A5016263688- Soft Robotics and Applications
- Stroke Rehabilitation and Recovery
- Cerebral Palsy and Movement Disorders
- Robotic Mechanisms and Dynamics
- Balance, Gait, and Falls Prevention
- Parkinson's Disease Mechanisms and Treatments
- Teleoperation and Haptic Systems
- Robot Manipulation and Learning
- Botulinum Toxin and Related Neurological Disorders
- Muscle activation and electromyography studies
- Surgical Simulation and Training
- Advanced Surface Polishing Techniques
- Prosthetics and Rehabilitation Robotics
- Dynamics and Control of Mechanical Systems
- Context-Aware Activity Recognition Systems
- Non-Invasive Vital Sign Monitoring
- Hand Gesture Recognition Systems
- Motor Control and Adaptation
- Vibration Control and Rheological Fluids
- Robotic Path Planning Algorithms
- Structural Analysis and Optimization
- Vibration and Dynamic Analysis
- Musculoskeletal pain and rehabilitation
- Structural Engineering and Vibration Analysis
- Human Pose and Action Recognition
Sharif University of Technology
2015-2024
Iranian Center for Quantum Technologies
2017-2023
Iran University of Medical Sciences
2020
Urmia University of Technology
2020
Cytoskeleton (United States)
2019
Tehran University of Medical Sciences
2011-2014
University of Alberta
2006-2011
University of Waterloo
2002-2005
The stiffness of cable-based robots is studied in this paper. Since antagonistic forces are essential for the operation manipulators, their effects on should be considered design, control, and trajectory planning these manipulators. This paper studies issue derives conditions under which a manipulator may become unstable because forces. For purpose, new approach introduced to calculate total matrix. shows that, with all cables tension, root instability rotational caused by internal cable A...
Games and their use in rehabilitation have formed a new rapidly growing area of research. A critical hardware component programs is the input device that measures patients' movements. After Microsoft released Kinect, extensive research has been initiated on its applications as an for rehabilitation. However, since most works this rely qualitative determination joints' movements rather than accurate quantitative one, detailed analysis hindered. The aim article to determine accuracy Kinect's...
Performance indices provide quantitative measures for the quality of motion, and therefore, assist in analyzing monitoring patients’ progress. Measurement performance requires costly devices, such as motion capture systems. Recent developments sensors game controllers, Microsoft Kinect, have motivated many researchers to develop affordable systems measurement applicable home clinical care. In this work, capability Kinect finding was assessed by intra-session inter-session test–retest...
The major application of stochastic intelligent methods in optimisation, control and management complex systems is transparent. Many researchers try to develop collective techniques hybrid meta-heuristic models for improving the reliability such optimisation algorithms. In this paper, a new method that simulation 'the great salmon run' (TGSR) developed. This provides powerful tool optimising multi-dimensional multi-modal problems. For demonstrating high robustness acceptable quality TGSR, it...
In this paper, the trajectory planning of high-speed cable-based parallel manipulators is studied for a given geometrical path. The time-optimal trajectory-planning technique adapted these in which cable forces must be maintained tensile. This condition represented as constraint on acceleration end-effector along results are evaluated experimentally DeltaBot, manipulator developed at University Waterloo. performance examined both moving time and computational generation.
A systematic approach is proposed to determine the tensionable workspace of multibody cable-driven mechanisms. The method also capable finding analytical descriptions for boundaries regions any number redundant cables used. presented builds upon available methods conventional (rigid body) mechanisms, i.e., null space analysis and supporting/separating hyperplanes. It extends these case a driven by cables. For this purpose, notion generalized forces Lagrange’s used eliminate constraint...
In this paper, a nonlinear model reference adaptive impedance controller is proposed and tested. The provides asymptotic tracking of for the robot end-effector in Cartesian coordinates applicable to rehabilitation robotics or any other human–robot interactions such as haptic systems. uses parameters desired stable which target robot's end-effector. It also considers uncertainties robot. proven using Lyapunov stability theorem. Moreover, adaptation law joint space reducing complexity its...
Improper planning and management of heavy lifts is a major cause cost overruns, delays, and, more importantly, safety incidents in industrial megaprojects. Automated lift widely acknowledged as an effective solution. This research presents automated path system for mobile cranes leveraging space discretization obstacle-avoidance technique from robotics. The proposed method treats the lifted object three-degree-of-freedom convex traveling through surrounding environment [a given...
Abstract Background An effective master robot for haptic tele‐surgery applications needs to provide a solution the inversed movements of surgical tool, in addition sufficient workspace and manipulability, with minimal moving inertia. Method A novel 4 + 1‐DOF mechanism was proposed, based on triple parallelogram linkage, which provided Remote Center Motion (RCM) at back user's hand. The kinematics analyzed prototype fabricated evaluated by experimental tests. Results With RCM hand actuators...
Background Although anxiety is a common non-motor outcome of Parkinson's disease (PD) affecting 40% patients, little attention has been paid so far to its effects on balance impairment and postural control. Improvement control through focusing the environment (i.e. external focus) reported, but role anxiety, as confounding variable, remains unclear. Objectives This study aimed investigate influence attentional focus instruction standing PD patients. Methods Thirty-four patients with (17 high...
A non‐linear robust adaptive bilateral impedance controller is proposed to provide the absolute stability of multi‐DOF teleoperation systems with communication delays, in addition force and position tracking performance. The realises two desired (or reference) models for master slave robots using a new version model reference control scheme. Using criterion, robustness condition system against delays obtained, resulting suitable adjustments parameter values models. In addition, Lyapunov...
The goal of this paper is to introduce the design and testing a new ultra-high-speed robot. This robot able reach speeds over 120 cycles per minute for pick-and-place applications. A parallel manipulator was chosen because its low inertia high stiffness. further reduced by replacing some rigid links with cables. use cables requires method keeping in tension, which provided central compression member between moving fixed plate. keeps all tension but does not interfere robot's workspace....