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    Workspace measurement of the surgeon's upper limb during an arthroscopy and three laparoscopy operations using inertial sensor systems

    , Article 2013 E-Health and Bioengineering Conference, EHB 2013 ; 2013 ; 9781479923731 (ISBN) Soroush, A ; Farahmand, F ; Sharif University of Technology
    The aim of this study was to determine the workspace of surgeon's body for designing more efficient surgical robots in the operation rooms. Five wearable inertial sensors were placed near the wrist and elbow joints and also on the thorax of surgeons to track the orientation of upper limb. Assuming that the lengths of five segments of an upper limb were known, measurements of the inertial sensors were used to determine the position of the wrist and elbow joints via an established kinematic model. subsequently, to assess the workspace of surgeon upper body, raw data were collected in the arthroscopy and laparoscopy operations. Experimental results demonstrated that the workspaces of surgeon's... 

    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) Baniasad, M. A ; Farahmand, F ; Ansari, N. N ; Sharif University of Technology
    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... 

    Design and Construction of a Mobile Social Robot for Pediatric Cancer Hospitals (Dr. Arash) Part A: Upperbody and Arms

    , M.Sc. Thesis Sharif University of Technology Khamooshi, Mobin (Author) ; Meghdari, Ali (Supervisor) ; Alemi, Minoo (Supervisor)
    No-one likes being confined to a hospital bed. Children particularly can feel lonely, bored or frightened in these conditions. Hours feel like days, and they may not be able to fully comprehend why they are there. Among kids hospitalized because of distinct diseases, children with cancer have incomparable status and needs. They experience physical and mental problems caused by cancer and medications. Cancer treatment may cause distress which can lessen the effectiveness of the treatment. Utilizing social robots to interact with children in clinical environments has been verified to both diminish their distress level and enhance the effectiveness of the treatment process. To improve the... 

    A Musculoskeletal Model of the Hand and Forearm to Simulate the Rehabilitation Process of Stroke Survivors

    , M.Sc. Thesis Sharif University of Technology Hosseininejad, Sepide (Author) ; Farahmand, Farzam (Supervisor) ; Saadat Foumani, Mahmoud (Supervisor) ; Forough, Bijan (Supervisor)
    Spasticity is a common phenomenon following stroke, which causes increase in muscle resistance to imposed movements. Most of the clinical measurements used by physiotherapists to evaluate spasticity are qualitative. Consequently, the reported results are subjective. The objective of this study was to develop a musculoskeletal model of the upper limb to simulate spasticity of muscles activating in wrist flexion-extension. Subjects in two groups of normal and stroke survivors participated in this study. Six normal subjects and three hemiplegia patients were exercised by the robotic instrument. Simultaneously, the resistive moment, the wrist joint position and the EMG of muscles were recorded.... 

    Control of Exoskeletal System in Coordination with Upper Extremity System

    , M.Sc. Thesis Sharif University of Technology Ghassemi, Mohammad (Author) ; Jahed, Mehran (Supervisor)
    With technological advances in fabrication and control of prosthesis and assistive devices the importance of such systems has increased drastically. On the other hand the appropriate coupling of these devices, especially the exoskeletal systems with the upper or lower extremities is of immense importance as it is an integral part of the control system. In particular, the control strategy and its ability to adapt the exoskeletal system with the existing and physiological functionality of the user, is an integral part of the system requirement. In the controller implementation, a number of methods are proposed including using the excitation signal, similar to the existing neuromuscular system.... 

    Biomechanical aspects of the scapula-glenoid fixation in a reverse shoulder implant

    , Article World Congress on Engineering 2016, WCE 2016, 29 June 2016 through 1 July 2016 ; Volume 2224 , 2016 , Pages 1205-1210 ; 20780958 (ISSN); 9789881404800 (ISBN) Popham, F ; Muhandiram, J ; Abulkhair, N ; Chizari, M ; Sharif University of Technology
    Newswood Limited  2016
    The reverse shoulder implant is an implant for total replacement of the glenohumeral joint of patients suffering from osteoarthritis and with a damaged rotator cuff. The problem that arises with these conjoined ailments is that the displacement of the humeral head causes limited movement of the upper limb, with vertical mobility restricted to only allow for the arm to ascend to roughly the height of the shoulder. Attaching the ball to the scapula and the socket to the top of the humerus fixes the centre of rotation of the joint to increase the moment arm over the healthy shoulder's original position enabling patients' movement and dexterity to return. In this study the numerical evaluation... 

