University of Alberta

Milad Nazarahari

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IMUs and Vicon Motion Capture

IMUs and Vicon Motion Capture

About ME

I received my B.Sc. and M.Sc. degrees in Mechanical Engineering from Iran University of Science and Technology, in 2012 and 2014, respectively. I am currently a Ph.D. candidate with the “Neuromuscular Control and Biomechanics Laboratory” at the University of Alberta, under the supervision of Dr. Hossein Rouhani. 


  • Dr. Hossein Rouhani

Research Interests:

  • Wearable Technology for Daily Health Monitoring
  • Rehabilitation Engineering
  • Gait & Movement Disorder Measurement
  • Biomedical Signal processing
  • Applications of Machine Learning and Artificial Intelligence in Biomedical Engineering


During my M.Sc., I worked on technology development for automatic classification of cardiac arrhythmias. Automatic detection and classification of cardiac irregularities is of crucial importance, particularly in coronary care units. For this purpose, I developed a novel Wavelet design approach for optimal feature extraction from ECG signals. Then, using Artificial Neural Networks and Support Vector Machine, my presented method could achieve high classification rate among eight cardiac arrhythmias.

During my Ph.D. studies, I acquired experience on human motion analysis by working on different research projects which directly targeted technology development for motion analysis of the (i) elderly population with limited mobility, (ii) patients with shoulder dysfunction, and (iii) athletes with a high risk of Mild Traumatic Brain Injury. For this purpose, I completed three experimental studies at the Glenrose Rehabilitation Hospital and the University of Alberta campus. As a study coordinator, I overcame the challenges in participant recruitment and data collection during long-term experiments. The main research projects I have been involved are as follows:

  1. Long-term daily activity analysis through identifying different postures of the body to evaluate using a single chest-mounted Inertial Measurement Unit (IMU).
  2. Development and clinical implementation of a wearable biomedical device to assess the shoulder motion for the purpose of outcome evaluation.
  3. Development of a novel concussion active prevention testing device for neck strength evaluation during sub-concussive whiplash test.

Currently, I am working on developing a wearable sensor technology to analyze the lower limb motion in real-time as an alternative to common motion capture system. Successful implementation of the proposed innovative technology will have a revolutionizing effect on therapeutic walking training in several ways. The main advantage of this technology is that it will be affordable and accessible even in small clinics and homes.

Additionally, I have been selected as the Academic Vice-President of Mechanical Engineering Graduate Student Association to liaison with the graduate students and faculty regarding our graduate program concerns. Also, I have been nominated as the councilor of Mechanical Engineering Department in Graduate Students’ Association council of UofA to advocate on behalf of the Mechanical Engineering graduate students. I became involved in such voluntary activities as I always was concerned about improving the quality of our graduate program and providing an efficient connection and mutual understanding between students and faculty.  

I commonly use three types of equipment for my research:

  1. Inertial Measurement Units (IMUs) comprised of 3-axis accelerometer, 3-axis gyroscope, and 3-axis magnetometer to analyze human motion.
  2. Motion-capture cameras (VICON), mainly to validate the results obtained by IMU systems.
  3. Pedar Pressure Insole which is a reliable pressure distribution measurement system for monitoring loads between the foot and the shoe.














      • Graduate Student Research Assistant Award, University of Alberta (2018)
      • Alberta Innovates – Graduate Studentship Scholarship, University of Alberta (2017)
      • Sadler Graduate Scholarship in Mechanical Engineering, University of Alberta (2017)
      • Graduate Student Association Academic Travel Award, University of Alberta (2017)
      • Invited to the University of Alberta’s chapter of the Golden Key International Honor Society (2017)
      • University of Alberta Doctoral Recruitment Scholarship, University of Alberta (2016)
      • Ontario Trillium Scholarship and York University Ph.D. Entrance Scholarship for the Ph.D. program at York University, (2016) - declined
      • University of Queensland International Scholarship for the Ph.D. program at University of Queensland (2016) - declined
      • Deakin University Postgraduate EPCRC Scholarship for the Ph.D. program at Deakin University (2016) - declined
      • Exempted from Ph.D. entrance exam as an “Exceptionally Talented” student in Iran University of Science and Technology (2014) - declined
      • Ranked 1st in M.Sc. program in Mechatronics, School of Mechanical Engineering, Iran University of Science and Technology (2013)


