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Mahdieh Babaiasl

Bio: Mahdieh Babaiasl is an academic researcher from Washington State University. The author has contributed to research in topics: Rehabilitation & Robot. The author has an hindex of 5, co-authored 12 publications receiving 162 citations. Previous affiliations of Mahdieh Babaiasl include University College of Engineering & University of Tabriz.

Papers
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Journal ArticleDOI
TL;DR: This article summarizes a review done along with a research on the design, simulation and control of a robot for use in upper-limb rehabilitation after stroke on common terms in rehabilitation of upper limb using robots.
Abstract: Cerebrovascular accident (CVA) or stroke is one of the leading causes of disability and loss of motor function. Millions of people around the world are effected by it each year. Stroke results in disabled arm function. Restoration of arm function is essential to regaining activities of daily living (ADL). Along with traditional rehabilitation methods, robot-aided therapy has emerged in recent years. Robot-aided rehabilitation is more intensive, of longer duration and more repetitive. Using robots, repetitive dull exercises can turn into a more challenging and motivating tasks such as games. Besides, robots can provide a quantitative measure of the rehabilitation progress. This article overviews the terms used in robot-aided upper-limb rehabilitation. It continues by investigating the requirements for rehabilitation robots. Then the most outstanding works in robot-aided upper-limb rehabilitation and their control schemes have been investigated. The clinical outcomes of the built robots are also given that demonstrates the usability of these robots in real-life applications and their acceptance. This article summarizes a review done along with a research on the design, simulation and control of a robot for use in upper-limb rehabilitation after stroke. Implications for Rehabilitation Reviewing common terms in rehabilitation of upper limb using robots Reviewing rehabilitation robots built up to date Reviewing clinical outcomes of the mentioned rehabilitation robots.

135 citations

Proceedings ArticleDOI
01 Oct 2015
TL;DR: In this article, a 3D exoskeleton robot for shoulder joint rehabilitation after stroke is presented, where a sliding mode controller (SMC) is used to track desired trajectories and a new open circular mechanism is proposed for the third joint.
Abstract: In this paper, mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterwards, direct and inverse kinematics, Jacobian matrix, singular points, and dynamics of the robot are presented. In order to study the ability of the robot to follow the optimized trajectories, sliding mode controller (SMC) is proposed to track desired trajectories. In most rehabilitation robots, the attention is on robot's mechanical design, so linear controllers are used to control the robot. However, rehabilitation robots are non-linear in nature and non-linear control methods are required that can reject uncertainties and are resistant to parameter changes. SMC is robust due to its nonlinear nature, and can reject uncertainties and disturbances applying on the system such as patient's hand tremor. The parameters of the SMC are tuned using Genetic Algorithm (GA). The main advantage of this robot compared to similar systems are being low weight, having a special mechanism for third joint that solves the known issues associated with long wiring and closed mechanisms, allowing translational degrees of freedom of the shoulder, ease of use, comfort for the patient and the tracking performance of the controllers.

32 citations

Proceedings ArticleDOI
01 Dec 2013
TL;DR: A new robot for shoulder rehabilitation is introduced which is intended to be used in passive rehabilitation and can efficiently track the desired trajectory and reject constant bounded disturbance input to the system.
Abstract: Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years. Robot-aided arm therapy is more intensive, of longer duration and more repetitive. By using robots repetitive dull exercises can turn into a more challenging and motivating tasks such as games. Besides, robots can provide a quantitative measure of the rehabilitation progress. This paper introduces a new robot for shoulder rehabilitation. The shoulder rehabilitation system (S.R.S) has three degrees of freedom (DOFs) for three rotational degrees of freedom of the shoulder. It also allows the additional translational DOFs of the shoulder to avoid discomfort to the patient. A new open circular mechanism is proposed for the third joint. The mechanical structure is designed and optimized in Solidworks and it is based on the properties of upper limb of an adult person. The proposed control algorithm is inverse dynamics control which is intended to be used in passive rehabilitation. The proposed control can efficiently track the desired trajectory and reject constant bounded disturbance input to the system.