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

    , Article Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, 2 September 2009 through 6 September 2009, Minneapolis, MN ; 2009 , Pages 5026-5029 ; 9781424432967 (ISBN) 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. ©2009 IEEE  

    Quantitative Assessment of Parkinson Patient’s Health Improvement Using Kinect for Telerehabilitation

    , M.Sc. Thesis Sharif University of Technology Alavian, Mostafa (Author) ; Behzadipour, Saeed (Supervisor) ; Taghizade, Ghorban (Co-Supervisor)
    Parkinson's disease is the most common progressive neurological disorder after Alzheimer, which is associated with motor disabilities. One of the most effective ways to improve patient’s condition with this disease, is rehabilitation.Assessment of the patient during rehabilitation is very important in order to give a better understanding of patient's status to the specialist, but qualitative assessment methods in traditional rehabilitation are ineffective in fast and accurate evaluation of the patient's condition; and because of their need for patient’s attendance in clinic, they will incur huge medical costs. Therefore, the purpose of the present study is to present a quantitative method to... 

    Classification of Pd Patients Based on the Quality of the Upper Extremity Movements Using a Combination of the Kinematic Indices

    , M.Sc. Thesis Sharif University of Technology Abouei Mehrizi, Mojtaba (Author) ; Behzadipour, Saeed (Supervisor) ; Taghizadeh, Ghorban (Supervisor)
    Parkinson's disease, after Alzheimer's, is the most important and common progressive neurodegenerative disorders. There are various methods for assessing the quality of patients’ movements. One of them is biomechanical methods. The application of these methods in telerehabilitation has been considered by many researchers. Telerehabilitation improves the efficiency of the therapists and reduces problems such as commute costs, traffic stress, and patient fatigue.In the present study, 21 Parkinson patients were treated and evaluated remotely using SANA system. This study aimed to investigate the effects of the therapist absence during the tele-assessment and its impact on the validity and... 

    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  

    vThe effect of saddle-assistive device on improving the gait parameters of patients with the lower limbs weakness: a pilot study

    , Article Journal of Bionic Engineering ; Volume 17, Issue 6 , 2020 , Pages 1175-1185 Hojjati Najafabadi, A ; Amini, S ; Farahmand, F ; Sharif University of Technology
    Springer  2020
    To help walking, using assistive devices can be considered to reduce the loads caused by weight and to effectively decrease the propulsive forces. In this study, a mobility Saddle-Assistive Device (S-AD) supporting body weight while walking was evaluated on two healthy volunteers. This device is based on the support of body weight against gravity with the help of a saddle, which is not used in other passive mobility assistive devices. To prove the efficiency of this device, the experimental results obtained while walking with this device were compared with those related to walking without the assistive device. The results showed that this device could significantly reduce the forces and... 

    Introduction and Analysis of Energy Index to Evaluate Arm Motion Quality in Neuromuscular Patients

    , M.Sc. Thesis Sharif University of Technology Nozari Porshokouhi, Pouria (Author) ; Behzadipour, Saeed (Supervisor) ; Hoviattalab, Maryam (Supervisor)
    Quantitative motion quality evaluation has been always of much significance for CVA patients, especially the HCP ones. The purpose of the present study is to introduce and analyze the efficiency of a novel index, namely “Consumed Energy Index”, for evaluating the quality of the motions performed by HCP patients. For this purpose, Firstly, a Musculo-Skeletal model of the human arm was provided on Matlab and OpenSim softwares, with four DoFs: three DoFs at shoulder and one DoF at elbow joint as well as eight muscles. The muscles are in pairs of flexor-extensor at each DoF. The model is capable of receiving Cartesian trajectories for joints and solving inverse kinematics and dynamics to obtain... 

    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... 

