Sharif Digital Repository

Walking is one of the most important physical activities in daily life and it plays an important role on body health. Despite the importance of this issue, today many people suffering from walking abnormalities. This thesis aims at designing an exoskeleton for the rehabilitation in order to help patient’s lower limb movement. The hip joint is crucial for walking and is problematic for a large number of aged people or the patients who suffered from paralysis. A number of hip and knee model checked, one model for knee and one for hip selected to combine in order to achieve a unique model for walking exoskeleton. A mechanism consisting of six link and seven joints with four degrees of freedom... 

Human walking as a rhythmic movement, despite of being simple in implementation, is so complex in biomechanical modeling and has attracted the attention of most of the researchers. Numerous theories and assumptions have been proposed for modeling this motor pattern. Central pattern generators are neural circuits in the spinal cord responsible for generating rhythmic motor patterns in rhythmic activities such as walking. On the other hand, muscle synergy has been introduced as a solution for alleviating the redundancy of the muscular system. In this hypothesis, the central nervous system activates muscle groups that are called muscle modules. Using this hypothesis facilitates the... 

The accuracy, speed, and ability to do work in hazardous environments has led to the development of robots in everyday life. Accordingly, research on quadruped robots for use in military environments is expanding. Designing control algorithms for walking and stepping on quadruped robots is one of the most important parts of the design of these robots, which creates complex movements despite the lack of sophisticated equipment in the robots. One of the robot gaiting control methods is dynamic based method that is based on the robot’s dynamics and resistant to perturbations. Trajectory based method is another robot gaiting control method that is inspired from CPG algorithm and has learning... 

This thesis examines the accessibility gap between different modes of transportation in Tehran Province, with a particular focus on public transportation and cycling. The main objective of this research is to calculate and analyze accessibility indicators to various land uses (such as commercial, service, and recreational) around metro stations using two modes of travel: cycling and bus-walking. The study utilizes simulations in Python and geographic libraries to compare these two modes of travel based on four key accessibility indicators: 1) nearest Opportunity, 2) cumulative opportunity, 3) average distance, and 4) gravity-based accessibility to measure the accessibility gap between the...