Sharif Digital Repository

The robotic rehabilitation devices can undertake the difficult physical therapy tasks and provide improved treatment procedures for post stroke patients. During passive working mode, the speed of the exercise needs to be controlled continuously by the robot to avoid excessive injurious torques. We designed a fuzzy controller for a hand rehabilitation robot to adjust the exercise speed by considering the wrist angle and joint resistive torque, measured continuously, and the patient's general condition, determined by the therapist. With a set of rules based on an expert therapist experience, the fuzzy system could adapt effectively to the neuromuscular conditions of the patient's paretic hand.... 

Neural activity is very important source for data mining and can be used as a control signal for brain-computer interfaces (BCIs). Particularly, Magnetic signals of neurons are enriched with information about the movement of different part of the body such as wrist movement. In this paper, we use MEG (Magneto encephalography) signals of two subjects recorded during wrist movement task in four directions. Data were prepared for BCI competition 2008 for multiclass classification. Our approach for this classification problem consists of PCA as a noise reduction method, ULDA for feature reduction and various linear classifiers such as Bayesian, KNN and SVM. Final results (58%-62% for subject 1... 

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... 

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... 

In this paper, a special probe is designed using an array of photodiodes and a 960 nm LED for recording the wrist photoplethysmogram (PPG). The design is based on Monte-Carlo simulation of light propagation in tissues. Two series of experiments were carried-out: normal breathing and deep breathing. In both experiments, finger and wrist PPG were simultaneously recorded from the index finger. In the first series of experiment, signals from 9 subjects were recorded and the correlation coefficient for the raw signals (AC+DC), the AC and DC components of wrist and finger PPG were (62.5% ± 12.1%), (91.2% ± 6.9%) and (61% ± 13.4%) respectively. In the second series of experiment (deep breathing),... 

Objectives: Although dental practitioners are confronted with a number of musculoskeletal disorders, relatively few studies have focused on this profession. The aim of this study was to investigate the prevalence of some musculoskeletal complaints of dentists in Iran. Methods: Four hundred and forty-six dentists in Tehran city, Iran were surveyed to determine the prevalence of musculoskeletal problems. We administrated a Persian-language version of the Nordic Questionnaire for this purpose. Results: Data gathered from Iranian dentists showed that most dentists [81%] reported pain in at least one joint. The most prevalent musculoskeletal disorders during the previous 12 months were reported... 

There is ambiguity on the quantitative validity of the predictions revealed by musculoskeletal models for muscle forces. This study investigated the consistency between the predictions of a musculoskeletal model of the upper limb and the experimental data for a number of different subjects and functional tasks. Six normal subjects performed isokinetic eccentric or isotonic concentric contraction tests of the wrist muscles in well controlled conditions, using a robotic apparatus, and the net joint torque and angular velocities, as well as the surface electromyograms (EMG) signals of the muscles, were recorded. The experiments were then simulated using a parametric musculoskeletal model of... 

Causal Heart Rate (HR) monitoring using photoplethysmographic (PPG) signals recorded from wrist during physical exercise is a challenging task because the PPG signals in this scenario are highly contaminated by artifacts caused by hand movements of the subject. This paper proposes a novel algorithm for this problem, which consists of two main blocks of Noise Suppression and Peak Selection. The Noise Suppression block removes Motion Artifacts (MAs) from the PPG signals utilizing simultaneously recorded 3D acceleration data. The Peak Selection block applies some decision mechanisms to correctly select the spectral peak corresponding to HR in PPG spectra. Experimental results on benchmark... 

The feasibility of a novel system to reliably estimate the normalized central blood pressure (CBPN) from the radial photoplethysmogram (PPG) is investigated. Right-wrist radial blood pressure and left-wrist PPG were simultaneously recorded in five different days. An industry-standard applanation tonometer was employed for recording radial blood pressure. The CBP waveform was amplitude-normalized to determine CBPN. A total of fifteen second-order autoregressive models with exogenous input were investigated using system identification techniques. Among these 15 models, the model producing the lowest coefficient of variation (CV) of the fitness during the five days was... 

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... 

Background: Autonomous grasping of soft tissues can facilitate the robotic surgery procedures. The previous attempts for implementing auto-grasping have been based on a simplistic representation of the actual surgery maneuvers. Method: A generalized three-zone grasp model was introduced to consider the effect of the pull force angulation on the grasp mode, that is, damage, slip, or safe grasp. Also, an extended auto-grasping algorithm was proposed in which the trigger force is automatically controlled against the pull force magnitude and direction, to achieve a safe and secure grasp. Results: The autonomous grasping experiments against a varying pull force in a phantom study indicated a good...