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Design and manufacturing of a wearable portable robotic hand controlled by sliding mode controller

M Moghaddam
Journal PapersModares Mechanical Engineering , Volume 21 , Issue 4, 2021 March 10, {Pages 273-284 }

Abstract

Original Research The hands are one of the most complex moveable organs of the human body. Some reasons such as stroke can cause disorder in hand functions. These patients face problems doing their daily routines. The communication between humans and robots leads to the invention of devices for improving the patient’s ability. This paper aims to design and manufacture a prototype of a portable wearable robot. This robot has been designed to facilitate the daily routines of patients who are not able to extend their hands. Researchers are facing challenges like high cost due to numerous actuators and these sensors are used to control the system. As the number of elements used to build the device increase, the ultimate weight of the device,

3D distributed modeling of trolling-mode AFM during 2D manipulation of a spherical cell

Seyede Zahra Mohammadi, Hossein Nejat Pishkenari, Majid Mohammadi Moghaddam
Journal PapersJournal of Nanoparticle Research , Volume 23 , Issue 4, 2021 April , {Pages 20-Jan }

Abstract

In this study, a general 3D distributed modeling of Trolling-Mode AFM (TR-AFM) as a nanorobot is presented to analyze the 2D manipulation process of a spherical cell. To this aim, the analysis is categorized into 3 sections. In the first section, 6 deformations of TR-AFM are taken into account, and the standard model of the system is obtained. Moreover, the system is simulated in ANSYS Workbench. The results of modal and transient analyses of the system from both analytical and software methods reveal high agreement, which confirms the accuracy of the presented analytical model. In the second section, by utilizing the 3D derived model, displacement of a spherical yeast single cell (W303) with 2 ?m radius is simulated, and the result is veri

Nonlinear time delay estimation based model reference adaptive impedance control for an upper-limb human-robot interaction

J Omrani, MM Moghaddam
Journal Papers , , {Pages }

Abstract

Controlled manipulation of a bio-particle using trolling mode atomic force microscope: a simulation study

SZ Mohammadi, HN Pishkenari, MM Moghaddam, M Sajjadi
Journal Papers , , {Pages }

Abstract

Personalized design of ankle-foot prosthesis based on computer modeling of amputee locomotion

Mohammad Gharini, Majid Mohammadi Moghaddam, Farzam Farahmand
Journal PapersAssistive Technology , Volume 32 , Issue 2, 2020 March 3, {Pages 100-108 }

Abstract

This study proposes a computer modeling approach to find the optimal damping coefficients of the viscoelastic ankle-foot prostheses for each specific amputee. A two-dimensional locomotion model was developed for a transtibial amputee and personalized using his body measures and the reference gait pattern of an equivalent able-bodied subject. By employing the forward dynamic simulation, the amputee’s locomotion was synthesized for different prosthetic settings to find the optimal damping coefficients, based on a kinematics and a total work cost function. Results indicated a good agreement between the model predictions and the experimental observations.

JOINT FUNCTION CONTROL METHOD FOR ROBOTIC GAIT TRAINING OF STROKE PATIENTS

Abbas Ehsani-Seresht, Majid M Moghaddam, Mohammad R Hadian
Journal PapersInternational Journal of Robotics and Automation , Volume 35 , Issue 3, 2020 January , {Pages }

Abstract

International Journal of Robotics and Automation, Vol. 35, No. 3, 2020 JOINT FUNCTION CONTROL METHOD FOR ROBOTIC GAIT TRAINING OF STROKE PATIENTS Abbas Ehsani-Seresht,∗ Majid M. Moghaddam,∗∗ and Mohammad R. Hadian∗∗∗ Abstract This paper introduces the joint function control method (JFCM) of rehabilitation robots that allows the patients to participate in gait rehabilitation exercises actively. The JFCM is based on the studies that show that the function of the hip and the knee joints of humans during different phases of gait is similar to that of spring– damper elements. Therefore, the gait disorders of stroke patients are interpreted as improper spring–damper like function of the joints in some phases of gait. The JFCM add

A Novel Adjustable Damper Design for a Hybrid Passive Ankle Prosthesis

Amirreza Naseri, Majid Mohammadi Moghaddam, Mohammad Gharini, Maziar Ahmad Sharbafi
Journal PapersActuators , Volume 9 , Issue 3, 2020 September , {Pages 74 }

Abstract

Specifications of actuators when interacting with biological systems such as the human body are entirely different from those used in industrial machines or robots. One important instance of such applications is assistive devices and prostheses. Among various approaches in designing prostheses, recently, semi-active systems attracted the interest of researchers. Even more, some commercial systems benefit from designs such as implementing an adjustable damper in the ankle prosthesis to increase range of motion. The main reason for adding damper is to assist amputees’ walking locomotion on slopes (especially downward). In this paper, we introduce a hydraulic damper design for use in the transtibial prosthetic foot. In the fabricated hydraul

A novel zero delay low pass filter: Application to precision positioning systems

Milad Alizadeh, Majid M Moghaddam, S Hassan HosseinNia
Journal PapersISA transactions , 2020 November 20, {Pages }