      Journal Publications

      • [J1] M. Nazarahari, H. Rouhani, “Detection of daily postures and walking modalities using a single chest-mounted tri-axial accelerometer,” Medical Engineering & Physics, Accepted (In Press).
      • [J2] S. Doostie, A. K. Hoshiar, M. Nazarahari, “Optimal path planning of multiple nanoparticles in continuous environment using a novel Adaptive Genetic Algorithm,” Precision Engineering, Accepted (In Press).
      • [J3] M. H. Korayem, A. K. Hoshiar, M. Nazarahari, “A Hybrid Co-Evolutionary Genetic Algorithm for Multiple Nanoparticle Assembly Tasks Path Planning,” International Journal of Advanced Manufacturing Technology, Vol. 87, pp. 3527–3543, 2016.
      • [J4] E. Khanmirza, M. Nazarahari, A. Mousavi, “Identification of piecewise affine systems based on fuzzy PCA-guided robust clustering technique,” EURASIP Journal on Advances in Signal Processing, pp. 131, 2016.
      • [J5] M. Nazarahari, S. Ghorbanpour Namin, A. H. Davaie Markazi, A. Kabir Anaraki, “A multi-wavelet optimization approach using similarity measures for electrocardiogram signal classification,” Biomedical Signal Processing and Control, Vol. 20, pp. 142-151, 2015.
      • [J6] E. Khanmirza, M. Nazarahari, M. Haghbegi, “Schedule Design and Fleet Assignment Based on Modified Intelligent Algorithms,” Modares Mechanical Engineering; Vol. 17, No. 6, pp. 59-66, 2017. (In Persian)
      • [J7] E. Khanmirza, A. R. Mousavi, M. Nazarahari, “Piecewise Affine Hybrid System Identification Using Adaline Neural Networks,” Modares Mechanical Engineering; Vol. 15, No. 5, pp. 397-404, 2015. (In Persian)
      • [J8] A. H. Davaie Markazi, M. Nazarahari, “Application of DWT for Ship’s Acoustic Signal Identification Using Feature Extraction Methods and Ensemble Learning,” Modares Mechanical Engineering, Vol. 15, No. 8, pp. 75-84, 2015. (In Persian)

      Conference Publications

      • [C1] M. Nazarahari, J. Arthur, H. Rouhani, “A novel concussion active prevention testing device for neck strength evaluation during sub-concussive impacts,” Proceedings of The Canadian Society for Mechanical Engineering International Congress 2018 (CSME2018), Toronto, 2018.
      • [C2] M. Nazarahari, H. Rouhani, “A robust daily activity analysis methodology using a single tri-axial accelerometer mounted on the chest,” 18th Annual Alberta Biomedical Engineering Conference 2017 (BME2017), Banff, 2017.
      • [C3] M. Nazarahari, E. Khanmirza, M. Haghbeigi, S. Doostie, “A Comparative study of deterministic and probabilistic mobile robot path planning algorithms,” 5th RSI International Conference on Robotics and Mechatronics (ICRoM2017), Tehran, 2017.
      • [C4] M. Nazarahari, H. Rouhani, “Robust long-term daily activity analysis using wearable sensor technology,” Oral Presentation in 2017 University of Alberta Faculty of Engineering Graduate Research Symposium (FEGRS2017), Edmonton, 2017.
      • [C5] M. Nazarahari, S. Doostie, A. K. Hoshiar, “A novel intelligent path planning method for assembly task of multiple nanoparticles,” Oral Presentation in 2017 University of Alberta Faculty of Engineering Graduate Research Symposium (FEGRS2017), Edmonton, 2017.
      • [C6] K. Hoshiar, M. Kianpour, M. Nazarahari, M. H. Korayem, “Path planning in the AFM nanomanipulation of multiple spherical nanoparticles by using a coevolutionary Genetic Algorithm,” 2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Paris, 2016.
      • [C7] M. Nazarahari, E. Khanmirza, A. Mousavi, “Intelligent Identification of Linear Hybrid Systems,” 23rd Annual International Conference on Mechanical Engineering (ISME2015), Tehran, 2015.
      • [C8] A. Mousavi, E. Khanmirza, M. Nazarahari, “Intelligent Identification of Switch-Mode DC-DC Converters,” 3rd RSI International Conference on Robotics and Mechatronics (ICRoM2015), Tehran, 2015.
      • [C9] S. Ghorbanpour, M. Nazarahari, A. H. Davaie Markazi, A. Kabir Anaraki, “Automatic ECG Arrhythmia Classification Using Ensemble Learning,” 1st Conference on Novel Approaches of Biomedical Engineering in Cardiovascular Diseases, Tehran, 2014.