Sharif Digital Repository

A two-dimensional, seven link, nine degrees of freedom biped model was developed to investigate the dynamic characteristics of normal and transfemoral amputee locomotion during the entire gait cycle. The equations of motion were derived using the Lagrange method and the stance foot-ground contact was simulated using a five-point penetration model. The joint driving torques were obtained using forward dynamic optimization of the normal human gait and applied to the intact joints of the amputee. Three types of motion controllers; frictional, elastic and hydraulic were considered for the prosthetic joints of the amputee and their design parameters were optimized to achieve the closest... 

The variety of new biomaterials and different surface treatments being applied to existing materials all intended for total knee replacement (TKR) are self-evident of the demand for longer lasting knee prostheses. Aseptic loosening is one of the main reasons for the revision of TKR components including the femoral component, which has more challenging problems because of the different causes of failure. This paper therefore, focuses on aseptic loosening of femoral components and materials options available. Several current and promising new metallic, ceramic and polymeric biomaterials are discussed to highlight their advantages and their shortcomings. It is concluded that current materials... 

Surface electromyogram (sEMG) signals, a noninvasive bioelectric signal, can be used for the rehabilitation and control of artificial extremities. Current sEMG pattern-recognition systems suffer from a limited number of patterns that are frequently intensified by the unsuitable accuracy of the instrumentation and analytical system. To solve these problems, we designed a multistep-based sEMG pattern-recognition system where, in each step, a stronger more capable relevant technique with a noticeable improved performance is employed. In this paper, we utilized the sEMG signals to classify and recognize six classes of hand movements. We employed an adaptive neurofuzzy inference system (ANFIS) to... 

Ground reaction force (GRF) characteristics of amputee walking are important for the analysis of clinical gait data, and also to update model reference adaptive impedance (MRAI) controllers. GRF estimation is a better alternative than direct GRF measurement because of the disadvantages of load cells, such as high cost, integration difficulties due to weight and physical dimensions, the possibility of overload, and measurement noise. This paper presents four robust MRAI observer/controller combinations for GRF estimation-based control of a prosthesis and a legged robot model in the presence of parametric uncertainties and unmodeled dynamics, in which the robot model is employed to mimic... 

Background and aims of the study: Mechanical heart valves (MHV) are widely used to replace dysfunctional and failed heart valves. The bileaflet MHV design is very popular due to its superior hemodynamics. Since their introduction in 1977, the hemodynamics of bileaflet prostheses has been extensively studied. In this study the dynamic behaviour during the closing phase of a bileaflet MHV under normal physiological conditions has been investigated. Methods: Fluid analysis is based on the control volume with moving boundaries in the vicinity of the occluder. Unsteady continuity equation, unsteady momentum equation on the control volume and unsteady Bernoulli's equation have been used to... 

Osseointegrated dental implants are deficient in natural periodontal ligaments. It may therefore, disrupts the natural function of implant and leads to excessive stress and strain in jaw bone. Our new proposed implant has the nonlinear internal component which imitates periodontal ligaments function. A nonlinear finite element analysis developed to investigate the efficiency of utilizing this nonlinear internal layer for three conditions of bone implant interface conditions under vertical and horizontal loading conditions. Our results so far indicate that the use of a class of material exhibiting incompressible hyperelastic behaviour as a internal layer can reduce the peak stress deduced... 

A Magneto rheological (MR) rotary brake as a prosthesis knee is addressed here. To the gait of the amputee, the brake, automatically adapts knee damping coefficient using only local sensing of the knee torque and position. It is difficult to design a model-based controller, since the MR knee system has nonlinear and very complicated governing mathematical equations. Hence, a Hybrid self-organizing fuzzy controller and multidimensional wavelet neural network (HSFCMWNN) is proposed here to control the knee damping coefficient using of the inverse dynamics of the MR rotary damper. A Self-organizing fuzzy controller (SOFC) is also proposed and during the control process, the SOFC continually... 

Total knee replacement (TKR) surgery is one of the most successful and cost-effective procedures for treating knee injuries performed in orthopedics. However, the knee replacement revision surgery will probably be required after some years. Wear at the contact area between femoral metal component and the polyethylene inserts in TKR is recognized as one of the foremost causes of prosthesis failure and necessity of revision surgery. In the present study, focusing on the patellofemoral joint (PFJ), the wear at the contact area between the patellar and femoral components has been simulated employing the explicit finite element modeling. In this regard, common types of patellar component surface... 

Background: Lower limb amputation is a major public health issue globally, and its prevalence is increasing significantly around the world. Previous studies on lower limb amputees showed analogous complexity implemented by the neurological system which does not depend on the level of amputation. Research question: What are the differences in muscle synergies between healthy subjects (HS) and transfemoral amputees (TFA) during self-selected normal transient-state walking speed? Methods: thirteen male HS and eleven male TFA participated in this study. Surface electromyography (sEMG) data were collected from HS dominant leg and TFA intact limb. Concatenated non-negative matrix factorization... 

