The aim of human lower limb rehabilitation robot is to regain the ability of motion and to strengthen the weak muscles. This paper proposes the design of a force-position control for a four Degree Of Freedom (4-DOF) lower limb wearable rehabilitation robot. This robot consists of a hip, knee and ankle joints to enable the patient for motion and turn in both directions. The joints are actuated by Pneumatic Muscles Actuators (PMAs). The PMAs have very great potential in medical applications because the similarity to biological muscles. Force-Position control incorporating a Takagi-Sugeno-Kang- three- Proportional-Derivative like Fuzzy Logic (TSK-3-PD) Controllers for position control and three-Proportional (3-P) controllers for force control. They are designed and simulated to improve the desired joints position specifications such as minimum overshoot, minimum oscillation, minimum steady state error, and disturbance rejection during tracking the desired position medical trajectory. Ant Colony Optimization (ACO) is used to tune the gains of position and force parts of the Force-Position controllers to get the desired position trajectory according to the required specification. A comparison between the force-position controllers tuned manually and tuned by ACO shows an enhancement in the results of the second type as compared with the first one with an average of 39%.
Background: Coated archwires have been introduced to improve esthetics during orthodontic treatment. Theaim of the present study was to evaluate and compare the load–deflection characteristics and force levels of six brands of coated nickel titanium orthodontic archwires using palatal and gingival deflection. Materials and methods: Ten round wires (0.016 inch) and ten rectangular wires (0.019x0.025 inch) were obtained from each of six brands (G&H, Opal, Ortho Technology, Dany, Hubit and Astar Companies). The load-deflection properties of these archwires were evaluated by the modified bending test usinga readymade dental arch model in both palatal and gingival directions at 37°C temperature using a universal material testing machi
... Show MoreObjective: This research aimed to study the relation between maximal bite force (MBF) and maximum mouth opening among 12-year-old school children. Methods: In this cross-sectional study, a total of 400 children aged 12 years (194 boys and 206 girls) were examined. The MBF for the right and left side, as well as the anterior region, were evaluated for all children. The MMO was measured using an electronic digital caliper. To analyze the data path analysis method was used. Results: Boys showed a higher MMO of 48.797 ± 6.500 than girls (46.710 ± 5.926 mm). The MMO increased with increasing MBF, with significant differences between females and males. Conclusion: The MMO was higher in boys than in girls. Gender plays a significant ro
... Show MoreAutorías: Ismael Saleem Abed, Imad Kadhim Khlaif, Salah Mahmood Salman. Localización: Revista iberoamericana de psicología del ejercicio y el deporte. Nº. 5, 2022. Artículo de Revista en Dialnet.
Abstract in English The aim of this study is to identify the effectiveness of rehabilitation exercises in conjunction with aquatic therapy for those suffering from sacroiliitis in football players. The researcher used the experimental approach, using the experimental design (pre-measurement, post-measurement). Similar to the objectives and procedures of the research, the researcher assumed the following: the existence of significant differences. Statistics between pre- and post-measurements in variables in favor of post-measurement for the following variables (degree of pain and level of balance). The experimental approach was used with a pre- and post-measurement design on one group of football players with sacroiliitis, nu
... Show MoreThe present study was conducted with a view to determine whether focal laser therapy result in visual recovery and regression of macular edema in patients with non proliferative diabetic retinopathy and maculopathy ,and whether combined focal and scatter laser therapy in patients with proliferative diabetic retinopathy and maculopathy results in visual recovery ,regression of macular edema and regression of the risk factors. In the present work, a frequency doubled Nd: YAG laser was used for the treatment of diabetic retinopathy. The study evaluates 41 eyes of 33 diabetic patients both with Insulin Dependent Diabetes Mellitus IDDM, (n=16) and Non Insulin Dependent Diabetes Mellitus NIDDM, (n=17) with diabetic retinopathy divided into two
... Show MoreIn the early 90s military operations and United Nations Special Commission “UNSCOM” teams have been destroyed the past Iraqi chemical program. Both operations led an extensive number of scattered remnants of contaminated areas. The quantities of hazardous materials, incomplete destructed materials, and toxic chemicals were sealed in two bunkers. Deficiency of appropriate destruction technology led to spreading the contamination around the storage site. This paper aims to introduce the environmental detection of the contamination in the storage site area using geospatial analysis technique. The environmental contamination level of nutrients and major ions such as sulphate (SO4), potassium (K), sodium (Na), magnesi
... Show MoreThe present study aimed to identify the exact location and its relation to cognitive
method (risk_caution) to university students. The sample consisted of (300) students who
were chosen randomly and equally. The study results indicated that students possess an
internal exact location and they also use risk cognitive method. The study also indicated that
there is a prophesies which is an exact location for others to reach to caution cognitive
method. Depending on these results, the study recommended to benefit from the results of the
study variables and from the measurement of the exact location and method of cognitive
(risk_caution) to identify male and female students and especially by consulting units at
college
Eye loss may be caused as a result of eye trauma, accidents, or malignant tumors, which leads the patient to undergo surgery to remove the damaged parts. This research examines the potential of computer vision represented by Structure from Motion (SfM) photogrammetry in fabricating the orbital prosthesis as a noninvasive and low-cost technique. A low-cost camera was used to collect the data towards extracting the dense 3D data of the patient facial features following Structure from Motion-Multi View Stereo (SfM-MVS) algorithms. To restore the defective orbital, a Reverse Engineering (RE) based approach has been applied using the similarity RE algorithms based on the opposite healthy eye to rehabilitate the defected orbital precisely
... Show MoreObjectives: to assess nurses' knowledge toward infection control measures for hepatitis a virus in hemodialysis
units and to detemine the relationship between nurses' knowledge and their demographical characteristics.
%eihs:::°mg:rA5th:e;:#tt£:eoscTodbyerw9¥,C22;5];e.d°utathem°dialysisunitsofBaghdadTeachingHospha|sstated
A non-probability `tturposive" sample of (51) nurses, who were working in hemodialysis units were selected
from Baghdad teaching hosphals. The data were collected through the use of constructed questionnaire, which
consists of two parts (I) Demographic data fom that consists of 10 items and (2) Nurses' knowledge form that
consists of 6 sections contain 79 items, by means of direct interview techniq