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rehabilitation-robotics
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Design and development of a hand robotic rehabilitation device for post stroke patients
, Article Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference ; 2009 , Pages 5026-5029 ; 1557170X (ISSN) ; Mirbagheri, A ; Taheri, B ; Farahmand, F ; Vossoughi, G. R ; Parnianpour, M ; Sharif University of Technology
Abstract
Robot-mediated rehabilitation is a rapidly advancing discipline that seeks to develop improved treatment procedures using new technologies, e.g., robotics, coupled with modern theories in neuroscience and rehabilitation. A robotic device was designed and developed for rehabilitation of upper limbs of post stroke patients. A novel force feedback bimanual working mode provided real-time dynamic sensation of the paretic hand. Results of the preliminary clinical tests revealed a quantitative evaluation of the patient's level of paresis and disability
Design of an Active Exoskeleton Robot to Assist Human Knee Motion
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor)
Abstract
Nowadays nearly 1% of the world population depends on wheelchairs for walking and movement. Due to harmful changes in human lifestyle, different diseases like stroke and problems in musculoskeletal system are increasing noticeably. Despite the fact that wheelchairs have recently been improved they have faced big problems like forcing people not to move and just sit for a long period of time. Wearable robots not only help these patients to rehabilitate their disabled organ and walk, but also have a significant mental effect on them.
The analysis of an exoskeletal orthosis designed for patients who have pain in one of their knees is presented. A mechanism for knee exoskeleton is analyzed...
The analysis of an exoskeletal orthosis designed for patients who have pain in one of their knees is presented. A mechanism for knee exoskeleton is analyzed...
Design and Analysis of a Wearable Robot for Rehabilitation of Ankle Joint
, M.Sc. Thesis Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; Abbaspour, Madjid (Co-Advisor) ; Behzadipour, Saeed (Co-Advisor)
Abstract
Worldwide, stroke is the third leading cause of death, after cancer and cardiac diseases. Not only Stroke may lead to death, but its complications are critical, such as: Paralysis, Dysarthria, Cognition Disorders, etc. Improvement from these complications and also preventing from new ones, define the rehabilitation field; in other words, rehabilitation process tries to recover the movement ability of these patients. Today rehabilitation robots are helping these process to be faster and more comfortable, for both patients and physiotherapists. Purpose of this research, is design of a robot for performing rehabilitation process, to lower physiotherapy duration and lower the exhaustion of...
An optimum design and simulation of an innovative mobile robotic nurse unit to assist paraplegic patients
, Article Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04, Istanbul, 3 June 2004 through 5 June 2004 ; 2004 , Pages 141-147 ; 0780385993 (ISBN) ; Hosseinkhannazer, H ; Selkghafari, A ; Sharif University of Technology
2004
Abstract
This paper describes a nursing robot system currently under development at the Center of Excellence in Design, Robotics and Automation. Our goal was to design and fabricate of a robot specifically for paraplegic patients and the design procedure led to a plan which can be employed in any hospital environment. Through the design procedure, the team members conducted a survey on the robot client's needs and disabilities which provided a unique view on mechanical design features, in addition to, performing dynamical analysis on the designed mechanisms. Dynamical Simulation of mechanisms helped us to find the best design and solutions as well as optimization of parts has resulted in a matchless...
Design of an Active Exoskeleton Robot to Assist Human Elbow and Wrist Motion
, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Firozbakhsh, Keikhosrow (Co-Advisor)
Abstract
Most elderly and physically disabled people suffer from lack of functionality and dexterity in their elbow or wrist. These disabilities are due to the damages mostly caused by sport surgery, spinal surgery, or stroke. Therefore, design of an assistive exoskeleton robot for upper limb movements seems necessary. The purpose of this study is to design, fabricate and deliver a control algorithm for an assistive wearable robot. The robot has three degrees of freedom in order to help the flexion/extension of elbow and wrist. Dynamic and kinematic model of elbow, forearm, and wrist is developed to determine the amounts of torques which are required in the joint actuators mounted on the robot....
