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Mahdi Haghshenas-Jaryani
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Proceedings Papers

An Inflatable Soft Crawling Robot With Nondestructive Testing Capability for Overhead Power Line Inspection

Nicolás Mendoza, Hamidreza Nemati, Mahdi Haghshenas-Jaryani, Ehsan Dehghan-Niri
Proc. ASME. IMECE2022, Volume 5: Dynamics, Vibration, and Control, V005T07A021, October 30–November 3, 2022
Paper No: IMECE2022-95228
https://doi.org/10.1115/IMECE2022-95228
View Paper titled, An Inflatable Soft Crawling Robot With Nondestructive Testing Capability for Overhead Power Line Inspection
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Topics: Cables, Inspection, Nondestructive evaluation, Robotics, Robots, Transmission lines
Proceedings Papers

Maneuvering Control of a Planar Snake Robot Locomotion Using a Combined Heading-Velocity-Shape Strategy

Mahdi Haghshenas-Jaryani
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A035, August 14–17, 2022
Paper No: DETC2022-87984
https://doi.org/10.1115/DETC2022-87984
View Paper titled, Maneuvering Control of a Planar Snake Robot Locomotion Using a Combined Heading-Velocity-Shape Strategy
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Topics: Robots, Shapes, Control algorithms, Control equipment, Dynamics (Mechanics), Kinematics, Navigation, Phase shift, Simulation, Simulation results
Proceedings Papers

Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing

Mahdi Haghshenas-Jaryani, Hakki Erhan Sevil, Liang Sun
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A001, October 5–7, 2020
Paper No: DSCC2020-3156
https://doi.org/10.1115/DSCC2020-3156
View Paper titled, Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing
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Topics: Navigation, Robots, Unmanned aerial vehicles, Visual servoing, Computers, Construction, Control equipment, Engineering simulation, Integrated systems, Sensors
Proceedings Papers

Interconnected Fluid-Filled Cells Design for Reduction of Linear Acceleration and Force Transfer to Prevent Concussion

Alexandra R. Lindsay, Usamah Chaudhary, Taylor N. Terry, Mahdi Haghshenas-Jaryani, Muthu B. J. Wijesundara
Proc. ASME. IMECE2019, Volume 3: Biomedical and Biotechnology Engineering, V003T04A051, November 11–14, 2019
Paper No: IMECE2019-10675
https://doi.org/10.1115/IMECE2019-10675
View Paper titled, Interconnected Fluid-Filled Cells Design for Reduction of Linear Acceleration and Force Transfer to Prevent Concussion
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Topics: Design, Fluids, Secondary cells, Primary cells, Silicones, Urethane elastomers, Elastomers, Simulation, Sports
Proceedings Papers

A Quasi-Static Model for Studying Physical Interaction Between a Soft Robotic Digit and a Human Finger

Mahdi Haghshenas-Jaryani, Muthu B. J. Wijesundara
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A061, August 26–29, 2018
Paper No: DETC2018-85629
https://doi.org/10.1115/DETC2018-85629
View Paper titled, A Quasi-Static Model for Studying Physical Interaction Between a Soft Robotic Digit and a Human Finger
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Topics: Robotics, Human-robot interaction, Stiffness, Computer simulation, Dynamics (Mechanics), End effectors, Exoskeleton devices, Finite element model, Modeling, Statics
Proceedings Papers

Torque Characterization of a Novel Pneumatic Soft-and-Rigid Hybrid Actuator

Mahdi Haghshenas-Jaryani, Maulik Manvar, Muthu B. J. Wijesundara
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T30A007, October 11–13, 2017
Paper No: DSCC2017-5201
https://doi.org/10.1115/DSCC2017-5201
View Paper titled, Torque Characterization of a Novel Pneumatic Soft-and-Rigid Hybrid Actuator
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Topics: Actuators, Torque, Pressure, Case studies, Elastomers, Engineering simulation, Equilibrium (Physics), Finite element analysis, Silicone rubber, Simulation
Proceedings Papers

Soft Robotic Rehabilitation Exoskeleton (REHAB Glove) for Hand Therapy

Mahdi Haghshenas-Jaryani, Caleb Nothnagle, Rita M. Patterson, Nicoleta Bugnariu, Muthu B. J. Wijesundara
Proc. ASME. IDETC-CIE2017, Volume 3: 19th International Conference on Advanced Vehicle Technologies; 14th International Conference on Design Education; 10th Frontiers in Biomedical Devices, V003T13A005, August 6–9, 2017
Paper No: DETC2017-68291
https://doi.org/10.1115/DETC2017-68291
View Paper titled, Soft Robotic Rehabilitation Exoskeleton (REHAB Glove) for Hand Therapy
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Topics: Exoskeleton devices, Patient rehabilitation, Patient treatment, Robotics, Design, Algorithms, Kinematics, Actuators, Dynamics (Mechanics), Feedback
Proceedings Papers

