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Feedback control of the neuro-musculoskeletal system in a forward dynamics simulation of stair locomotion [electronic resource]
, Article Proc. of IMechE Part H: Journal of Engineering in Medicine ; 2009, Vol. 223, No. 6, pp. 663-675 Journal of NeuroEngineering and Rehabilitation ; Volume 11, Issue 1, 30 April 2014, Article number 78 ; Meghdari, Ali ; Vossough, Gholam Reza ; Sharif University of Technology
Abstract
The aim of this study is to employ feedback control loops to provide a stable forward dynamics simulation of human movement under repeated position constraint conditions in the environment, particularly during stair climbing. A ten-degrees-of-freedom skeletal model containing 18 Hill-type musculotendon actuators per leg was employed to simulate the model in the sagittal plane. The postural tracking and obstacle avoidance were provided by the proportional—integral—derivative controller according to the modulation of the time rate change of the joint kinematics. The stability of the model was maintained by controlling the velocity of the body's centre of mass according to the desired centre of...
Effects of upper extremity coordination exercises based on fatigue prediction on upper extremity sensory-motor functions in chronic stroke survivors
, Article Iranian Rehabilitation Journal ; Volume 20, Issue 1 , 2022 , Pages 17-28 ; 17353602 (ISSN) ; Taghizadeh, G ; Azad, A ; Behzadipour, S ; Hafshejani, D. S ; Zare, A ; Ghorbanpour, Z ; Sharif University of Technology
University of Social Welfare and Rehabilitation Sciences
2022
Abstract
Objectives: This study aimed to investigate the effect of upper extremity coordination exercises based on fatigue prediction on fine and gross manual dexterity, upper limb motor function, shoulder and elbow proprioception, occupational performance, and activities of daily living in chronic stroke survivors. Methods: In this pilot double-blind randomized clinical trial, 24 chronic strokes were enrolled using the non-probability sampling method. Participants were randomly allocated to the control (received routine occupational therapy) and intervention (received upper extremity coordination exercises based on fatigue prediction using the Kinect) groups. Before and after the interventions (six...
Development of a Neuro-muscular Model for Stroke Patient in Reaching Motion and Experimental Evaluation
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
Paralysis is one of the most common disabilities resulting from stroke. Usually injury to one hemisphere of the brain affects the opposite side of the body. This one-sided paralysis is called hemiplegia Damage to a lower part of the brain, the cerebellum, can affect the body's ability to coordinate movement, a disability called ataxia, leading to problems with body posture, walking, and balance. Reaching tasks are building blocks of most daily functional movements. The purpose of such a movement is to transfer a specific point of hand (e.g. fingertip) toward a special location in space around. In people with ataxia, trajectories of reaching movements are far different from healthy people in...
Biosensor Fabrication for Fast Detection of Stroke Biomarkers
, Ph.D. Dissertation Sharif University of Technology ; Mousavi, Abbas (Supervisor) ; Abdekhodaie, Mohammad Jafar (Co-Supervisor)
Abstract
Stroke is the second most frequent cause of death and the leading cause of disability in the world. Some effective drugs have been developed for ischemic stroke, while the golden time of use is three hours. Therefore, if stroke is diagnosed quickly, its side effects can be greatly avoided. However, it is not possible to use conventional diagnostic methods in many cases at a short time. In this work, S100β, MMP-9 and D-Dimer biomarkers were selected for rapid diagnosis of stroke based on previous studies.For this purpose, electrochemical immunosensors were developed with advantages such as low cost, ease of use, the possibility to automating the device, suitable sensitivity, reproducibility,...
A planar neuro-musculoskeletal arm model in post-stroke patients
, Article Biological Cybernetics ; Volume 112, Issue 5 , 2018 , Pages 483-494 ; 03401200 (ISSN) ; Behzadipour, S ; Taghizadeh, G ; Sharif University of Technology
Abstract
Mathematical modeling of the neuro-musculoskeletal system in healthy subjects has been pursued extensively. In post-stroke patients, however, such models are very primitive. Besides improving our general understanding of how stroke affects the limb motions, they can be used to evaluate rehabilitation strategies by computer simulations before clinical evaluations. A planar neuro-musculoskeletal arm model for post-stroke patients is developed. The main idea is to use a set of new coefficients, Muscle Significance Factors (MSF), to incorporate the effects of stroke in the muscle control performance. The model uses the optimal control theory to mimic the performance of the CNS and a two-link...
Design, Fabrication and Clinical Test of a Hand Rehabilitation Device
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; Narimani, Roya (Supervisor)
Abstract
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...
Design and Construction of a Soft Actuated Exoskeleton for Hand Rehabilitation of Stroke Patients
, M.Sc. Thesis Sharif University of Technology ; Ghafari, Ali (Supervisor) ; Meghdari, Ali (Supervisor)
Abstract
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...
