Modar Hassan

Modar Hassan
University of Tsukuba · Intelligent Interactive Systems

Dr. Eng, M. Med. Sci

About

28
Publications
1,932
Reads
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237
Citations
Citations since 2017
20 Research Items
203 Citations
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20172018201920202021202220230102030405060
20172018201920202021202220230102030405060

Publications

Publications (28)
Article
Echocardiography probe handling during a cardiac scan physically strains the cardiologist. Scanning multiple patients during one working day may lead to musculoskeletal disorders. In addition, during pandemic situations contact examination should be avoided. In this paper, we proposed the design of a probe manipulation robot to tackle these issues....
Conference Paper
During robot-assisted neurorehabilitation, the therapy protocol and the tuning of the robot assist parameters depend on the operator’s or the therapist’s experience, and the ideal intervention methods remain unknown. A major obstacle to investigating the feasibility of rehabilitation protocols and optimal assist parameters is the difficulty of cond...
Conference Paper
Echocardiography probe manipulation is a strenuous task. During a procedure, the operator must hold the probe, extend their arm, bend their elbow, and monitor the resulting image simultaneously, which causes strain and introduces variability to the measurement. We propose a teleoperated probe manipulation robot to reduce the burden of handling the...
Conference Paper
The effects of including lateral compliance or a toe joint in transtibial prostheses have been studied independently, showing the potential to improve the gait biomechanics in terms of stability, walking speed, and metabolic cost. However, both of these features are not commonly found in commercial prostheses despite their importance in human gait....
Preprint
Full-text available
We present a personal mobility device for lower-body impaired users through a light-weighted exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the trunk on sit-to-stand and stand-to-sit (STS) transitions by a single gas spring as an energy storage unit. We p...
Article
In this article, we present a personal mobility device for lower-body impaired users through a lightweight exoskeleton on wheels. On its core, a novel passive exoskeleton provides postural transition leveraging natural body postures with support to the trunk on sit-to-stand/stand-to-sit (STS) transitions by a single gas spring as an energy storage...
Article
Full-text available
We present an investigation on game controller technology to enable para-esports. First, we present a review of the related literature on the information capacity of the human motor systems in pointing tasks and the evaluation of gaming controllers as pointing devices. Then we propose design criteria for controllers to enable para-esports in terms...
Article
Full-text available
We present a method for fabricating passive finger prostheses with soft fingertips by utilizing 3D scanning and 3D printing with flexible filament. The proposed method uses multi-process printing at varying infill levels to provide soft fingertips to emulate biological fingers. The proposed method also enables rapid prototyping of finger prostheses...
Article
Even with proper lifting techniques, fatigue can cause many debilitating injuries. Exoskeleton lumbar support devices help prevent these injuries for workers and improve their overall performance. In this article, we present a study on the performance of a semiactive lower back support exoskeleton. The device is powered by a spring–damper mechanism...
Article
The adoption of prosthetic hands by preschool children with upper limb loss have many benefits. However, current child hand prostheses are often too expensive, burdensome and difficult to wear and use, which can lead them to be rejected. In this study, we attempt to address these issues with a novel hand prosthesis design for very young children wi...
Article
Full-text available
We present a prosthetic hand capable of generic grasp and pick up tasks, with an additive-removable hook that provides additional support points for easy and stable grip on a rice bowl. Tests with healthy participants and a child with congenital hand deficiency demonstrate the usability of the proposed design.
Conference Paper
Wearable robots suffer from issues of usability, cost-performance, and battery life. These drawbacks hinder the development of their market and their implementation in healthcare and industry. Back support exoskeletons in particular rely heavily on mechanical storing of energy but are still mostly using traditional mechanical elements and actuators...
Conference Paper
In this paper, we developed a wearable kinesthetic I/O system, which is able to share wrist joint stiffness by measuring and intervening in four muscle activities on the forearm simultaneously through the same electrodes. This achieves interactive peg rehabilitation by sharing muscle activities among patients and therapists. Through the performance...
Conference Paper
For an early intervention with children, a prosthetic hand that is affordable, light-weight, and easy to wear and use is vital. Commercial prosthetic hands for children are often too expensive, burdensome and difficult to use. In this research, we attempt to address these issues with a novel design for a prosthetic hand for children. The proposed p...
Conference Paper
Herein we present the development of a novel Ankle Foot Orthosis for gait support of people with foot-drop symptoms. The developed AFO uses an elastic link mechanism to brake the ankle joint during initial contact, thus mitigating foot-slap, and an integrated energy store-and-release mechanism to support toe lift in the swing phase, thus mitigating...
Article
Full-text available
This paper proposes a novel semi-active ankle-foot orthosis (AFO) called SmartAFO equipped with an elastic link mechanism. The design of the device is based on the understanding of gait biomechanics for gait assistance against paralysis and other gait abnormalities affecting the ankle joint function. The elastic link at the core of the developed AF...
Article
Herein, we present a study on exoskeleton robot control based on inter-limb locomotor synergies using a robot control method developed to target hemiparesis. The robot control is based on inter-limb locomotor synergies and kinesiological information from the non-paretic leg and a walking aid cane to generate motion patterns for the assisted leg. Th...
Article
Herein we present the research and development in Smart Mechanics; a project affiliated by NEDO in the University of Tsukuba. We are developing new robotic joints using a combination of magnetorheological fluids and springs. The developed semi-passive components have the ability to change their apparent stiffness and viscosity; in other words, they...
Conference Paper
We present the development and basic evaluation of a new wearable device for estimation of ankle joint impedance called Tarsusmeter. The device is intended for application with persons with locomotion disabilities to quantify the ankle joint impedance, especially in cases of spasticity where the joint's impedance is expected to differ significantly...
Article
In this paper we present an investigation on body synergy analysis during robot assisted locomotion. We compare kinematic and muscle synergies of three hemiparetic persons walking with a wearable exoskeleton robot with two different control systems. The investigation reveals difference between the two systems, which can be used as a holistic criter...
Article
In this paper, we present an investigation of motor imagery (MI) based brain-computer interface (BCI) performance with visual and vibrotactile feedback in participants with different MI abilities. We tested the MI ability of 18 young adults and performed training sessions with 4 of them. The outcome showed a positive effect of the addition for vibr...
Article
In this paper we present the first clinical application of a newly developed control method for wearable lower limbs exoskeleton robots. The method we developed is one based on using body joint synergetic effect, with a walking aid cane, to estimate and provide assist on the affected limb(s). The outcome of hemiplegic persons walking with the syste...
Article
In this paper we introduce a wearable sensory system for motion intention estimation and control of exoskeleton robot. The system comprises wearable inertial motion sensors and shoe-embedded force sensors. We utilize an instrumented cane as a part of the interface between the user and the robot. The instrumented cane is used together with body worn...
Article
Full-text available
In this research we introduce a wearable sensory system for motion intention estimation and control of exoskeleton robot. The system comprises wearable inertial motion sensors and shoe-embedded force sensors. The system utilizes an instrumented cane as a part of the interface between the user and the robot. The cane reflects the motion of upper lim...
Article
We developed a new exoskeleton robot control system based on upper-lower limb synergies. The system is implemented with a sensorized cane, wearable sensors and single leg version of Robot Suit HAL. By using the cane we capture the arm motion, while the cane is still supportive for balance and perception of the environment. The system provides addit...
Conference Paper
Several methods have been investigated and realized for operation of exoskeleton robots for assistance of human gait. These systems perform motion intention estimation using the bioelectrical signals of muscle activation, body gestures and kinesiological information, or a mixed combination in a hybrid system. For motion intention estimation of the...

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