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Development of a Control Algorithm for Functional Electrical Stimulation to Achieve Smooth Motion
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
The use of functional electrical stimulation after spinal cord injury is one of the most effective ways to prevent muscle atrophy.” Enzymes construction set, torque output increases and improved fatigue resistance”.
Functional electrical stimulation devices help in the operation of a muscle by applying a weak electrical current. This stimulation causes muscle contraction. In other words, it replaces the neural signals required to move the limb that cannot be produced due to causes such as spinal cord injury (SCI) orsecondary problems that arise after SCI.
One of the drawbacks of using FES is jerky motions in the muscles and limps. Such movements are not only harmful, but results in...
Functional electrical stimulation devices help in the operation of a muscle by applying a weak electrical current. This stimulation causes muscle contraction. In other words, it replaces the neural signals required to move the limb that cannot be produced due to causes such as spinal cord injury (SCI) orsecondary problems that arise after SCI.
One of the drawbacks of using FES is jerky motions in the muscles and limps. Such movements are not only harmful, but results in...
Dynamic Analysis of a Novel Hybrid Robot for Arc Welding Process
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
This thesis presented kinematic and dynamic analysis of a novel 8-DOF hybrid manipulator. The hybrid robot manipulator under consideration consists of a parallel robot which is followed by a serial mechanism. The parallel mechanism has three translational DOFs, and the serial mechanism has five DOFs, so that the overall degrees of freedom are eight. The introduced manipulator has a wide workspace and a high capability to reduce the actuating energy. The inverse and forward kinematic solutions of the manipulator were described in closed form. The theoretical results were verified by a numerical example. Inverse dynamic analysis of the robot was presented by utilizing the Iterative...