Brahim Brahmi
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View article: Disturbance-Resilient Flatness-Based Control for End-Effector Rehabilitation Robotics
Disturbance-Resilient Flatness-Based Control for End-Effector Rehabilitation Robotics Open
Robotic-assisted therapy is an increasingly vital approach for upper-limb rehabilitation, offering consistent, high-intensity training critical to neuroplastic recovery. However, current control strategies often lack robustness against unc…
View article: Description of horses in the treatises of the ancient Arab linguists
Description of horses in the treatises of the ancient Arab linguists Open
This entry aims to show the interest of the ancient Arab linguists in describing describing horses and their epithets, and the names of the purebred Arabian horse and its lineages, and its horsemen in pre-Islamic times and later. peace; An…
View article: Disturbance-Resilient Flatness-Based Control for End-Effector Rehabilitation Robotics
Disturbance-Resilient Flatness-Based Control for End-Effector Rehabilitation Robotics Open
Robotic-assisted therapy is an increasingly vital approach for upper-limb rehabilitation, offering consistent, high-intensity training critical to neuroplastic recovery. However, current control strategies often lack robustness against unc…
View article: A Comprehensive Study of Recent Path-Planning Techniques in Dynamic Environments for Autonomous Robots
A Comprehensive Study of Recent Path-Planning Techniques in Dynamic Environments for Autonomous Robots Open
This paper presents a comprehensive review of path planning in dynamic environments. This review covers the entire process, starting from obstacle detection techniques, through path-planning strategies, and also extending to formation cont…
View article: Developing a tablet-based brain-computer interface and robotic prototype for upper limb rehabilitation
Developing a tablet-based brain-computer interface and robotic prototype for upper limb rehabilitation Open
Background The current study explores the integration of a motor imagery (MI)-based BCI system with robotic rehabilitation designed for upper limb function recovery in stroke patients. Methods We developed a tablet deployable BCI control o…
View article: Adaptive-Robust Controller for Smart Exoskeleton Robot
Adaptive-Robust Controller for Smart Exoskeleton Robot Open
Rehabilitation robotics has seen growing popularity in recent years due to its immense potential for improving the lives of people with disabilities. However, the complex, uncertain dynamics of these systems present significant control cha…
View article: Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living
Kinematic Optimization and Comparison of Wheelchair-mounted Assistive Robots for Activities of Daily Living Open
The number of wheelchair users has increased at an alarming rate throughout the last decade due to the increased number of individuals with upper/lower extremity dysfunctions resulting from a stroke, spinal cord injury, trauma, accident, o…
View article: Will Your Next Therapist Be a Robot?—A Review of the Advancements in Robotic Upper Extremity Rehabilitation
Will Your Next Therapist Be a Robot?—A Review of the Advancements in Robotic Upper Extremity Rehabilitation Open
Several recent studies have indicated that upper extremity injuries are classified as a top common workplace injury. Therefore, upper extremity rehabilitation has become a leading research area in the last few decades. However, this high n…
View article: A Novel Multi-Modal Teleoperation of a Humanoid Assistive Robot with Real-Time Motion Mimic
A Novel Multi-Modal Teleoperation of a Humanoid Assistive Robot with Real-Time Motion Mimic Open
This research shows the development of a teleoperation system with an assistive robot (NAO) through a Kinect V2 sensor, a set of Meta Quest virtual reality glasses, and Nintendo Switch controllers (Joycons), with the use of the Robot Opera…
View article: Impedance learning adaptive super‐twisting control of a robotic exoskeleton for physical human‐robot interaction
Impedance learning adaptive super‐twisting control of a robotic exoskeleton for physical human‐robot interaction Open
This study addresses two issues about the interaction of the upper limb rehabilitation robot with individuals who have disabilities. The first step is to estimate the human's target position (also known as TPH). The second step is to devel…
View article: Logarithmic Potential Field: A New Leader– Follower Robotic Control Mechanism to Enhance the Execution Speed and Safety Attributes
Logarithmic Potential Field: A New Leader– Follower Robotic Control Mechanism to Enhance the Execution Speed and Safety Attributes Open
The leader-follower formation approach is a commonly used strategy in multi-robot systems, usually implemented with a hierarchical control architecture combining path planning and formation control. The leader robot determines the desired …
View article: Evaluation of Objective Functions for the Optimal Design of an Assistive Robot
Evaluation of Objective Functions for the Optimal Design of an Assistive Robot Open
The number of individuals with upper or lower extremities dysfunction (ULED) has considerably increased in the past few decades, resulting in a high economic burden for their families and society. Individuals with ULEDs require assistive r…
View article: Maximum power point tracking controller using Lyapunov theorem of wind turbine under varying wind conditions
Maximum power point tracking controller using Lyapunov theorem of wind turbine under varying wind conditions Open