Abstract

In this paper, a nonlinear low-pass filter is presented, which produces significantly less phase lag than linear and some nonlinear filters. The proposed filter employs a saturation function to enhance the linear filter’s performance. The gain and phase responses of the filter are derived analytically using a modified describing function, and the efficiency of the proposed method is examined through numerical examples. Based on the required cut-off frequency and noise to signal ratio, a rule of thumb is given to set the filter’s parameters. In the frequency domain, simulation results show that the filter’s gain response is near 0 dB in the pass-band, and the noise attenuation rate is− 40 dB∕ dec, while the phase lag is three times

Analytical model of hand phalanges desired trajectory for rehabilitation and design a sliding mode controller based on this model

AR Abbasi Moshaei, M Mohammadi Moghaddam, V Dehghan Neistanak
Journal Papers , , {Pages }

Abstract

Dynamical modeling of manipulation process in Trolling-Mode AFM

Seyedeh Zahra Mohammadi, Majid Moghaddam, Hossein Nejat Pishkenari
Journal PapersUltramicroscopy , Volume 197 , 2019 February 1, {Pages 83-94 }

Abstract

Dynamical lumped modeling of Trolling-mode AFM in manipulation of bio-samples is presented. The combination of high accuracy and compatibility with physiological conditions makes AFM a unique tool for studying biological materials in liquid medium. However, AFM microcantilever suffers from severe sensitivity degradation and noise intensification while operating in liquid; the large hydrodynamic drag between the cantilever and the surrounding liquid overwhelms the tip-sample interaction forces that are important in controlling the process. Therefore, an appropriate nanoneedle should be long enough to keep the cantilever out of liquid medium and short enough to be able to transmit the required force to push nanoparticle. Nonetheless, a long n

Analytical Model of Hand Phalanges Desired Trajectory for Rehabilitation and Design a Sliding Mode Controller Based on This Model

AR Abbasi Moshaei, M Mohammadi Moghaddam, Vahid Dehghan Neistanak
Journal PapersModares Mechanical Engineering , Volume 20 , Issue 1, 2019 December 10, {Pages 129-137 }

Abstract

Modeling the movement of different parts of the body has been studied a lot in recent years. Body movement models such as fingers movements are good guides for designing different robots. Also, motion disability is one of the common diseases that have a great impact on patients' life quality. To treat the rupture of finger tendon, individual rehearsal rehabilitation exercises for each phalanx is required. In order to achieve this aim and take control of each phalanx movement, the mathematical model of the desired trajectory for each joint is necessary. The angle of each joint is measured with the help of a gyro sensor installed on a novel wearable rehabilitation robot proposed in this paper. The mathematical models of the phalanges motions

Analytical Model of each Phalanx Desired Trajectory for Rehabilitation, Treatment, and Enhancement of Peripheral Nerves

Alireza Abbasi Moshaei, Majid M Moghaddam, Vahid Dehghan Neistanak
Journal PapersModares Mechanical Engineering , Volume 20 , Issue 1, 2019 December 10, {Pages 0-0 }

Abstract

This open-access journal is published under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License which permits Share (copy and redistribute the material in any medium or format) and Adapt (remix, transform, and build upon the material) under the Attribution-NonCommercial terms.

Design of a Hand Tendon Injury Rehabilitation System Using a DOF Constrainer Mechanism

Vahid Dehghan Neistanak, Majid M Moghaddam, AR Abbasi Moshaei
Journal PapersModares Mechanical Engineering , Volume 20 , Issue 1, 2019 December 10, {Pages 12-Jan }

Abstract

Rehabilitation is a process in which the patient achieves his/her lost ability and individual independence in performing their daily activities using numerous facilities and equipment. About 30% of human life-threatening injuries are related to their hand. The human hand, as one of the most important organs of the human body in interacting with the environment, has the greatest role in maintaining individual independence in daily work. In this article, a rehabilitation system has been designed for hand tendon injury using observations of traditional rehabilitation of hand injuries after surgery and recovery period, and through a mechanism based on structures restricting undesirable degrees of freedom. The mechanism used in this design has b

Automated Lane Change Decision Making using Deep Reinforcement Learning in Dynamic and Uncertain Highway Environment

Ali Alizadeh, Majid Moghadam, Yunus Bicer, Nazim Kemal Ure, Ugur Yavas, Can Kurtulus
Journal PapersarXiv preprint arXiv:1909.11538 , 2019 September 18, {Pages }

Abstract

Autonomous lane changing is a critical feature for advanced autonomous driving systems, that involves several challenges such as uncertainty in other driver's behaviors and the trade-off between safety and agility. In this work, we develop a novel simulation environment that emulates these challenges and train a deep reinforcement learning agent that yields consistent performance in a variety of dynamic and uncertain traffic scenarios. Results show that the proposed data-driven approach performs significantly better in noisy environments compared to methods that rely solely on heuristics.