Evaluation of Ankle Rehabilitation Robot Based on Kinematic Compatibility with Human Anatomy
, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
The rehabilitating of lower extremity to regain the walking ability in a sick person is one of the main fields in rehabilitation. A problem in an ankle of a sick person is one of the factors which causes that person loses his walking ability. It can fairly be recovered through physiotherapy. This sort of rehabilitation is via constant relationship between the sick person and the therapist by doing many repeated exercises. The repeated natures of these types of exercises and also their high expenses have inspired many scholars to design some robots with the capability of observing and controlling the exercises. Although these robots exist in this field, a few of them have been put into...
A fast kinematic-based control method for lower-limb power augmentation exoskeleton
, Article 2014 2nd RSI/ISM International Conference on Robotics and Mechatronics, ICRoM 2014 ; 2014 , pp. 678-683 ; ISBN: 9781479967438 ; Vossoughi, G. R ; Ghafari, A. S ; Jokar, M ; Sharif University of Technology
Abstract
Exoskeletons are robotic devices which are used in power augmentation and rehabilitation robotics. The exoskeleton control system is one of the most challenging issues in humanrobot interaction systems. Although the rehabilitation robotic control methods are well studied, little research has been conducted on power augmenting control methods. This paper presents a novel idea in control system of exoskeletons for load carrying and power augmentation. Here, the desired linear velocity of the exoskeleton in interaction points are taken to be proportional to interaction force at the corresponding location. The introduced control method is merely based on kinematic model and thus easy to...
Audio image rendering for the severely visually impaired
, Article 2009 IEEE International Conference on Rehabilitation Robotics, ICORR 2009, Kyoto, 23 June 2009 through 26 June 2009 ; 2009 , Pages 893-898 ; 9781424437894 (ISBN) ; Khosravi, N ; Zahedi, E ; Sharif University of Technology
2009
Abstract
In this paper, a solution is proposed to render both rough and detailed images information using only audio-range sound. The procedure is implemented in consecutive stages with stage-dependent parameters selected by the user. The first stage consists of edge detection and tracking of the boundaries of the objects to obtain the sketch of the image. In the second stage, the user can selectively access the details of the image, such as brightness, texture and spatial position of the objects. Practical methods are proposed and tested which accelerate the training process. As a particular application, an educational module is presented which assists students of a special school for the blind by...
Mechanical design, fabrication, kinematics and dynamics modeling, multiple impedance control of a wrist rehabilitation robot
, Article International Conference on Robotics and Mechatronics, ICROM 2015, 7 October 2015 through 9 October 2015 ; 2015 , Pages 290-295 ; 9781467372343 (ISBN) ; Nasr, A ; Moosavian, S. A. A ; Zohoor, H ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2015
Abstract
Rehabilitation is the best approach for patients who suffer physical disability of their upper-limbs. Maintaining the intensity of exercise during treatment is the main factor that makes the robots suitable for rehabilitation since robots do not get tired and do the exercises with constant intensity under supervision of the doctor. Two main categories of rehabilitation robots are End-Effector based robots and wearable robots. According to the fact that most problems occur in need of rehabilitation for hand wrist area, in this paper a wearable rehabilitation robot has been developed for the wrist. Nowadays, wearable robots attract more attention than the other group. Wearable robots are...
Impedance Control of a Knee Rehabilitation Exoskeleton Using Robust Adaptive Control
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The present study deals with designing controller for Therapeutic Exercise Robots which belongs to larger group namely Rehabilitation robots. Therapeutic exercise robots are often realized in shape of exoskeleton robots. The main line of present research is involved with, designing controller for lower limb therapeutic exercise robots and offering and implementing technical rehabilitation ideas. Firstly, in order to have a reliable position-control, considering practical limitations (e.g. system uncertainties), a robust adaptive control has been designed. Adaptive control can deals with parameters uncertainties and covering unstructured uncertainties (e.g. disturbance and noise) can be...
