g., robotics, coupled with modern theories in neuroscience and rehabilitation. A robotic device was designed and developed for rehabilitation of upper limbs of post stroke patients. A novel force feedback bimanual working mode provided real-time dynamic sensation of the paretic hand. Results of the preliminary clinical tests revealed a quantitative evaluation of the patient's level of paresis and disability  

    Shoulder and elbow joint angle estimation for upper limb rehabilitation tasks using low-cost inertial and optical sensors

    , Article Journal of Mechanics in Medicine and Biology ; Volume 17, Issue 2 , 2017 ; 02195194 (ISSN) Alizadegan, A ; Behzadipour, S ; Sharif University of Technology
    World Scientific Publishing Co. Pte Ltd  2017
    This paper proposes a new method to improve accuracy and real-time performance of inertial joint angle estimation for upper limb rehabilitation applications by modeling body acceleration and adding low-cost markerless optical position sensors. A method based on a combination of the 3D rigid body kinematic equations and Denavit-Hartenberg (DH) convention is used to model body acceleration. Using this model, body acceleration measurements of the accelerometer are utilized to increase linearization order and compensate for body acceleration perturbations. To correct for the sensor-to-segment misalignment of the inertial sensors, position measurements of a low-cost markerless position sensor are...