Research

Research Interests

Robotics: Soft Robotics, Medical Robotics, Bio-inspiration, Variable Stiffness, Robot Design, 3D Printing
Medical Robotics: Continuum Medical Robotics, Tooltip Design, Biomechanic System Modeling, Medical Robotic P hantoms, Automation in Medical Interventions
Morphological Contribution: Functional Morphologies, Morphological Observers, Decentralized Control
Dynamic Systems: Continuum Dynamics, Dynamical System Approach to Planning & Control, Bond Graph Multi-Physics Modeling, Domain-Specific Language for Robotics Automation, Passive Dynamics

Continuum Manipulator Modeling

We presented novel dynamic and static models for continuum manipulators based on reduced-order and discretization approaches suitable for controller and observer design We have presented unified theoretical framework, comparison of accuracy in experimental studies and numerical performance for different methods showing the superiority of our approaches. We developed TMTDyn modeling package equipped with a DSL for modelling and control of hybrid rigid-continuum structures.
Positions: Postdocs at RViM Lab (King’s College London, UK) and Morphological Computation Lab (University of Bristol, UK), PhD at Morph Lab (King’s College London and Imperial College London, UK), Visit at Prof. Walker’s Lab (Clemson University, US)
Main collaborators: Prof. Ian Walker, Dr. Christos Bergeles, Dr. Caleb Rucker

Continuum Manipulators Modeling and Control – Researchgate project page
TMTDyn – Github page

Robots Planning, Control, and Automation

We have recently focused on transferring Dynamical System (DS) approach for planning and automation in continuum medical robotics. DS method generates streamline-like paths for task execution that inherently guarantees global convergence, stability, temporal and spatial robustness. I have a 5-year RAEng under review fellowship application on the same topic currently and have done research on active constraint-based medical robot control with SOFA modeling framework (safe medical robotic navigation via haptic feedback) and shooting-based planning method for non-holonomic dynamical systems (the case of a robotic cat free fall).
Positions: Postdoc at RViM Lab (King’s College London, UK), Visit at LASA (EPFL, Switzerland), MSc at CEDRA (Sharif. U.T., Iran)
Main collaborators: Prof. Aude Billard, Dr. Christos Bergeles, Prof. Ali Meghdari

Medical Robotics Theory, Design & Fabrication

I have been active in development and fabrication of medical robot related theory and technologies since my PhD studies, some of which are: stiffening solutions; tissue palpation; concentric tube robots, ex-vivo real tissue tests; DS and active constraint based planning; robotic phantoms; and more recently patient specific biomedical modelling (EIT image based respiratory system model), and miniature medical sensor and multi-purpose tooltip designs.
Positions: Postdoc at RViM Lab (King’s College London, UK), PhD at Morph Lab (King’s College London and Imperial College London, UK)
Main collaborators: Dr. Christos Bergeles, Dr. Kaspar Althoefer, Dr. Thrishantha Nanayakkara

Medical Robotics – Researchgate project page

Bioinspiration, Morphological Contribution, Smart Material

Bioinspiration has been a main theme in my research, not only as a source of inspiration but for discovering new biological mechanism via robotic design. As a result, I actively pursue morphological contribution, to outsource control tasks to the robot morphology, in my designs via functional structures with smart material, bi-modal multi-purpose mechanisms, and distributed actuation and control methods. Some of my relevant research are spider-web like sensors, active Velcro and tendrils, 3D-printable scale jamming stiffening interfaces, compliant structures for palpation, whisking, and sleep resistance, and recently growing medical cannulas.
Positions: Postdoc at RViM Lab (King’s College London, UK), Postdoc at Morphological Computation lab (University of Bristol, UK), PhD at Morph Lab (King’s College London and Imperial College London, UK)
Main collaborators: Dr. Thrishantha Nanayakkara, Dr. Helmut Hauser, Dr. Christos Bergeles

Morphological Contribution – Researchgate project page
Integrable Stiffening Interfaces for Soft Robots – Researchgate project page

System Dynamics 

I am an expert dynamic system modeler, approaching all my research from a model-based point of view. I have extensive experience with modeling of multi-physics biomedical and continuum systems (e.g. patient specific respiratory system), hybrid continuum-rigid body system models (resulted in development of TMTDyn package), DS-based planning for automation, passive dynamics, and nonholonomic system planning (the case of falling a cat robot).
Positions: Postdoc at RViM Lab (King’s College London, UK), Visit at LASA (EPFL, Switzerland), Visit at Prof. Walker’s Lab (Clemson University, US), PhD at Morph Lab (King’s College London and Imperial College London, UK), Postdoc at RViM Lab (King’s College London, UK),  MSc at CEDRA (Sharif. U.T., Iran), BSc and industrial experiences
Main collaborators: Dr. Christos Bergeles, Prof. Ian Walker, Prof. Aude Billard, Dr. Caleb Rucker, Dr. Helmut Hauser, Dr. Thrishantha Nanayakkara, Prof. Ali Meghdari, Dr. Mahyar Naraghi

Continuum Manipulators Modeling and Control – Researchgate project page
TMTDyn – Github page
Robotic Cat Free-fall and Landing – Researchgate project page
Optimum Design of a Passive Walking Biped – Researchgate project page

Geophysical Modelling – Researchgate project page
SpectDG – Github page

Mechatronic System Design, Optimization, & Fabrication

I am an expert in robotic and mechatronic system engineering design, optimization, and fabrication. Model-based optimization of the system performance and engineering design of system elements are two key steps in my approach. Some of my robot design are multiple real rescue robots equipped with long series link manipulators, concentric tube and active backbone continuum robots, soft robotics actuator and stiffening mechanisms, robotic vibration and deformable boundary phantom testing platforms, 3D printing functional structures, passive biped walkers and a cat robot.
Positions: Postdoc at RViM Lab (King’s College London, UK), PhD at Morph Lab (King’s College London and Imperial College London, UK), BSc and industrial experiences
Main collaborators: Dr. Christos Bergeles, Dr. Thrishantha Nanayakkara, Dr. Mahyar Naraghi

Real Rescue Robots – Researchgate project page

Computer Science & Programming

I have extensive experience in different programming languages (with more than 900hr GTS teaching experience) such as Matlab, Maple, C++, Java, Python, Prolog, Assembly, in SOFA, ROS, and Linux environments. We have an ongoing project on developing TMTDyn modeling and control package for hybrid rigid-continuum body structures and a DSL (Distributed System Language) based user interface.
Positions: Postdoc at RViM Lab (King’s College London, UK), PhD at Morph Lab (King’s College London and Imperial College London, UK)
Main collaborators: Dr. Steffen Zschaler, Dr. Christos Bergeles, Dr. Thrishantha Nanayakkara

TMTDyn – Github page