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Workshop III
- Workshop Details
TMTDyn Matlab Package for Modelling and Control of Hybrid Rigid-Continuum Robots

Dr. S.M.Hadi Sadati, King's College London, UK

Hybrid rigid–continuum robot design addresses a range of challenges associated with using soft robots in application areas such as robotic surgery. Utilizing such robots poses challenges beyond standard rigid-body robots. A fast, reliable, accurate yet simple dynamic model is important to support the design, analysis, and control of hybrid rigid–continuum robots. In our recent work, we developed a modelling package for hybrid rigid–continuum systems, named TMTDyn. It utilizes four different continuum robot kinematics representations: (i) series rigid-link, (ii) piecewise constant curvature discretization (discretised Cosserat based on relative states), (iii) Finite Element Method (discretised Cosserat based on absolute states), and (iv) reduced-order shape interpolation. TMTDyn features real-time simulation, via optimized C++ models, inverse jacobian, and load compensation formulations for controller and observer designs. TMTDyn benefits from an internal domain-specific language (DSL) using Matlab’s Object-Oriented capabilities and the concept of fluent interfaces to improve validation, understandability, and maintainability of the constructed models. In this presentation, we showcase modelling a variety of continuum robots with TMTDyn such as pneumatically and tendon actuated, concentric tube, and growing robots, following by a discussion on the controller design, language implementation, the benefits, and challenges of building a Matlab-internal DSL.

Multifunctional soft robotic transducers

Dr. Majid Taghavi, Imperial College London

In this talk, I will briefly discuss our inspiration and motivation to develop soft robotics and highlight the demands to deliver a new generation of soft transduction technologies including energy harvesters, sensors, and actuators. I will discuss the current challenges of developing soft transducers, matching the capability of their biological counterparts, and show my approaches to tackle them. I will particularly show how multifunctional transducers generated by the integration of various material, structural and physical functionalities have potential to introduce new smart materials and intelligent structures for real-world soft robotic applications. It will include my research on self-powered sensors, self-sensing actuators, and variable stiffness artificial muscle.

Workshop III
- Workshop Presenters

Dr. Mohammad Zareinejad, Amirkabir University of Technology

Mohammad Zareinejad received the B.S., M.S. and Ph.D. degrees in mechanical engineering from Amirkabir University of Technology, Tehran, Iran, in 2003, 2005 and 2009, respectively. He is currently an Assistant Professor of Mechanical Engineering at the Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran, where he also directs the Mechatronics Laboratory. His research interests include soft robotics and fluid power.

Dr. S.M.Hadi Sadati, King's College London, UK

Dr. S.M.Hadi Sadati is a CME Research Fellow at the School of Biomedical Engineering & Imaging Sciences, King's College London, UK. He has a Bsc and MSc in mechanical Engineering from Amirkabir (2010) and Sharif (2012) U. T., and a PhD (2018) in Robotics from King’s. He has been a postdoc in Robotics System Engineering at King’s (2019-2021) and in Morphological Computation at the University of Bristol (2017-2019). He was also a Visiting Researcher at LASA, EPFL (2019 & 21), as well as Soft Robotics lab, ETH (2021), the Profs. Walker’s lab, Clemson University (2017), and Dyson School, Imperial College London (2016-2017). His research interests are soft medical robotics, morphological contribution, system dynamics, and mechatronics.

Dr. Majid Taghavi, Imperial College London

Majid Taghavi joined Imperial College London in August 2021 to establish his interdisciplinary research group on Soft Robotic Transducers at the Department of Bioengineering. He aims to deliver the new generation of soft multifunctional actuators, sensors, and energy harvesting technologies, enabling monolithic soft robots for health applications. Prior to this, Majid was a postdoctoral researcher in SoftLab, university of Bristol, where he introduced multiple artificial muscle technologies. Majid was awarded his PhD in BioRobotics from Scuola Superiore Sant'Anna with the highest honor, receiving the Italian Institute of Technology scholarship, where he developed various electromechanical and bioelectrochemical energy harvesting and self-powered sensing technologies. He has a background in Electronics and Micro-Electro-Mechanical Systems from K.N.Toosi and Tabriz universities, respectively.

Dr. Hamed Ghafarirad, Amirkabir University of Technology

Hamed Ghafarirad is an assistant professor of mechanical engineering at Amirkabir University of Technology since 2015. He received the Ph.D. degree in mechanical engineering from Amirkabir University of Technology, Tehran, Iran, in 2014. His research interests and expertise include mechatronics, robotics, microrobotics and smart materials.

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