Naser Mehrabi

Naser Mehrabi
University of Washington Seattle | UW · Department of Mechanical Engineering

PhD

About

35
Publications
7,084
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211
Citations
Introduction
Naser Mehrabi currently works at the Department of Mechanical Engineering, University of Washington Seattle. Naser does research in Bioengineering, Biomedical Engineering and Automotive Engineering. Their current project is 'Altered neuromuscular control in Cerebral Palsy.'

Publications

Publications (35)
Article
Muscle activity during gait can be described by a small set of synergies, weighted groups of muscles, that are theorized to reflect underlying neural control. For people with neurologic injuries, like cerebral palsy or stroke, even fewer synergies are required to explain muscle activity during gait. This reduction in synergies is thought to reflect...
Preprint
Full-text available
Muscle activity during gait can be described by a small set of synergies, weighted groups of muscles, that are often theorized to reflect underlying neural control. For people with neurologic injuries, like in cerebral palsy or stroke, even fewer (e.g., < 5) synergies are required to explain muscle activity during gait. This reduction in synergies...
Article
Full-text available
Recent studies have postulated that the human motor control system recruits groups of muscles through low-dimensional motor commands, or muscle synergies. This scheme simplifies the neural control problem associated with the high-dimensional structure of the neuromuscular system. Several lines of evidence have suggested that neurological injuries,...
Article
Full-text available
The following research approximated how the central nervous system of Paralympic wheelchair athletes resolve kinematic redundancies during upper-limb movements. A multibody biomechanical model of a tetraplegic Paralympic athlete was developed using subject-specific body segment parameters. The angular joint kinematics throughout a specified Paralym...
Article
Full-text available
Functional electrical stimulation (FES) can be used as a neuroprosthesis in which muscles are stimulated by electrical pulses to compensate for the loss of voluntary movement control. Modulating the stimulation intensities to reliably generate movements is a challenging control problem. This paper introduces a feedback controller for a multi-muscle...
Article
Full-text available
Paralympic wheelchair curling is an adapted version of Olympic curling played by individuals with spinal cord injuries, cerebral palsy, multiple sclerosis, and lower extremity amputations. To the best of the authors’ knowledge, there has been no experimental or computational research published regarding the biomechanics of wheelchair curling. Accor...
Article
Full-text available
Static optimization (SO) has been used extensively to solve the muscle redundancy problem in inverse dynamics (ID). The major advantage of this approach over other techniques is the computational efficiency. This study discusses the possibility of applying SO in forward dynamics (FD) musculoskeletal simulations. The proposed approach, which is enti...
Article
Full-text available
This article investigates the application of optimal feedback control to trajectory planning in voluntary human arm movements. A nonlinear model predictive controller (NMPC) with a finite prediction horizon was used as the optimal feedback controller to predict the hand trajectory planning and execution of planar reaching tasks. The NMPC is complet...
Poster
Full-text available
Background: Optimal control theory from engineering has been frequently employed for modelling human motor control of upper-limb movements involving kinematic and dynamic redundancies. To the authors best knowledge, previous investigations have not evaluated the optimization framework for best modelling Paralympic wheelchair sports biomechanics. Me...
Article
Full-text available
This paper presents a new model-based method to define muscle synergies. Unlike the conventional factorization approach, which extracts synergies from electromyographic data, the proposed method employs a biomechanical model and formally defines the synergies as the solution of an optimal control problem. As a result, the number of required synergi...
Article
Full-text available
The goal of this paper is to develop an observer-based disturbance rejection electric power steering (EPS) controller to provide steering assistance and improve the driver’s steering feel. For the purpose of control design, a control-oriented model of a vehicle with a column-assist EPS system is developed and verified against a high-fidelity multib...
Article
Full-text available
We have developed a simple mathematical model of the human motor control system, which can generate periodic motions in a musculoskeletal arm. Our motor control model is based on the idea of a central pattern generator (CPG), in which a small population of neurons generates periodic limb motion. The CPG model produces the motion based on a simple d...
Article
Full-text available
The aim of this work is to develop a comprehensive yet practical driver model to be used in studying driver–vehicle interactions. Drivers interact with their vehicle and the road through the steering wheel. This interaction forms a closed-loop coupled human–machine system, which influences the driver's steering feel and control performance. A hiera...
Conference Paper
A realistic driver model can support the development of new steering technologies by reducing the time-consuming trial and error process of designing products. A neuromuscular driver model, by offering physiologically realistic steering maneuvers can provide insights into the task performance and energy consumption of the driver, including fatigue...
Article
Realistic driver models can play an important role in developing new driver assistance technologies. A realistic driver model can reduce the time-consuming trial-and-error process of designing and testing products, and thereby reduce the vehicle's development time and cost. A realistic model should provide both driver path planning and arm motions...
Conference Paper
Realistic driver models can play an important role in developing new driver assistance technologies. A realistic driver model can reduce the time-consuming trial and error process of designing and testing products, and thereby reduce the vehicle's development time and cost. A realistic model should provide both driver path planning and arm motions...
Conference Paper
Full-text available
The aim of this work is the creation of a realistic driver model to help develop new technologies to aid drivers in the execution of their driving tasks. A realistic driver model can reduce the time-consuming trial and error process of designing products, and thereby reduce the vehicle’s development time and cost. The overall goal of this research...
Article
Full-text available
Nowadays many automobile manufacturers are switching to Electric Power Steering (EPS) for its advantages on performance and cost. In this paper, a mathematical model of a column type EPS system is established, and its state-space expression is constructed. Then three different control methods are implemented and performance, robustness and disturba...
Conference Paper
Full-text available
Optimization of fuzzy active suspension (AS) system in previous works was based on simple basic models in which many effective degrees of freedom are neglected. In this paper, application of virtual prototyping for genetic optimization of AS fuzzy controller is presented. A full-3D vehicle model is developed for this purpose using ADAMS software. M...
Conference Paper
This paper presents a methodological approach for the application of virtual prototyping for the evaluation of the intelligent vehicle active suspension system performance. In this approach, a full passenger car model is developed using ADAMS software. In the modeling approach, not only the suspension components are precisely modeled, but also mode...

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Projects

Projects (2)
Archived project
The overall goal of this project is to study vehicle-driver interactions and to design a model-based electric power steering (EPS) controller that considers the driver's characteristics. This project has three goals: 1) Design a robust model-based EPS controller 2) Develop a biomechanical model of a driver, and study the driver-vehicle interaction 3) Develop an EPS controller that considers the driver's biomechanics