Therapist-in-the-Loop robotics-assisted mirror rehabilitation therapy: An Assist-as-Needed framework

framework for robotics-assisted mirror rehabilitation therapy integrated with adaptive Assist-as-Needed (ANN) training, to be adjusted based on the impairment and disability level of the patient’s affected limb. Closed-loop system stability has been investigated using a combination of the Circle Criterion and the Small-Gain Theorem to account both for time-delay and the time-varying adaptive ANN training. Experiments to investigate the performance of the proposed framework are reported. I

Déformation actuelle et cinématique des failles actives observées par GPS dans le Zagros et l'Est iranien

The convergence between the Arabian and the Eurasian plates is accommodated inside the Iranian territory. We have measured dense GPS networks covering wide parts of Iran (Zagros, Lut block and Kopeh Dagh) and present velocity fields with precisions better than 2 mm/yr. In Zagros, convergence is accommodated by partitioning in the northern part with 2-4 mm/yr of right lateral strike-slip on the MRF. This motion is transferred to the Dena, Kazerun and Kareh Bas faults of the Kazerun fault system slipping each at 3-4 mm/yr. In Central Zagros, 8 mm/yr of NS shortening is concentrated mainly along the Persian Gulf shore while seismicity is more widely spread, evidencing decoupling of the surface deformation from the basement probably facilitated by the presence of Hormuz salt.In eastern Iran, 14 mm/yr of right lateral NS shear between the Central Iranian Block and the Hellmand block is observed across the Lut block, with 6.5 mm/yr across its western limit (Bam, Gowk and Sabzevaran faults) and 7.5 mm/yr across its eastern limit (Sistan Suture zone). Major EW trending left lateral strike-slip faults absorb part of this shear at the northern limit of the Lut block (Dasht-e-Bayaz 1.5 mm/yr, Doruneh 2.5 mm/yr). 8 mm/yr remaining shear south of the Kopeh Dagh range is accommodated mainly by NS shortening across the Binalud and eastern Kopeh Dagh range (3.5 and 2.5 mm/yr), by right lateral strike-slip on the Quchan fault system (5 mm/yr) and westward expulsion of the South Caspian Basin (5-8 mm/yr).Comparison of GPS present-day slip rates with short and long term geological estimates show complex slip evolution even in the context of young continental collision present in Iran.La convergence entre l'Arabie et l'Eurasie est accommodée à l'intérieur du territoire iranien. Nous présentons des champs de vitesse GPS denses couvrant une grande partie de l'Iran (Zagros, block de Lut et Kopeh Dagh) avec des précisions meilleures que 2 mm/an.Dans le Zagros, la convergence est accommodée par du partitionnement dans la partie nord. 2-4 mm/an de décrochement dextre sur la MRF sont transférés sur les failles de Dena, Kazerun et Kareh Bas dans le système de failles de Kazerun, se déplaçant à 3-4 mm/an chacune. Dans le Zagros Central, 8 mm/an de raccourcissement sont concentrés près du Golf Persique, contrastant avec une sismicité plus distribuée et indiquant un découplage de la déformation superficielle du socle.A l'est de l'Iran, entre le block central Iranien et le block de Hellmand, 14 mm/an de cisaillement dextre orienté NS sont observés au travers du block de Lut, avec 6.5 mm/an absorbés à l'ouest (failles de Bam, Gowk et Sabzevaran) et 7.5 mm/an à l'est (zone de suture de Sistan). Des failles majeures senestres orientées EW au nord du block de Lut accommodent une partie du cisaillement (Dasht-e-Bayaz 1.5 mm/an, Doruneh 2.5 mm/an). Au sud de la chaîne du Kopeh Dagh 8 mm/an de cisaillement persistent, dont 3.5 et 2.5 mm/an sont absorbés par du raccourcissement NS dans le Binalud et l'est Kopeh Dagh, 5 mm/an par du décrochement dextre au travers le système de failles de Quchan, et 5-8 mm/an par l'expulsion du basin Sud Caspien vers l'ouest.La comparaison des taux de glissement actuels avec des taux géologiques court et long terme montre une évolution complexe des activités des failles même dans le contexte de collision continental récente de l'Iran

Déformation actuelle et cinématique des failles actives observées par GPS dans le Zagros et l'Est iranien