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) ; Mirbagheri, A ; Taheri, B ; Farahmand, F ; Vossoughi, G. R ; Parnianpour, M ; Sharif University of Technology
Abstract
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
Direction-dependency of the kinematic indices in upper extremities motor assessment of stroke patients
, Article Medical Engineering and Physics ; Volume 108 , 2022 ; 13504533 (ISSN) ; Behzadipour, S ; Taghizadeh, G ; Farahmand, F ; Sharif University of Technology
Elsevier Ltd
2022
Abstract
Background: Kinematic indices (KIs) are frequently used as objective measures to assess the upper extremities motor performance in post stroke patients. The clinimetric analysis of these indices has been mostly limited to their averaged values over different directions of reaching movements. Recent studies indicate direction dependencies of such motor performances due to neural and/or biomechanical causes. The direction dependencies of such indices and their clinimetric parameters remains to be investigated. Methods: An apparatus was built to perform and measure planar point-to-point reaching tasks in 8 directions using a virtual reality environment. 24 stroke and 18 healthy individuals...
Development a planar neuro-musculoskeletal arm model in post-stroke patients
, Article 26th National and 4th International Iranian Conference on Biomedical Engineering, ICBME 2019, 27 November 2019 through 28 November 2019 ; 2019 , Pages 236-241 ; 9781728156637 (ISBN) ; Asghari, M ; Behzadipour, S ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
Computational models of the central nervous system after a stroke helps to reveal the physiological mechanisms that may have strong impacts on the neuro-motor rehabilitation approaches. This paper studies the stroke subject's motor control mechanism in reaching movements by extending the previous study by incorporating the kinematics of motion as well as neural disconnection between the muscles and the CNS to further develop a planar patient specific neuro-musculoskeletal model of arm. The developed model was calibrated to eight post-stroke individuals by altering the Muscle Significance Factors (MFS) using numerical optimization to match the simulated motions with those measured...
Design and evaluation of an articulated ankle foot orthosis with plantarflexion resistance on the gait: A case series of 2 patients with hemiplegia
, Article Journal of Biomedical Physics and Engineering ; Volume 10, Issue 1 , 2020 , Pages 119-128 ; Arazpour, M ; Aminian, G ; Baniasad, M ; Yamamoto, S ; Sharif University of Technology
Shiraz University of Medical Sciences
2020
Abstract
Ankle-foot orthoses (AFOs) have been described to have positive effects on the gait biomechanics in stroke patients. The plantarflexion resistance of an AFO is considered important for hemiplegic patients, but the evidence is still limited. The purpose of this case series was to design and evaluate the immediate effect of an articulated AFO on kinematics and kinetics of lower-limb joints in stroke patients. The articulated AFO with the adjustment of plantarflexion resistance was designed. The spring generates a plantarflexion resistance of the ankle joint at initial stance phase. The efficacy of orthosis was evaluated on two stroke patients in 2 conditions: without an AFO and with the AFO....
Design and Construction of an Upper Extremity Wearable Exoskeleton for Rehabilitation of Stroke Patients
, M.Sc. Thesis Sharif University of Technology ; Selk Ghafari, Ali (Supervisor)
Abstract
Exoskeleton is a wearable active device used to augment human power in upper or lower extremities. The integration of robotic devices and conventional physiotherapy is becoming more and more acceptable worldwide. The main scope of this thesis is to design and develop a prototype of a light, low-cost and wearable robotic exoskeleton to rehabilitate the upper extremity in stroke patients at home. For this purpose mechanism of a wearable exoskeleton will be proposed compatible with upper extremity degrees of freedoms with minimum number of actuators which is constructed inexpensively to eliminate the demand of expensive and professional therapists. The conceptual design of such a system should...
Wrist-RoboHab: A robot for treatment and evaluation of brain injury patients
, Article IEEE International Conference on Rehabilitation Robotics, 27 June 2011 through 1 July 2011, Zurich ; 2011 ; 19457898 (ISSN) ; 9781424498628 (ISBN) ; Farahmand, F ; Ansari, N. N ; Sharif University of Technology
2011
Abstract
This article, introduces a new haptic robot, wrist-RoboHab, for upper limb rehabilitation of post stroke, orthopedic and Parkinson patients., The robot is designed for hand movement therapy and could be used for both treatment and evaluation purposes in three operational states; forearm supination/pronation, wrist flexion/extension and ulnar/radial deviation. At first the mechanical design and control system are described. Then the results of a case study are demonstrated. Clinical results, showed an improvement in Fugle-Meyer, AROM, power and the biomechanical assessment of the spasticity in a chronic patient. Furthermore, it was approved that the robot can have a good interaction with...