Development of a Control Method for Realizing Flexible Motion in Medical Robots
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor) ; Behzadipour, Saeed (Supervisor)
Abstract
The main purpose of this project is to propose a control method for medical robots (such as rehabilitation and surgical robots), such that they can be moved conveniently by the users’s hand while he senses a controllable resistance. For that purpose, a Model Reference Adaptive Impedance Control method is developed for controlling the robot end-effector impedance in Cartesian coordinates. The proposed nonlinear controller and the desired impedance model are presented in Cartesian coordinates of the robot end-effector which is sensible for the human user. The adaptation law is derived and a corresponding Lyapunov stability is provided to prove the asymptotic tracking of the impedance model. By...
Fuzzy control of a hand rehabilitation robot to optimize the exercise speed in passive working mode
, Article Studies in Health Technology and Informatics ; Vol. 163 , 2011 , pp. 39-43 ; 09269630 (ISSN) ; 9781607507055 (ISBN) ; Akbar, M ; Alasty, A ; Farahmand, F ; Sharif University of Technology
Abstract
The robotic rehabilitation devices can undertake the difficult physical therapy tasks and provide improved treatment procedures for post stroke patients. During passive working mode, the speed of the exercise needs to be controlled continuously by the robot to avoid excessive injurious torques. We designed a fuzzy controller for a hand rehabilitation robot to adjust the exercise speed by considering the wrist angle and joint resistive torque, measured continuously, and the patient's general condition, determined by the therapist. With a set of rules based on an expert therapist experience, the fuzzy system could adapt effectively to the neuromuscular conditions of the patient's paretic hand....
Optimum mechanism for rehabilitation of fingers
, Article 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, 25 October 2017 through 27 October 2017 ; 2018 , Pages 451-456 ; 9781538657034 (ISBN) ; Zohoor, H ; Shirzadi, H ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2018
Abstract
Nowadays, with the advancement of technology, humans are looking for ways to cure various diseases. Meanwhile, musculoskeletal injuries usually have a long treatment period. Therefore, in recent years, Researchers working one exoskeleton with rehabilitation application which conduct physiotherapy tasks. In current study, a portable two degree of freedom hand exoskeleton is designed which its mechanism is a combination of cable and link mechanism, MCP1 1Metacarpophalangeal joint between metacarpal and proximal phalanges joints move by link mechanism, DIP2 2Distal interphalangeal joint between proximal phalanges and middle phalanges and PIP3 3Proximal interphalangeal joint between middle...
A novel upper-limb rehabilitation robot with 4 DOFs: design and prototype
, Article Proceedings of the 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018, 23 October 2018 through 25 October 2018 ; 2019 , Pages 434-438 ; 9781728101279 (ISBN) ; Hashemi, A ; Jafari, M ; Sharifi, M ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
In recent years, robotic rehabilitation has been utilized in treatment and recovery of patients with disabilities. In this paper, a novel design and kinematic analysis of a 4-DOF robot for upper-limb rehabilitation are proposed. The main novelty of this design is its mechanism for wrist and fingers motions which is added to the shoulder and elbow mechanism without any noticeable weight increase in the moving parts of the robot. For this purpose, a cable driven mechanism is implemented at the robot end-effector to move the wrist and fingers parts, and the corresponding actuators are placed at the base of the robot. © 2018 IEEE
A close look at the imitation performance of children with autism and typically developing children using a robotic system
, Article International Journal of Social Robotics ; Volume 13, Issue 5 , 2021 , Pages 1125-1147 ; 18754791 (ISSN) ; Meghdari, A ; Mahoor, M. H ; Sharif University of Technology
Springer Science and Business Media B.V
2021
Abstract
Deficit in imitation skills is one of the core symptoms of children with Autism Spectrum Disorder (ASD). In this study, we have tried to look closer at the body gesture imitation performance of 20 participants with autism, i.e. ASD group, and 20 typically developing subjects, i.e. TD group, in a set of robot-child and human-child gross imitation tasks. The results of manual scoring by two specialists indicated that while the TD group showed a significantly better imitation performance than the ASD group during the tasks, both ASD and TD groups performed better in the human-child mode than the robot-child mode in our experimental setup. Next, to introduce an automated imitation assessment...
