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 Phantoms, 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

  • Reduced-Order Modeling via Polynomial Shape (PS) Parametrization of Backbone Curve
  • Discretized Kinematics with Relative & Absolute States
  • TMTDyn Matlab Package for Theoretical Modeling of Hybrid Rigid-Continuum Body Systems
  • Continuum Manipulator Cross-sectional Deformation Exact Modeling
  • Tendril Kinematics and Dynamics

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 a 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

Robots Planning, Control, and Automation

  • Dynamical System (DS) Based Obstacle Avoidance, Planning, and Control
  • Dynamic Active Constraints for Safe Navigation
  • Nonlinear Control & Observation for Continuum Robots

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

  • Concentric Tube Robot for Eye Surgery
  • Growing Medical Robotics
  • Tissue Stiffness Imaging and Palpation with Continuum Appendages
  • Stiffening Solutions for Soft Medical Robots
  • Soft Robotic Phantoms

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

Bioinspiration, Morphological Contribution, Smart Material

  • Robotics Bioinspired by Plant Tendrils Local Actuation, Spider Web Morphology, Goat Hoof Compliance, Fish Scale Arrangement & Jamming, Rat Whiskers Stiffness variability, Wood Micro Fiber Inspired Layer Jamming, Bat Wing Anisotropic Compliance, and Cat Free-Fall Maneuver
  • Exploiting Spider Web Morphology for Reservoir Computing and Soft Sensor Design
  • Exploiting Tendril Morphology for Actuation and Local Stiffening
  • Scale Jamming Stiffening Interface Inspired by Teleost Fish Scales
  • 3D Printing Multi-material Stiffness Controllable Tendril Interface based on Low Melting Point Hydroxylated Wax
  • SMA Active Velcros for Stiffness Variable Fabric Layer Jamming
  • Stiffness Variable Hydrogel

Bioinspiration has been the main theme in my research, not only as a source of inspiration but for discovering new biological mechanisms 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 & Bioinspiration


Integrable Stiffening Interfaces for Soft Robots

System Dynamics 

  • Continuum Manipulator, Concentric Tube, Growing Robot Dynamics
  • Reduced Order Models and Model Order Reduction
  • Dynamical System (DS) Based Obstacle Avoidance, Impedance Control, and Planning
  • Multi-Physics Biological System Modeling Based on Bond-Graph Method
  • Nonholonomic Systems
  • Passive Dynamic Walking
  • Nonlinear Control

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),  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


Robotic Cat Free-fall and Landing


Optimum Design of a Passive Walking Biped

Mechatronic System Design, Optimization, & Fabrication

  • Continuum Robot Design & Fabrication
  • Soft Robotic Phantoms
  • Real Rescue Robots
  • Serial-Link Manipulators
  • Robotic System Mechatronics

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

Supervisions

Computer Science & Programming

  • TMTDyn Matlab based Theoretical Modeling Package for Hybrid Rigid-Continuum Body Systems
  • SpectDG Geophysical Modeling Package Development

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


Let’s TMTDyn Together!


Geophysical Modelling