    Coordinated activities of trunk and upper extremity muscles during walker-assisted paraplegic gait: A synergy study

    , Article Human Movement Science ; Volume 62 , 2018 , Pages 184-193 ; 01679457 (ISSN) Baniasad, M ; Farahmand, F ; Arazpour, M ; Zohoor, H ; Sharif University of Technology
    Elsevier B.V  2018
    Individuals with spinal cord injury (SCI) at lower thoracic levels might walk independently with the aid of mechanical orthoses and walker by using their unimpaired trunk and upper extremity muscles (TUEM). The required motor skills and the associated subtasks of the paraplegic locomotion, however, have not been well understood yet. The purpose of this study was to investigate the coordination of the TUEM activities throughout the paraplegic gait cycle using synergy analysis. For eight paraplegic individuals (30.6 ± 11.6 years; SCI level: T12), the kinematics data and the surface electromyography (EMG) signals of TUEM were recorded during 15 gait cycles. Non-negative matrix factorization... 

    Anxiety and cognitive load affect upper limb motor control in Parkinson's disease during medication phases

    , Article Annals of the New York Academy of Sciences ; Volume 1494, Issue 1 , 2021 , Pages 44-58 ; 00778923 (ISSN) Nodehi, Z ; Mehdizadeh, H ; Azad, A ; Mehdizadeh, M ; Reyhanian, E ; Saberi, Z. S ; Meimandi, M ; Soltanzadeh, A ; Roohi Azizi, M ; Vasaghi Gharamaleki, B ; Parnianpour, M ; Khalaf, K ; Taghizadeh, G ; Sharif University of Technology
    John Wiley and Sons Inc  2021
    Anxiety is among the most debilitating nonmotor symptoms of Parkinson's disease (PD). This study aimed to determine how PD patients with low and high levels of anxiety (LA-PD and HA-PD, respectively) compare with age- and sex-matched controls at the level of motor control of reach-to-grasp movements during single- and dual-task conditions with varying complexity. Reach-to-grasp movement kinematics were assessed in 20 LA-PD, 20 HA-PD, and 20 sex- and age-matched healthy controls under single- as well as easy and difficult dual-task conditions. Assessment of PD patients was performed during both the on- and off-drug phases. The results obtained during dual-task conditions reveal deficits in... 

    Role and significance of trunk and upper extremity muscles in walker-assisted paraplegic gait: a case study

    , Article Topics in Spinal Cord Injury Rehabilitation ; Volume 24, Issue 1 , 2018 , Pages 18-27 ; 10820744 (ISSN) Baniasad, M ; Farahmand, F ; Arazpour, M ; Zohoor, H ; Sharif University of Technology
    Thomas Land Publishers Inc  2018
    Background and Purpose: Understanding the role and significance of trunk and upper extremity muscles in paraplegic gait can help in designing more effective assistive devices for these patients and also provides valuable information for improving muscle strengthening programs. Methods: In a patient with a spinal cord injury (SCI) who could walk independently (rating scale of ambulatory capacity, 9) with the aid of bilateral ankle-foot orthosis and a walker, the kinematics, kinetics and electromyographic (EMG) activities of 16 muscles from the trunk and upper and lower extremities were recorded during gait. The onset, cessation, and duration of the EMG signal were associated with the 4 phases... 

    Improvement of upper limb motor control and function after competitive and noncompetitive volleyball exercises in chronic stroke survivors: a randomized clinical trial

    , Article Archives of Physical Medicine and Rehabilitation ; Volume 100, Issue 3 , 2019 , Pages 401-411 ; 00039993 (ISSN) Mandehgary Najafabadi, M ; Azad, A ; Mehdizadeh, H ; Behzadipour, S ; Fakhar, M ; Taghavi Azar Sharabiani, P ; Parnianpour, M ; Taghizadeh, G ; Khalaf, K ; Sharif University of Technology
    W.B. Saunders  2019
    Objectives: To investigate the effects of competitive and noncompetitive volleyball exercises on the functional performance and motor control of the upper limbs in chronic stroke survivors. Design: Randomized clinical trial. Setting: Outpatient rehabilitation center. Participants: Chronic stroke survivors (N=48). Interventions: Participants were randomly assigned to competitive (n=16) or noncompetitive (n=16) volleyball exercise groups (60min/d volleyball exercise+30min/d traditional rehabilitation, 3d/wk for 7wk) and control group (n=16). Main Outcome Measures: Reach and grasp motor control measures were evaluated through kinematic analysis. Functional outcomes were assessed via Motor...