An analytical approach which is popular in micromechanical studies has been extended to the solution for the interference fit problem of the femoral stem in cementless total hip arthroplasty (THA). The multiple inhomogeneity problem of THA in transverse plane, including an elliptical stem, a cortical wall, and a cancellous layer interface, was formulated using the equivalent inclusion method (EIM) to obtain the induced interference elastic fields. Results indicated a maximum interference fit of about 210 μm before bone fracture, predicted based on the Drucker-Prager criterion for a partially reamed section. The cancellous layer had a significant effect on reducing the hoop stresses in the... 

Research question: Would there be differences in muscle activation between healthy subjects’ (HS) dominant leg and transfemoral amputees’ (TFA) intact-leg/contralateral-limb (IL) during normal transient-state walking speed? Methods: The muscle activation patterns are obtained by calculating the linear envelope of the EMG signals for each group. The activation patterns/temporal changes are compared between-population using statistical parametric mapping (SPM). Results: Individual muscle activity showed significant differences in all muscles except vastus lateralis (VL), semitendinosus (SEM) and tensor fascia latae (TFL) activities. Significance: The information could be used by the therapists... 

Electromyogram signal (EMG) is an electrical manifestation of contractions of muscles. Surface EMG (sEMG) signal collected from the surface of skin has been used in diverse applications. One of its usages is in pattern recognition of hand prosthesis movements. The ability of current prosthesis devices has been generally limited to simple opening and closing tasks, minimizing their efficacy compared to natural hand capabilities. In order to extend the abilities and accuracy of prosthesis arm movements and performance, a novel sEMG pattern recognizing system is proposed. To extract more pertinent information we extracted sEMGs for selected hand movements. These features constitute our main... 

Small diameter vascular grafts (<6 mm) are highly demanded for patients suffering from severe occluded arteries to be used as a bypass or substituted conduit. Fabricating a graft with appropriate structural, mechanical and cell growth properties which has simultaneously anti-thrombogenic trait is a challenge nowadays. Here, we proposed a bilayer heparinized vascular graft that can mimic the structural and mechanical characteristics close to those of the native coronary artery by combining electrospinning and freeze drying methods. In this study, the inner layer was made by co-electrospinning of synthetic polymer, poly-caprolactone (PCL) and the natural polymer, gelatin (Gel). Also, heparin... 

Small diameter vascular grafts (<6 mm) are highly demanded for patients suffering from severe occluded arteries to be used as a bypass or substituted conduit. Fabricating a graft with appropriate structural, mechanical and cell growth properties which has simultaneously anti-thrombogenic trait is a challenge nowadays. Here, we proposed a bilayer heparinized vascular graft that can mimic the structural and mechanical characteristics close to those of the native coronary artery by combining electrospinning and freeze drying methods. In this study, the inner layer was made by co-electrospinning of synthetic polymer, poly-caprolactone (PCL) and the natural polymer, gelatin (Gel). Also, heparin... 

Electromyogram (EMG) signal is an electrical manifestation of muscle contractions. EMG signal collected from surface of the skin, a non-invasive bioelectric signal, can be used in different rehabilitation applications and artificial extremities control. This study has proposed to utilize the surface EMG (SEMG) signal to recognize patterns of hand prosthesis movements. It suggests using an adaptive neuro-fuzzy inference system (ANFIS) to identify motion commands for the control of a prosthetic hand. In this work a hybrid method for training fuzzy system, consisting of back-propagation (BP) and least mean square (LMS) is utilized. Also in order to optimize the number of fuzzy rules, a... 

Background: Electromyography (EMG) is the study of muscle function through the inquiry of electrical signals that the muscles emanate. EMG signals collected from the surface of the skin (Surface Electromyogram: sEMG) can be used in different applications such as recognizing musculoskeletal neural based patterns intercepted for hand prosthesis movements. Current systems designed for controlling the prosthetic hands either have limited functions or can only be used to perform simple movements or use excessive amount of electrodes in order to achieve acceptable results. In an attempt to overcome these problems we have proposed an intelligent system to recognize hand movements and have provided... 

Needle insertion simulation and planning systems (SPSs) will play an important role in diminishing inappropriate insertions into soft tissues and resultant complications. Difficulties in SPS development are due in large part to the computational requirements of the extensive calculations in finite element (FE) models of tissue. For clinical feasibility, the computational speed of SPSs must be improved. At the same time, a realistic model of tissue properties that reflects large and velocity-dependent deformations must be employed. The purpose of this study is to address the aforementioned difficulties by presenting a cost-effective SPS platform for needle insertions into the liver. The study...