Due to the instantaneous variation in wind speed, it is necessary to identify the optimal rotational speed that ensures maximum energy efficiency and system stability. We proposed a controller based on the Lyapunov theorem to extract the m…
View article: Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation
Development of an End-Effector Type Therapeutic Robot with Sliding Mode Control for Upper-Limb Rehabilitation Open
Geriatric disorders, strokes, spinal cord injuries, trauma, and workplace injuries are all prominent causes of upper limb disability. A two-degrees-of-freedom (DoFs) end-effector type robot, iTbot (intelligent therapeutic robot) was design…
View article: Control of a Wheelchair-Mounted 6DOF Assistive Robot With Chin and Finger Joysticks
Control of a Wheelchair-Mounted 6DOF Assistive Robot With Chin and Finger Joysticks Open
Throughout the last decade, many assistive robots for people with disabilities have been developed; however, researchers have not fully utilized these robotic technologies to entirely create independent living conditions for people with di…
View article: Optimal Design of a Cable-driven Wrist Prosthetic Device
Optimal Design of a Cable-driven Wrist Prosthetic Device Open
The amputation of a limb is a disabling condition that affects millions of people worldwide.This situation bolsters the necessity of devices that help the integration of those individuals into society.However, the design of such mechanisms…
View article: Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation
Robustness and Tracking Performance Evaluation of PID Motion Control of 7 DoF Anthropomorphic Exoskeleton Robot Assisted Upper Limb Rehabilitation Open
Upper limb dysfunctions (ULD) are common following a stroke. Annually, more than 15 million people suffer a stroke worldwide. We have developed a 7 degrees of freedom (DoF) exoskeleton robot named the smart robotic exoskeleton (SREx) to pr…
View article: Development of A Desktop-mounted Rehabilitation Robot For Upper Extremities
Development of A Desktop-mounted Rehabilitation Robot For Upper Extremities Open
It is estimated that nearly 16 million people are affected by stroke worldwide every year. Among them, more than 60% of individuals suffer from upper limb dysfunction. Robotic rehabilitation therapy has been proven to improve these individ…
View article: A Novel Fully Controllable Rotary Switch for Electrical Installation in Buildings
A Novel Fully Controllable Rotary Switch for Electrical Installation in Buildings Open
In an electrical installation in buildings, electromechanical switches are mostly used to turn on and off a load. However, sometimes there are two or more switches in the same circuit intended to control the same load. Thus, a conflict can…
View article: Novel Optimal Perennial Calendar Systems vs Gregorian Calendar and Their Impact on the Energy Demand and the Environment
Novel Optimal Perennial Calendar Systems vs Gregorian Calendar and Their Impact on the Energy Demand and the Environment Open
Have you ever missed an event because you were confused about days and dates? Do you remember the date of any specific day without looking at the calendar? Is the current Gregorian Calendar efficient enough for usage, and does it facilitat…
View article: Flexohand: A Hybrid Exoskeleton-Based Novel Hand Rehabilitation Device
Flexohand: A Hybrid Exoskeleton-Based Novel Hand Rehabilitation Device Open
Home-based hand rehabilitation has excellent potential as it may reduce patient dropouts due to travel, transportation, and insurance constraints. Being able to perform exercises precisely, accurately, and in a repetitive manner, robot-aid…
View article: A NOVEL FULLY CONTROLLABLE ROTARY SWITCH FOR ELECTRICAL INSTALLATION IN BUILDINGS
A NOVEL FULLY CONTROLLABLE ROTARY SWITCH FOR ELECTRICAL INSTALLATION IN BUILDINGS Open
In an electrical installation in buildings, electromechanical switches are mostly used to turn on and off a load. However, sometimes there are two or more switches in the same circuit intended to control the same load. Thus, a conflict can…
View article: Impact of Charging Electric Vehicles under Different State of Charge Levels and Extreme Conditions
Impact of Charging Electric Vehicles under Different State of Charge Levels and Extreme Conditions Open
High penetration levels of Plug-in Electric Vehicles (PEVs) could cause stress on the network and might violate the limits and constraints under extreme conditions, such as exceeding power and voltage limits on transformers and power lines…
View article: The automatic processing of the Algerian digital linguistic atlas
The automatic processing of the Algerian digital linguistic atlas Open
The topic of the intervention is an explanation of the role that computational linguistics plays in the making of a digital Algerian linguistic atlas. Show how it is invested in the representation of the linguistic data associated with thi…
View article: Eye-Gaze Control of a Wheelchair Mounted 6DOF Assistive Robot for Activities of Daily Living
Eye-Gaze Control of a Wheelchair Mounted 6DOF Assistive Robot for Activities of Daily Living Open
Background: Building control architecture that balances the assistive manipulation systems with the benefits of direct human control is a crucial challenge of human-robot collaboration. It promises to help people with disabilities more eff…
View article: Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality
Design and Development of an Upper Limb Rehabilitative Robot with Dual Functionality Open
The design of an upper limb rehabilitation robot for post-stroke patients is considered a benchmark problem regarding improving functionality and ensuring better human–robot interaction (HRI). Existing upper limb robots perform either join…