Sharif Digital Repository

Kinematic mismatch between exoskeletons and human body results in excess internal forces/torques and hence discomfort as well as increase the power consumption. The connection stiffness has been shown to have potentials for minimizing the kinematic mismatch effects. However, realization of a desired stiffness in the connection element seems difficult if not impractical. In this work, adding controlled backlash to the exoskeleton-body connection is investigated as a possible solution for the kinematic mismatch challenge. A stiffness model which includes backlash parameters was formulated and identified experimentally using three male subjects on a typical lower extremity exoskeleton. A... 

Maximum voluntary exertion (MVE) tasks quantify trunk strength and maximal muscle electromyography (EMG) activities with both clinical and biomechanical implications. The aims here are to evaluate the performance of an existing trunk musculoskeletal model, estimate maximum muscle stresses and spinal forces, and explore likely differences between males and females in maximum voluntary exertions. We, therefore, measured trunk strength and EMG activities of 19 healthy right-handed subjects (9 females and 10 males) in flexion, extension, lateral and axial directions. MVEs for all subjects were then simulated in a subject-specific trunk musculoskeletal model, and estimated muscle activities were... 

Optical tweezers are indispensable instruments for applying and measuring Pico-Newton range forces. The magnitude of the exerted force is determined by measuring the displacement of the trapped bead from the center of the trap. Recently, we developed a new detection system for optical tweezers based on Moiré Deflectometry (MD). In this work, we show, both theoretically and experimentally, that the introduced method can be used for detection in the axial direction, as well, with a significantly larger sensitivity compared to the commonly used QPD method. As an example, for a 2.17μm polystyrene bead this method could provide a sensitivity 285% larger than that of the QPD method. © 2019... 

A three-dimensional elasticity solution for the analysis of functionally graded rotating cylinders with variable thickness profile is proposed. The axisymmetric structure has been divided in several divisions in the radial direction. Constant mechanical properties and thickness profile are assumed within each division. The solution is considered for four different thickness profiles, namely constant, linear, concave, and convex. It is shown that the linear, concave, and convex thickness profiles have smaller stress values compared to a constant thickness profile. The effects of various grading indices as well as different boundary conditions, namely solid, free-free hollow and fixed-free... 

During the past decade, the CANDLE burnup strategy has been proposed as an innovative fuel cycle and reactor design for complete utilization of uranium resources. In this strategy the shapes of neutron flux, nuclide densities and power density distribution remain constant but the burning region moves in axial direction. The feasibility of this strategy has been demonstrated widely by using the diffusion technique in conjunction with nuclide transmutation equations. On the other hand since the Monte Carlo method provides the exact solution to the neutron transport, the Monte Carlo technique is becoming more widely used in routine burnup calculations. The main objective of this work is startup... 

Various experimental and theoretical investigations have been carried out to determine the elastic properties of nanotubes in the axial direction. Their behavior in transverse directions, however, has not been well studied. In this paper, a combination of molecular dynamics (MD) and continuum-based elasticity model is used to predict the transverse-isotropic elastic properties of single-walled carbon nanotubes (SWCNTs). From this modeling study, five independent elastic constants of an SWCNT in transverse directions are obtained by analyzing its deformations under four different loading conditions, namely, axial tension, torsion, uniform and non-uniform radial pressure. To find the elastic... 

Maximum voluntary exertion (MVE) tasks quantify trunk strength and maximal muscle electromyography (EMG) activities with both clinical and biomechanical implications. The aims here are to evaluate the performance of an existing trunk musculoskeletal model, estimate maximum muscle stresses and spinal forces, and explore likely differences between males and females in maximum voluntary exertions. We, therefore, measured trunk strength and EMG activities of 19 healthy right-handed subjects (9 females and 10 males) in flexion, extension, lateral and axial directions. MVEs for all subjects were then simulated in a subject-specific trunk musculoskeletal model, and estimated muscle activities were...