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Design and Implementation of an Intelligent Control System Based-on Deep Reinforcement Learning for a Lower-limb Hybrid Exoskeleton Robot
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor) ; Boroushaki, Mehrdad (Supervisor)
Abstract
Hybrid Exoskeletons refer to simultaneous use of wearable robots and functional electrical stimulation technology. Hybrid exoskeletons have many advantages compared to the separate application of each of these technologies, such as reducing the robot’s energy consumption and the need for lighter and cheaper actuators for the robot, using humans muscle power, and reducing muscle fatigue. As a result, these robots have recently attracted a lot of interest in rehabilitation applications for patients suffering from mobility impairment.Control in hybrid exoskeletons is more complicated than control in traditional exoskeletons. Because in addition to robot and functional electrical stimulation...
Design and Implementation of a FES-Assisted Control for a Lower Limb Hybrid Exoskeleton Robot in order to Reduce the Robot Energy Consumption
, M.Sc. Thesis Sharif University of Technology ; Vosoughi, Gholamreza (Supervisor) ; Moradi, Hamed (Supervisor)
Abstract
Wearable robots, or exoskeletons, are electromechanical devices that aim to assist user by supplying additional mechanical power as needed. The interaction of these robots with humans and the possibility of robots using their various abilities such as intelligence, control power, sensors, etc., make one of the crucial components of these control algorithms, its interaction and integration with the user. In this regard, functional electrical stimulation is one way to use human abilities to control the robot and achieve broader goals. Adding functional electrical stimulation to a wearable robot creates an emerging group of robots called hybrid exoskeletons. Hybrid exoskeletons provide the...
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...
Trunk muscle fatigue and its implications in EMG-assisted biomechanical modeling
, Article International Journal of Industrial Ergonomics ; Volume 43, Issue 5 , 2013 , Pages 425-429 ; 01698141 (ISSN) ; Mirka, G.A ; Sharif University of Technology
2013
Abstract
Muscle fatigue affects the underlying EMG-force relationship on which EMG-assisted biomechanical models rely. The aim of this study was to evaluate the impact of short duration muscle fatigue on the muscle gain value. Participants performed controlled, isometric trunk extension exertions at 10, 20, and 30 degrees of trunk flexion and controlled isokinetic trunk extension exertions at 5 and 15°/sec on five separate days. Fatigue of the lumbar extensors was generated by moderate-intensity, trunk extension exertions. Participants performed controlled test contractions at defined intervals throughout the fatiguing bout and the EMG activities of trunk muscles were collected. These EMG data were...