Sharif Digital Repository

In recent years, teleoperation systems have been widely used in bio-medical applications such as minimally invasive telesurgery, telerehabilitation and telesonography, and also for outer space exploration and radioactive material management. In bilateral teleoperation systems, the human operator applies force on the master robot to control the position of the slave robot in order to perform a task in a remote environment. A nonlinear robust adaptive bilateral impedance control strategy is proposed in this research to provide the absolute stability of multi-DOF teleoperation systems with communication delays. Using this controller, instead of conventional position tracking (synchronization)... 

The recent project can be considered as a subset of Telerehabilitation, in the field of Telerehabilitation can be defined as the need for long-term data recording in order to determine each individual's movement pattern and compare it to the individual's best model or best practice. With this perspective, it can be said that the recent project, in more detail, remotely targets the use of foot plantar pressure to determine locomotor parameters. With this description, the FSR or force sensitive resistor sensor was selected for a number of reasons, including low cost, low weight and low thickness, and the data acquisition circuit was used to convert the sensors' analog signal to digital output,... 

Researchers working at Mowafaghian Rehabilitation Research Center have decided to develop a telerehabilitation system named SEPANTA, especially designed for activity recognition of Parkinson's Disease patients. In this regard, the system uses 34 mobility exercises, including 20 LSVT-BIG activities (especially designed for PD patients) and 14 functional daily activities. Human Activity Recognition (HAR) systems faces various challenges e.g., intra-class variabilities, meaning differences in an activity performance by different persons or a person. Data augmentation and utilizing deep learning models are the most common solutions for the risen challenges. However, deep structures require an... 

Parkinson's disease is a neurodegenerative disorder that affects motor functions. Performing mobility exercises help patients slowing down the progression of the illness and improving symptoms of the disease. Assessment and evaluation of activities of mobility exercises are critical for any treatment program particularly in tele-rehabilitation system. The purpose of the current study is to design an affordable and accurate wearable device with inertial measurement units (IMUs) for mobility activity recognition in Parkinson’s patients. The optimum number and arrangement (i.e. configuration) were found to minimize the cost while maintaining a fair accuracy. The activity recognition was... 

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... 

Parkinson’s disease is considered as a progressive neurodegenerative disease that hasn’t any certain treatment. In Iran until 1390, there were about 150 thousand patient struggling with this disease. Rehabilitation is known as an effective treatment to decrease destructive progress of the disease. Because of motional problems of PD patients, it is hard to come to the clinics. So developing remote rehabilitation would be interested by researchers and occupational therapists. Therefore in the recent years, an activity recognition system has been developed in Mowafaghian research center. This system is based on IMU sensors and a NM classifier.These systems are challenging with some problems,... 

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... 

Parkinson's disease is a destructive and long-term disease of the central nervous system. This disease especially affects the motor system. Parkinson's patients can be studied under dopaminergic and non-dopaminergic conditions. The non-dopaminergic state means not taking the drug, for at least 12 hours, and the dopaminergic state, from one hour to less than 12 hours after taking the usual dose of the dopaminergic drug. The aim of this study is to examine and compare the statistics and characteristics of Parkinson's patients in dopaminergic and non-dopaminergic states, focusing on reaching and tracking activities. It also aims to analyze the differences before and after rehabilitation in...