10 citations

Journal ArticleDOI
TL;DR: A model based on the properties of the tissue and the waterjet is proposed to predict the DOC of waterjet in soft tissue with acceptable accuracy, and soft tissue properties are measured using low strain rate compression tests, Split-Hopkinson-Pressure-Bar tests, and fracture toughness tests.
Abstract: The use of waterjet technology is now prevalent in medical applications including surgery, soft tissue resection, bone cutting, waterjet steerable needles, and wound debridement. The depth of the cut (DOC) of a waterjet in soft tissue is an important parameter that should be predicted in these applications. For instance, for waterjet-assisted surgery, selective cutting of tissue layers is a must to avoid damage to deeper tissue layers. For our proposed fracture-directed waterjet steerable needles, predicting the cut depth of the waterjet in soft tissue is important to develop an accurate motion model, as well as control algorithms for this class of steerable needles. To date, most of the proposed models are only valid in the conditions of the experiments and if the soft tissue or the system properties change, the models will become invalid. The model proposed in this paper is formulated to allow for variation in parameters related to both the waterjet geometry and the tissue. In this paper, first the cut depths of waterjet in soft tissue simulants are measured experimentally, and the effect of tissue stiffness, waterjet velocity, and nozzle diameter are studied on DOC. Then, a model based on the properties of the tissue and the waterjet is proposed to predict the DOC of waterjet in soft tissue. In order to verify the model, soft tissue properties (constitutive response and fracture toughness) are measured using low strain rate compression tests, Split-Hopkinson-Pressure-Bar (SHPB) tests, and fracture toughness tests. The results show that the proposed model can predict the DOC of waterjet in soft tissue with acceptable accuracy if the tissue and waterjet properties are known. Graphical Abstract (Left) An overview of the problems of traditional steerable needles and the solutions provided by waterjet steerable needles. (A) Traditional tip-steerable needles and tip-bent needles suffer from poor curvature, especially in soft tissues. (B) Traditional steerable needles are unable to accomplish many bends because the cutting force only results from drastic tissue deformation. (C) The first step for realization of waterjet steerable needles is to understand and model the interaction between waterjet and soft tissues at the tip (predictive model for depth of cut). (D) Then, the equilibrium between shapes cut in the tissue and the straight elastic needle should be understood. (Right) Waterjet steerable needles in which the direction of the tissue fracture is contr olled by waterjet and then the flexible needle follows. The first step for waterjet steerable needle realization is to predict the depth of waterjet cut.

8 citations

Proceedings ArticleDOI
01 Aug 2018
TL;DR: A custom-designed straight nozzle is used to show the feasibility of water-jet steerable needles, whereas future work will focus on steerability using steerable nozzles.
Abstract: Water-jet technology has been used extensively for decades industrially for many applications including mining, plastic, metal, stone, wood, and produce cutting. The use of water-jet in medical applications has been developed more recently and it is used for different applications such as soft tissue resection, bone cutting, wound debridement, and surgery. In this paper, a new application of water-jet technology in the medical field is proposed, namely water-jet cutting at the tip of a needle with a long-term goal of steerable needles. A needle insertion system is designed and built, which has a custom-designed water-jet nozzle attached to a Nitinol needle as its “needle”. Insertions with and without water-jet into 10%, 15% and 20% Poly (styrene-b-ethylene-co-butylene-b-styrene) triblock copolymer (SEBS) tissue-mimicking simulants are performed and the associated force data is measured using a force sensor at the base of the needle. The results of force vs. displacement show that the water-jet reduces the insertion force associated with traditional needles by eliminating tip forces. In this paper, a custom-designed straight nozzle is used to show the feasibility of water-jet steerable needles, whereas future work will focus on steerability using steerable nozzles. Depth of cut as a function of fluid velocity is also measured for different volumetric flow rates. The results show that depth of cut is a linear function of fluid velocity when the width of the water-jet nozzle is sufficiently small and smooth.

