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uncontrolled-manifolds
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Studying the Gait kinematics of Cerebral Palsy Patients Using the Uncontrolled Manifold Method
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor)
Abstract
Cerebral Palsy is the most common motor disability in childhood. It’s caused by an injury or impaired development of brain. As result, CP children have disability in motor system. All people with cerebral palsy have problem with movement. The symptoms of CP vary from person to person. Therefore, gait analysis was used to investigate those child’s problems and help therapist to find better therapy. Given that, we analyze stance phase of gait cycle of CP children. Also, we calculate and compare variability between traditional development (TD) children and CPs to find a better understanding of how central nerves system (CNS) work. Kinematic Data during walking were collected from 100 CP and TD...
Multijoint coordination during sit-to-stand task in people with non-specific chronic low back pain
, Article Biomedical Engineering - Applications, Basis and Communications ; Volume 25, Issue 1 , 2013 ; 10162372 (ISSN) ; Negahban, H ; Shaterzadeh, M. J ; Mehravar, M ; Salehi, R ; Narimani, R ; Parnianpour, M ; Sharif University of Technology
2013
Abstract
Sit-to-stand (STS) is an important functional task affected by low back pain (LBP). It requires fundamental coordination among all segments of the body to control important performance variables such as body's center of mass (CM) and head positions. This study was conducted to determine whether LBPs could coordinate their multiple joints to achieve the task stability to the same extent as healthy controls. About 11 non-specific chronic LBP and 12 healthy control subjects performed STS task at three postural difficulty levels: rigid surface - open eyes (RO), rigid surface - closed eyes (RC) and narrow surface - closed eyes (NC). Motion variability of seven body segments, CM and head positions...
, M.Sc. Thesis Sharif University of Technology ; Parnianpour, Mohammad (Supervisor) ; Narimani, Roya (Supervisor)
Abstract
Injuries of neuro-musculoskeletal system impose large costs to the modem societies. Studying the strategies of CNS in planning and control of movements can be helpful in developing diagnoSiS, prognosis and treatment procedures in clinical view and also in designing rehabilitation system and humanoid robots. Tow important features of human movements are redundancy problem and structured variability. Previous studies solved the redundancy problem mainly with optimization methods. Also optimal feedback control theory is the only method that successfully modeled structured variability in voluntary movements. Despite the appropriate outputs this methods are not based on physiological facts...
How does the central nervous system address the kinetic redundancy in the lumbar spine? Three-dimensional isometric exertions with 18 Hill-model-based muscle fascicles at the L4-L5 level
, Article Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine ; Volume 224, Issue 3 , 2010 , Pages 487-501 ; 09544119 (ISSN) ; Khalaf, K ; Nassajian, M. R ; Nasseroleslami, B ; Parnianpour, M ; Sharif University of Technology
2010
Abstract
The human motor system is organized for execution of various motor tasks in a different and flexible manner. The kinetic redundancy in the human musculoskeletal system is a significant property by which the central nervous system achieves many complementary goals. An equilibrium-based biomechanical model of isometric three-dimensional exertions of trunk muscles has been developed. Following the definition and role of the uncontrolled manifold, the kinetic redundancy concept is explored in mathematical terms. The null space of the kinetically redundant system when a certain joint moment and/or stiffness are needed is derived and discussed. The aforementioned concepts have been illustrated,...