Introduction: Rehabilitation robots have the ability to assist the patients with paralysis and semi-paralysis. Besides, these robots are capable of being programmed to perform various rehabilitation methods. However, evaluating their functions and their effects on human’ s body are still two of the main challenges of theses robots. The purpose of the present study was to introduce a method for assessing the function of a rehabilitation robot in modifying the crouch gait to normal gait, by using online biomechanics and computational Software. Materials and Methods: Rehabilitation robot and human leg were simulated using Inventor (Autodesk, Inc. ) and OpenSim (Stanford University) Software. User’ s muscle strength was calculated according to a crouch gait. The system got the position of each joint and muscle strength as input, and determined the torque required for each hip and knee joints. Results: The performance of rehabilitation robot on human body was evaluated by relating the simulation in biomechanical and computational Software. The kinematic and kinetic effects of robots on model of human model with crouch gait pattern was confirmed. In addition, the error of tracking normal gait with wearable robot was less than 0. 06 rad for user with crouch gait. Conclusion: By using a simulation method and analyzing the motion data of a person gait pattern, an optimal path can be defined individually for each person, which reduces the risk and error of tracking while using the rehabilitation robot. It is also possible to change the mechanical and control structure of wearable robots in simulation without the cost and risk of laboratory evaluation.

Background: The musculoskeletal complaints of the shoulder are prevalent in people who work with computers for a long time. Objective: This study aimed to investigate the glenohumeral joint contact forces and kinematics in different keyboards and monitor setups using OpenSim. Material and Methods: Twelve randomly selected healthy males participated in an experimental study. A 3×3 factorial design was used in which three angles were considered for the monitor and three horizontal distances for the keyboard while performing standard tasks. The workstation was adjusted based on ANSI/HFES-100-2007 standard to maintain a comfortable ergonomic posture for controlling confounding variables. Qualisys motion capture system and OpenSim were used. Results: The maximum mean range of motion (ROM) of both shoulders’,flexion and adduction was observed when the keyboard was 15 cm from the edge of the desk, and the monitor angle was 30°, . The maximum mean ROM of both shoulders’,internal rotation was recorded for the keyboard at the edge of the desk. Peak forces for most right shoulder complex muscles were obtained in two setups. 3D shoulder joint moments were significantly different among nine setups (P-value<0. 05). The peak anteroposterior and mediolateral joint contact forces were recorded for the keyboard at 15 cm and the monitor at zero angles (0. 751 and 0. 780 N/BW, respectively). The peak vertical joint contact force was observed for the keyboard at 15 cm and the monitor at 15°,(0. 310 N/BW). Conclusion: The glenohumeral joint contact forces are minimum for the keyboard at 8 cm and the monitor at zero angles.

Software architecture is known to be an e, ective tool with regards to improving Software quality attributes. Many quality attributes such as maintainability are architecture dependent, and as such, using an appropriate architecture is essential in providing a sound foundation for the development of highly maintainable Software systems. An e, ective way to produce a well-built architecture is to utilize standard architectural patterns. Although the use of a particular architectural pattern cannot have a preserving e, ect on Software maintainability, the mere conformance of a system to any architecture cannot guarantee the system's high maintainability. The use of an inappropriate architecture can seriously undermine Software maintainability at lower levels. In this article, the e, ect of standard architectural patterns on Software maintainability quality attributes is investigated. We develop a quality model for maintainability quality attributes, which is later used to compare various standard architectural patterns. We , nish by investigating two real-world experiences regarding the application of a particular pattern to two di, erent existing architectures, exploring the e, ect of the change in architecture on maintainability quality attributes.