Multi-objective genetic algorithm for hover stabilization of an insect-like flapping wing
, Article Applied Mechanics and Materials ; Volume 332 , 2013 , Pages 50-55 ; 16609336 (ISSN) ; 9783037857335 (ISBN) ; Banazadeh, A ; Sharif University of Technology
2013
Abstract
This paper describes latest results obtained on modeling, simulation and controller design of an insect-like Flapping Wing Micro Air Vehicle (FWMAV). Because of the highly nonlinear and time varying nature of insect flight and the inability to find an equilibrium point, linearization of the model without compromising the accuracy is not possible. Therefore, to address the problem of designing a controller capable of stabilizing and controlling the FWMAV around a hovering point, a metaheuristic optimization approach is proposed, based on the time averaging theorem. The results show that a controller, designed using the proposed method, is capable of stabilizing the FWMAV effectively around...
Model reference adaptive impedance control of rehabilitation robots in operational space
, Article Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 24 June 2012 through 27 June 2012 ; June , 2012 , Pages 1698-1703 ; 21551774 (ISSN) ; 9781457711992 (ISBN) ; Behzadipour, S ; Vossoughi, G. R ; Sharif University of Technology
2012
Abstract
A new nonlinear model reference adaptive impedance controller is presented for the control of robot manipulators with uncertainties in model parameters such as friction coefficients. This method provides asymptotic tracking of a reference impedance model for the robot end-effector in operational space which is more sensible for the patient compared to the joint space impedance used in previous works. The model uncertainties such as friction coefficients are compensated using an adaptation law. The asymptotic tracking of the reference impedance model is shown using a Lyapunov function. The tracking performance and friction compensation are also demonstrated through simulation on a...
Wrist-RoboHab: A robot for treatment and evaluation of brain injury patients
, Article IEEE International Conference on Rehabilitation Robotics, 27 June 2011 through 1 July 2011, Zurich ; 2011 ; 19457898 (ISSN) ; 9781424498628 (ISBN) ; Farahmand, F ; Ansari, N. N ; Sharif University of Technology
2011
Abstract
This article, introduces a new haptic robot, wrist-RoboHab, for upper limb rehabilitation of post stroke, orthopedic and Parkinson patients., The robot is designed for hand movement therapy and could be used for both treatment and evaluation purposes in three operational states; forearm supination/pronation, wrist flexion/extension and ulnar/radial deviation. At first the mechanical design and control system are described. Then the results of a case study are demonstrated. Clinical results, showed an improvement in Fugle-Meyer, AROM, power and the biomechanical assessment of the spasticity in a chronic patient. Furthermore, it was approved that the robot can have a good interaction with...
Robust adaptive sliding mode admittance control of exoskeleton rehabilitation robots
, Article Scientia Iranica ; Volume 25, Issue 5B , 2018 , Pages 2628-2642 ; 10263098 (ISSN) ; Sharifi, M ; Vossoughi, Gh ; Sharif University of Technology
Sharif University of Technology
2018
Abstract
A nonlinear robust adaptive sliding mode admittance controller is proposed for exoskeleton rehabilitation robots. The proposed controller has robustness against uncertainties of dynamic parameters using an adaptation law. Furthermore, an adaptive Sliding Mode Control (SMC) scheme is employed in the control law to provide robustness against disturbances (non-parametric uncertainties) with unknown bounds. For this purpose, another adaptation law is defined for the variation of the SMC gain. The proposed scheme is augmented with an admittance control method to provide the patient with compliance during interaction with the rehabilitation robot. The stability of the proposed controller and the...
A Close look at the imitation performance of children with autism and typically developing children using a robotic system
, Article International Journal of Social Robotics ; 2020 ; Meghdari, A ; Mahoor, M. H ; Sharif University of Technology
Springer Science and Business Media B.V
2020
Abstract
Deficit in imitation skills is one of the core symptoms of children with Autism Spectrum Disorder (ASD). In this study, we have tried to look closer at the body gesture imitation performance of 20 participants with autism, i.e. ASD group, and 20 typically developing subjects, i.e. TD group, in a set of robot-child and human-child gross imitation tasks. The results of manual scoring by two specialists indicated that while the TD group showed a significantly better imitation performance than the ASD group during the tasks, both ASD and TD groups performed better in the human-child mode than the robot-child mode in our experimental setup. Next, to introduce an automated imitation assessment...