8 citations


Cited by
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01 Jan 2016
TL;DR: Biomechanics and motor control of human movement is downloaded so that people can enjoy a good book with a cup of tea in the afternoon instead of juggling with some malicious virus inside their laptop.
Abstract: Thank you very much for downloading biomechanics and motor control of human movement. Maybe you have knowledge that, people have search hundreds times for their favorite books like this biomechanics and motor control of human movement, but end up in infectious downloads. Rather than enjoying a good book with a cup of tea in the afternoon, instead they juggled with some malicious virus inside their laptop.

1,689 citations

Journal ArticleDOI
01 Jan 2017
TL;DR: The necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues, and significant flaws in hardware design and developing control algorithm of exoskeleton to be available in rehabilitation program are covered.
Abstract: The number of disabled individuals due to stroke is increasing day by day and is projected to continue increasing at an alarming rate in United States. But the current amount of health professionals in physical therapy is inadequate to provide rehabilitation to these large groups. From early 1990s, researchers have been trying to develop an easy and feasible solution to this problem and lot of assistive devices both end effector type or exoskeleton type have been developed till to date. However, only a few of them have been commercialized and are being used in rehabilitation of post-stroke patients. Making the use of exoskeletons and other devices to regain lost motor function is rare. Providing therapy to this large group is quite impossible without commercializing of exoskeleton. This has motivated the authors to make a literature review and figure the reasons out that need to be solved to bridge the gap between research prototype to commercial version. This paper covers the necessity of incorporating robotic devices in rehabilitation, a brief description of existing devices particularly upper limb exoskeletons, their hardware limitations, and control issues. Our review shows that there are significant flaws in hardware design and developing control algorithm of exoskeletons to be available in rehabilitation program.

69 citations

Journal ArticleDOI
TL;DR: The types of rehabilitation treatments and robot classifications are explained and a few examples of well-known rehabilitation robots will be explained in terms of their efficiency and controlling mechanisms.
Abstract: Rehabilitation is the process of treating post-stroke consequences. Impaired limbs are considered the common outcomes of stroke, which require a professional therapist to rehabilitate the impaired limbs and restore fully or partially its function. Due to the shortage in the number of therapists and other considerations, researchers have been working on developing robots that have the ability to perform the rehabilitation process. During the last two decades, different robots were invented to help in rehabilitation procedures. This paper explains the types of rehabilitation treatments and robot classifications. In addition, a few examples of well-known rehabilitation robots will be explained in terms of their efficiency and controlling mechanisms.

59 citations

Journal ArticleDOI
TL;DR: A comprehensive review of the existing robotic shoulder rehabilitation orthoses, with the emphasis on the assisted DOFs for shoulder motion, is presented.
Abstract: Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is the most common type of stroke-induced disability. Rehabilitation robots can provide customized, prolonged, intensive, and repetitive training sessions for patients with neurological impairments. In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements. This is a challenging task to achieve for one of the most biomechanically complex joints of human body, i.e., the shoulder. Therefore, specific considerations have been made in the development of various existing robotic shoulder rehabilitation orthoses. Different types of actuation, degrees of freedom (DOFs), and control strategies have been utilized for the development of these shoulder rehabilitation orthoses. This paper presents a comprehensive review of these shoulder rehabilitation orthoses. Recent advancements in the mechanism design, their advantages and disadvantages, overview of hardware, actuation system, and power transmission are discussed in detail with the emphasis on the assisted DOFs for shoulder motion. A brief overview of control techniques and clinical studies conducted with the developed robotic shoulder orthoses is also presented. Finally, current challenges and directions of future development for robotic shoulder rehabilitation orthoses are provided at the end of this paper.

51 citations