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  • Home
    • About Me
    • News
  • Research
    • Overview
    • Supervision
    • Publications
    • Invited Talks
  • Teaching & Supervision
    • Teaching
    • Supervision
  • Publications
  • Events & Activities
    • Summary
    • Soft Robotics Debates
    • IEEE SofTech-Rehab 2021
    • EI Workshop 2021
    • IROS 2020 Workshop
  • External Links

Teaching & Supervision

  • Teaching
  • Supervision

Featured

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Let’s TMTDyn Together

Soft Robotics Debates Archive

News

Sep 2021 – Interested in #Morphological #Computation? See our #IROS2021 paper “Use #Nonlinear #Dynamics in #Whisker #Sensor for Terrain Identification by #Mobile #Robots” by @ZhenhuaYu_IC @HWegiriya @PeterRNChilds @thrishlab at 16:43-16:49 ThBT16.4

Sep 2021 – Our #review preprint “From #Theoretical Work to #Clinical Translation: Progress in #Concentric #Tube #Robots” is now available at (link) by @zmitros, me, R Henry, L da Cruz, @bergeles @rvimlab @KingsImaging @Moorfields

Sep 2021 – Feels so good getting invited for a talk at your BSc Uni #Amirkabir UT #Tehran #Polytechnic on #Soft #Medical #Robots. Can’t stop thinking of memories starting 16 years ago! Wed 15 Sep 1pm BST (link)

Selected Publications

Sadati et al., ‘TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models’, IJRR, 2020.

Berthet-Rayne et al., ‘MAMMOBOT: A Miniature Steerable Soft Growing Robot for Early Breast Cancer Detection’, RA-L, 2021

Sadati et al., ‘Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings’, RA-L, 2020

Shiva et al., ‘Elasticity Versus Hyperelasticity Considerations in Quasistatic Modeling of a Soft Finger-Like Robotic Appendage for Real-Time Position and Force Estimation’, Soft Robotics, 2019

Abad et al., ‘Significance of the Compliance of the Joints on the Dynamic Slip Resistance of a Bio-inspired Hoof’, T-RO, 2019

Wegiriya et al., ‘Information Gain in a Stiffness Controllable Multimodal Whisker Follicle’, IEEE Sensors, 2019

Sadati et al., ‘Control Space Reduction and Real-Time Accurate Modeling of Continuum Manipulators Using Ritz and Ritz–Galerkin Methods’, RA-L, 2018

Sadati et al., ‘Three-Dimensional-Printable Thermoactive Helical Interface With Decentralized Morphological Stiffness Control for Continuum Manipulators’, RA-L, 2018

Sadati et al., ‘Optimum Design, Manufacturing and Experiment of a Passive Walking Biped: Effects of Structural Parameters on Efficiency, Stability and Robustness on Uneven Trains’, Modares Mech. Eng. J., 2012

Continuum Robot Modeling

Medical Continuum Robotics

Morphological Contribution

Presentations & Supervisions

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