The convergence between the Arabian and the Eurasian plates is accommodated inside the Iranian territory. We have measured dense GPS networks covering wide parts of Iran (Zagros, Lut block and Kopeh Dagh) and present velocity fields with precisions better than 2 mm/yr. In Zagros, convergence is accommodated by partitioning in the northern part with 2-4 mm/yr of right lateral strike-slip on the MRF. This motion is transferred to the Dena, Kazerun and Kareh Bas faults of the Kazerun fault system slipping each at 3-4 mm/yr. In Central Zagros, 8 mm/yr of NS shortening is concentrated mainly along the Persian Gulf shore while seismicity is more widely spread, evidencing decoupling of the surface deformation from the basement probably facilitated by the presence of Hormuz salt.In eastern Iran, 14 mm/yr of right lateral NS shear between the Central Iranian Block and the Hellmand block is observed across the Lut block, with 6.5 mm/yr across its western limit (Bam, Gowk and Sabzevaran faults) and 7.5 mm/yr across its eastern limit (Sistan Suture zone). Major EW trending left lateral strike-slip faults absorb part of this shear at the northern limit of the Lut block (Dasht-e-Bayaz 1.5 mm/yr, Doruneh 2.5 mm/yr). 8 mm/yr remaining shear south of the Kopeh Dagh range is accommodated mainly by NS shortening across the Binalud and eastern Kopeh Dagh range (3.5 and 2.5 mm/yr), by right lateral strike-slip on the Quchan fault system (5 mm/yr) and westward expulsion of the South Caspian Basin (5-8 mm/yr).Comparison of GPS present-day slip rates with short and long term geological estimates show complex slip evolution even in the context of young continental collision present in Iran.La convergence entre l'Arabie et l'Eurasie est accommodée à l'intérieur du territoire iranien. Nous présentons des champs de vitesse GPS denses couvrant une grande partie de l'Iran (Zagros, block de Lut et Kopeh Dagh) avec des précisions meilleures que 2 mm/an.Dans le Zagros, la convergence est accommodée par du partitionnement dans la partie nord. 2-4 mm/an de décrochement dextre sur la MRF sont transférés sur les failles de Dena, Kazerun et Kareh Bas dans le système de failles de Kazerun, se déplaçant à 3-4 mm/an chacune. Dans le Zagros Central, 8 mm/an de raccourcissement sont concentrés près du Golf Persique, contrastant avec une sismicité plus distribuée et indiquant un découplage de la déformation superficielle du socle.A l'est de l'Iran, entre le block central Iranien et le block de Hellmand, 14 mm/an de cisaillement dextre orienté NS sont observés au travers du block de Lut, avec 6.5 mm/an absorbés à l'ouest (failles de Bam, Gowk et Sabzevaran) et 7.5 mm/an à l'est (zone de suture de Sistan). Des failles majeures senestres orientées EW au nord du block de Lut accommodent une partie du cisaillement (Dasht-e-Bayaz 1.5 mm/an, Doruneh 2.5 mm/an). Au sud de la chaîne du Kopeh Dagh 8 mm/an de cisaillement persistent, dont 3.5 et 2.5 mm/an sont absorbés par du raccourcissement NS dans le Binalud et l'est Kopeh Dagh, 5 mm/an par du décrochement dextre au travers le système de failles de Quchan, et 5-8 mm/an par l'expulsion du basin Sud Caspien vers l'ouest.La comparaison des taux de glissement actuels avec des taux géologiques court et long terme montre une évolution complexe des activités des failles même dans le contexte de collision continental récente de l'Iran

Combination of Precise Leveling and InSAR Data to Constrain Source Parameters of the Mw = 6.5, 26 December 2003 Bam Earthquake

International audienceWe used new precise leveling data acquired 40 days after the Bam earthquake in combination with radar interferometry observations from both ascending and descending orbits to investigate static deformation associated with the 2003 Bam earthquake. We invert this geodetic data set to gain insight into the fault geometry and slip distribution of the rupture. The best-fitting dislocation model is a steeply east-dipping right-lateral strike-slip fault that has a size of 11 by 8 km and strikes N2°W. We find that such smooth geometry fits available geodetic data better than previously proposed models for this earthquake. Our distributed slip model indicates a maximum strike slip of 3 m occurring about 3 to 5 km deep. The slip magnitude and depth of faulting taper to the north, where the fault approaches the Bam city. Inclusion of crustal layering increases the amount of maximum slip inferred at depth by about 4%

Seismic versus aseismic deformation in Iran inferred from earthquakes and geodetic data

International audienceA combined analysis of the geodetic strain-rate field and the strain-rate field deduced from the seismicity allows us to define the style of deformation and to distinguish seismic from aseismic deformation. We perform this analysis in Iran where the present-day tectonics results from the north–south convergence between the plates of Arabia to the south and Eurasia to the north. The data consist of velocities measured with a GPS network of 28 benchmarks and of instrumental and historical earthquake catalogues. The axes of the seismic strain-rate tensor have similar orientations to those deduced from the GPS velocity field. This indicates that the seismicity can be used to improve GPS information on the style and the orientation of the deformation. Comparison of seismic and geodetic strain rates indicates that highly strained zones experience mainly aseismic deformation in southern Iran and seismic deformation in northern Iran. A large contrast is observed between the Zagros (less than 5 per cent seismic deformation) and the Alborz–Kopet-Dag regions (more than 30–100 per cent seismic deformation). The distribution of the seismic/geodetic ratio correlates with the distribution of large earthquakes: intensive, low-magnitude seismicity is observed in the Zagros whereas the largest earthquakes occur in northern Iran. The contrast of seismic deformation between the Zagros and peri-Caspian mountains is confirmed considering 300 or 1000 yr of seismicity rather than 100 or 200 yr