Kinematic Study of a Soft-and-Rigid Robotic Digit for Rehabilitation and Assistive Applications

Mahdi Haghshenas-Jaryani, Wei Carrigan, Muthu B. J. Wijesundara, Rita M. Patterson, Nicoleta Bugnariu, Timothy Niacaris
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A065, August 21–24, 2016
Paper No: DETC2016-59921
https://doi.org/10.1115/DETC2016-59921
View Paper titled, Kinematic Study of a Soft-and-Rigid Robotic Digit for Rehabilitation and Assistive Applications
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Topics: Kinematics, Robotics, Rotation, Anatomy, Compression molding, Exoskeleton devices, Pressure, Silicone rubber, Skin, Vacuum
Proceedings Papers

Design and Development of a Novel Soft-and-Rigid Hybrid Actuator System for Robotic Applications

Mahdi Haghshenas-Jaryani, Wei Carrigan, Muthu B. J. Wijesundara
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A047, August 2–5, 2015
Paper No: DETC2015-47761
https://doi.org/10.1115/DETC2015-47761
View Paper titled, Design and Development of a Novel Soft-and-Rigid Hybrid Actuator System for Robotic Applications
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Topics: Actuators, Design, Robotics, Pressure, Compression molding, Finite element analysis, Geometry, Manufacturing, Rubber, Shapes
Proceedings Papers

Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller

Mahdi Haghshenas-Jaryani, GholamReza Vossoughi
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A053, August 2–5, 2015
Paper No: DETC2015-46480
https://doi.org/10.1115/DETC2015-46480
View Paper titled, Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller
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Topics: Control equipment, Robots, Trajectories (Physics), Kinematics, Uncertainty, Actuators, Algorithms, Coulombs, Degrees of freedom, Friction
Journal Articles

Modeling Flexibility in Myosin V Using a Multiscale Articulated Multi-Rigid Body Approach

Mahdi Haghshenas-Jaryani, Alan Bowling
Journal: Journal of Computational and Nonlinear Dynamics
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2015, 10(1): 011015.
Paper No: CND-13-1212
https://doi.org/10.1115/1.4026819
Published Online: October 13, 2014
View Article titled, Modeling Flexibility in Myosin V Using a Multiscale Articulated Multi-Rigid Body Approach
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Topics: Brownian motion, Dynamic modeling, Engines, Equations of motion, Friction, Modeling, Motors, Particulate matter, Proteins, Simulation
Proceedings Papers

Multiscale Dynamic Modeling of Flexibility in Myosin V

Mahdi Haghshenas-Jaryani, Alan Bowling
Proc. ASME. IDETC-CIE2013, Volume 7A: 9th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V07AT10A008, August 4–7, 2013
Paper No: DETC2013-13154
https://doi.org/10.1115/DETC2013-13154
View Paper titled, Multiscale Dynamic Modeling of Flexibility in Myosin V
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Topics: Dynamic modeling, Simulation, Dynamics (Mechanics), Equations of motion, DNA, Drag (Fluid dynamics), Dynamic models, Engines, Inertia (Mechanics), Motors
Proceedings Papers

Multiscale Modeling and Simulation of a Microbead in an Optical Trapping Process

Mahdi Haghshenas-Jaryani, Nguyen T. Tran, Alan P. Bowling, James A. Drake, Samarendra Mohanty
Proc. ASME. NEMB2013, ASME 2013 2nd Global Congress on NanoEngineering for Medicine and Biology, V001T05A003, February 4–6, 2013
Paper No: NEMB2013-93059
https://doi.org/10.1115/NEMB2013-93059
View Paper titled, Multiscale Modeling and Simulation of a Microbead in an Optical Trapping Process
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Topics: Multiscale modeling, Simulation, Dynamics (Mechanics), Atoms, Cell membranes, Dimensionless numbers, DNA, Drag (Fluid dynamics), Equations of motion, Geometric optics
Proceedings Papers

A Supervisory Fuzzy-PID Controller for a MIMO Biped Robot Balance in Frontal Plane

Hesam Zomorodi-Moghadam, Mahdi Haghshenas-Jaryani, Farzam Farahmand
Proc. ASME. IMECE2008, Volume 2: Biomedical and Biotechnology Engineering, 307-314, October 31–November 6, 2008
Paper No: IMECE2008-67118
https://doi.org/10.1115/IMECE2008-67118
View Paper titled, A Supervisory Fuzzy-PID Controller for a MIMO Biped Robot Balance in Frontal Plane
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Topics: Control equipment, Robots