Fuzzy sliding mode control of a wearable rehabilitation robot for wrist and finger

Alireza Abbasi Moshaii, Majid Mohammadi Moghaddam, Vahid Dehghan Niestanak
Journal PapersIndustrial Robot: the international journal of robotics research and application , 2019 August 14, {Pages }

Abstract

PurposeThe purpose of this paper is to introduce a new design for a finger and wrist rehabilitation robot. Furthermore, a fuzzy sliding mode controller has been designed to control the system.Design/methodology/approachFollowing an introduction regarding the hand rehabilitation, this paper discusses the conceptual and detailed design of a novel wrist and finger rehabilitation robot. The robot provides the possibility of rehabilitating each phalanx individually which is very important in the finger rehabilitation process. Moreover, due to the model uncertainties, disturbances and chattering in the system, a fuzzy sliding mode controller design method is proposed for the robot.FindingsWith the novel design for moving the DOFs of the system, t

EMG-blased Fatigue Adaptation in Admittance Control of Hand Rehabilitation

Maryam Mashayekhi, Majid M Moghaddam
Conference Papers2019 7th International Conference on Robotics and Mechatronics (ICRoM) , 2019 November 20, {Pages 487-491 }

Abstract

Prolonged muscle activity affects the neuromuscular system's ability to produce maximum force and will cause fatigue in the muscle. Rehabilitation exercises must contain certain repetitive hand movements with high intensity. Therefore, rehabilitation therapy with constant task difficulty levels may cause damage to the post-stroke patient. Thus, the problem is to design a system that is adaptable based on the user's condition. Using electromyography (EMG) signals to make better communication with rehabilitation robots has been long established. A modifying controller, according to these signals ensures a proper and safe exercise for the operator. An admittance controller with an adapting strategy utilizing a machine learning algorithm on a 2

Conceptual Design of an Active Body Weight Support System Using a Linear Series Elastic Actuator

Amirmuhammad Mirzaee, Majid Mohammadi Moghadam, Aliakbar Mirzaee Saba
Conference Papers2019 7th International Conference on Robotics and Mechatronics (ICRoM) , 2019 November 20, {Pages 80-87 }

Abstract

In this paper, a novel body weight support (BWS) system comprises of a series elastic actuator to provide unloading force against gravity, has been presented. It leads to establishing a regular gait training and enhancing safety for those who suffer either spinal cord injury or disabilities after a stroke that use this kind of rehabilitation systems to regain their abilities. Series elastic actuator compensates force fluctuations, by controlling the cable force accurately and precisely. By considering precise cable force control and power consumption, this system can outperform similar exiting systems. Simulation results are presented to illustrate the performance of the system. We showed that this mechanism could precisely control cable fo

A hierarchical architecture for sequential decision-making in autonomous driving using deep reinforcement learning

Majid Moghadam, Gabriel Hugh Elkaim
Journal PapersarXiv preprint arXiv:1906.08464 , 2019 June 20, {Pages }

Abstract

Tactical decision making is a critical feature for advanced driving systems, that incorporates several challenges such as complexity of the uncertain environment and reliability of the autonomous system. In this work, we develop a multi-modal architecture that includes the environmental modeling of ego surrounding and train a deep reinforcement learning (DRL) agent that yields consistent performance in stochastic highway driving scenarios. To this end, we feed the occupancy grid of the ego surrounding into the DRL agent and obtain the high-level sequential commands (ie lane change) to send them to lower-level controllers. We will show that dividing the autonomous driving problem into a multi-layer control architecture enables us to leverage

A Modified Approach to Sensitivity Amplification Control to Handle Uncertainties

H Shahi, A Yousefi-Koma, MM Moghaddam
Journal PapersIranian Journal of Science and Technology, Transactions of Mechanical Engineering , 2018 January , {Pages 17-Jan }

Abstract

Recently, different exoskeleton devices have been developed to provide required mechanical power in augmentation and rehabilitation applications. The design of an appropriate control is one of the challenges in the field of exoskeletons which have attracted extensive attention in the past years. One of the noticeable approaches proposed for the control of augmentation exoskeletons is sensitivity amplification control (SAC), which presents remarkable merits such as no need for interaction force measurement. However, its performance is highly susceptible to the presence of an uncertainty, due to its high model dependency. In this paper, an intermediary control approach as a potential solution is presented to preserve the control

Workspace Measurement and Calibration of a Parallel RCM Craniotomy Surgery Robot

Mohammadreza Dehghani, Majid M Moghaddam, Pourya Torabi
Journal PapersIOP Conference Series: Materials Science and Engineering , Volume 417 , Issue 1, 2018 September , {Pages 012012 }

Abstract

This paper aims to improve the accuracy of a three degree-of-freedom surgery robot by means of calibration. The robot consists of a parallel Remote Center of Motion (RCM) mechanism which is designed for craniotomy surgery. The calibration method is based on the forward kinematic approach, which uses a nonlinear optimization model. The Levenberg-Marquaridt method is used as the optimization technique and the loss function is defined by the least square definition. Sixty experimental data are used for the optimization process, the data are obtained using a Leica total station camera to measure the end-effector position, another sixty measurement data are also obtained to use in the evaluation process. Seven kinematic parameters are considered

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