Fatigue status recognition in a post-stroke rehabilitation exercise with sEMG signal
, Article 2017 24th Iranian Conference on Biomedical Engineering and 2017 2nd International Iranian Conference on Biomedical Engineering, ICBME 2017, 30 November 2017 through 1 December 2017 ; 2018 ; 9781538636091 (ISBN) ; Zare, A ; Behzadipour, S ; Sharif University of Technology
Abstract
Exercise therapy is considered as one of the main rehabilitation treatments for post-stroke patients, especially by utilizing modern technologies, such as virtual and/or augmented reality. However, in order to design an appropriate exercise program, which prolongs the exercise duration and maximize the patient's improvement, the fatigue status needs to be detected and used for the program adjustment. In the previous fatigue recognition works, only exercises for healthy and athlete subjects have been taken into account. In this paper, fatigue status classification has been accomplished in a rehabilitation exercise for poststroke patients. To do so, the reaching task, as a basic rehabilitation...
Development of Upper-Limb Motion Performance Indices Used in Home-Based Rehabilitation Systems
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
In recent years, the national health systems have supported the idea of home-based rehabilitation, since receiving cares at hospital environments is too expensive both in money and time. This method reduces the patients’ commuting to the clinics. Moreover, it enables them to practice the prescribed movements at any time.Most of the existing systems compute the patient’s motion performance in a zero-one manner which does not distinguish any small progress in his condition. Thus, a non-task based method which can assess precisely the patient’s level is yet missing. This project aims to develop a set of motion performance indices which can judge the upper limb motions in a home-based...
Assessment of Movement Smoothness Indices in Hand Movement of Stroke Patients with Motion Capture System
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
Nowadays, stroke is known as one of the main reasons for death and disability. Statistical researches have shown that the number of stroke survivors is growing. Assessing stroke stage is one of the vital requirement of effective rehabilitation. Since the recent decades, new methods to assess upper extremity movement quality based on movement kinematic have been proposed in the literature. These methods quantify movement quality with the use of kinematic indices. In this study, repeatability and reliability of the proposed indices have been evaluated in a functional motion of daily activity consisted of diverse tasks. In this study, calculations were done on captured data of hand's movement...
Modeling Neuromuscular Control System of Human Arm for Trajectory Tracking Using an Optimal Controller
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor) ; Narimani, Roya (Co-Advisor)
Abstract
The behavior movement of human is fundamentally concerned with the relationship between the central nervous system of motor control، and musculoskeletal system of a human. Optimal control was employed to relate these structures together. Movement is one of the important part of human life، CNS is important because it has the fundamental role in the movement. Investigators believe that CNS is learned by iteration movements from childhood and finally it chooses the movement that makes a cost function minimum value of itself. Researching for CNS modeling grows in recent years on the different part of human body. Because upper body have less difficulty in movements، it is more useful for CNS...
Design and Implementation of an Intelligent Analyzer for Hand Rehabilitation
, Ph.D. Dissertation Sharif University of Technology ; Saadat Foumani, Mahmoud (Supervisor) ; Behzadipour, Saeed (Supervisor)
Abstract
In recent years there have been a growing number of patients who are no more capable of leading an independent life, due to strokes, accident, or a variety of diseases. Thus, vast fields of physical rehabilitation have come into the attention of goverments and researchers. High costs of rehabilitation programs and their length on one hand, and the difficulties of commuting such patients to rehabilitation centers on the other hand, has made health department of various countries to look for alternative solutions.In this thesis, a computerized system has been designed and implemented in order to assess and guide patients in their rehabilitation excercises without needing any direct contact....
Calculation of Biodex Balance Indices Using a Modified-wobble Board
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor) ; Sanjari, Mohammad Ali (Supervisor)
Abstract
Maintaining balance is an essential need for human. This ability is sometimes lost or weakened due to reasons such as muscle weakness, vision problems, and neuromuscular problems. It was difficult to accurately measure balance parameters in the past because it needs expensive equipment and the presence of a physiotherapist. In new clinical setups, accurate measurements of balance quality have become possible using advanced devices. These devices are also used to provide therapeutic exercises to improve the balance condition. One of the most famous products in this area is the Biodex balance SD. The cost of this device, however, is high and it is for research and clinical use. The purpose of...
Quantitative Assessment of Fatigue in Stroke Patients During Repetitive Exercises, Using Nonlinear Dynamics Methods
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Behzadipour, Saeed (Co-Supervisor)
Abstract
Stroke is one of the most common neurological disorders, and inability to move is the most important complication. Rehabilitation exercises are currently the most effective treatment for these patients. Fatigue during rehabilitation exercises greatly reduces the effectiveness of the exercises. Therefore, it is very important to recognize the level of fatigue.Nowadays, most of the conventional methods for measuring fatigue is either based on signal analysis (EMG) which is experimental, or report by patients and doctors might be employed as a criterion. Fatigue leads to changes in the coordination of kinematics. Hence, the main purpose of this study is to quantify fatigue corresponding to...