Dr. Mahdi Haghshenas-Jaryani

Lab

Bioinspired and Biomimetic Robotics Laboratory (Bio2Robotics Lab)

Research Interests

Soft Robotics, Bio-inspired and Bio-mimetic Robotics, Dynamics and Control of Soft-bodied and Hybrid Soft-and-Rigid Bodied Systems, Physical Human-Robot Interaction for Wearable Robotics and Soft Exoskeletons

 

 

Publications

 

Journal

  1. M. Haghshenas-Jaryani, R. Patterson, N. Bugnariu, and M.B.J. Wijesundara, “Design and Control of Soft Robotic Hand Exoskeleton for Rehabilitation”, Journal of Hand Therapy, 2020, in press.
  2. A. Bowling, M. Haghshenas-Jaryani, “A Multiscale Modeling Approach for Biomolecular Systems”, Multibody System Dynamics, 33(4), pp 333-365, April 2015.
  3. M. Haghshenas-Jaryani, A. Bowling, “Modeling Flexibility in Myosin V Using a Multiscale Articulated Multi-Rigid Body Approach”, Journal of Computational and Nonlinear Dynamics, 10(1), 011015 (2014).
  4. M. Haghshenas-Jaryani, B. Black, S. Ghaffari, J. Drake, A. Bowling, and S. Mohanty, “Dynamics of Microscopic Objects in Optical Tweezers: Experimental Determination of Underdamped Regime and Numerical Simulation using Multiscale Analysis,” Nonlinear Dynamics, 76(2), pp 1013-1030, April 2014.
  5. M. Haghshenas-Jaryani, A. Bowling, “A New Switching Strategy for Addressing Euler Parameters in Dynamic Modeling and Simulation of Rigid Multibody Systems”, Multibody System Dynamics, 30(2), pp 185-197, August 2013.

Conference

  1. M. Haghshenas-Jaryani, “Analytical Formulation for Timoshenko beam-based Dynamics of Articulated Soft Robotics Arms”, ASME Dynamic Systems and Control Conference (DSCC), October 7-10, 2020, Pittsburgh, USA, under review.
  2. M. Haghshenas-Jaryani, H.E. Sevil, and L. Sun, “Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing”, ASME Dynamic Systems and Control Conference (DSCC), October 7-10, 2020, Pittsburgh, USA, under review.
  3. M. Haghshenas-Jaryani and H.E. Sevil, “Autonomous Navigation and Obstacle Avoidance of a Snake Robot with Combined Velocity-Heading Control”, IEEE International Conference on Intelligent (IROS), October 25-29, 2020, Las Vegas, USA, under review.
  4. M. Haghshenas-Jaryani, “Quasi-Static Model-based Control of Physical Human-Wearable Soft Robot Interaction for Assisted Hand Motion”, Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) June29-July2, 2020, New York, USA, under review.
  5. A. Bowling, V. Joshi, and M. Haghshenas-Jaryani, “Integration of Modeling and Experimentation to Explore the Underdamped Motion of Beads in Optical Tweezers”, Proceedings Volume 11083, Optical Trapping and Optical Micromanipulation XVI; 110831S (2019) https://doi.org/10.1117/12.2530017. SPIE Nanoscience + Engineering, 2019, San Diego, CA.
  6. M. Haghshenas-Jaryani, C. Pande, and M.B.J. Wijesundara, “Soft Robotic Bilateral Rehabilitation System for Fine Motor Learning”, Proc. IEEE RAS&EMBS 16th International Conference on Rehabilitation Robotics (ICORR), June 24-28, 2019, Toronto, Canada, p. 337-342, doi: 10.1109/ICORR.2019.8779510.
  7. M. Haghshenas-Jaryani and M.B.J. Wijesundara, “A Quasi-Static Model for Studying Physical Interaction Between a Soft Robotic Digit and a Human Finger”, ASME IDETC/CIE, Volume 5A: 42nd Mechanisms and Robotics Conference, DETC2018-85629, August 26-29, 2018, Quebec City, Canada, doi:10.1115/DETC2018-85629.
  8. M. Haghshenas-Jaryani, M. Manvar, and M.B.J. Wijesundara, “Torque Characterization of a Novel Soft-and-Rigid Hybrid Actuator for Robotic Applications”, ASME Dynamic Systems and Control Conference (DSCC), V001T30A007, October 11-13, 2017, Tysons, VA, doi:10.1115/DSCC2017-5201.
  9. M. Haghshenas-Jaryani, C. Nothnagle, R.M. Patterson, N. Bugnariu, and M.B.J. Wijesundara, “Soft Robotic Rehabilitation Exoskeleton (REHAB Glove) for Hand Therapy”, Proc. ASME. IDETC/CIE, Volume3: 10th Frontiers in Biomedical Devices Conference (BIOMED), V003T13A005, August 6-9, 2017, Cleveland, OH, doi:10.1115/DETC2017-68291.
  10. M. Haghshenas-Jaryani, W. Carrigan, R.M. Patterson, N. Bugnariu, T. Niacaris, and M.B.J. Wijesundara, “Kinematic study of a soft-and-rigid robotic finger for rehabilitation and assistive applications”, Proc. ASME. IDETC/CIE, Volume5B: 40th Mechanisms and Robotics Conference, V05BT07A065, August 21-24, 2016, doi:10.1115/DETC2016-59921.
  11. M. Haghshenas-Jaryani, W. Carrigan, C. Nothnagle, and M.B.J. Wijesundara, “Sensorized soft robotic glove for continuous passive motion therapy”, Proc. the 6th IEEE RAS&EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 26-29, 2016, Singapore, pp. 815-820, doi: 10.1109/BIOROB.2016.7523728.
  12. M. Haghshenas-Jaryani, W. Carrigan, M.B.J. Wijesundara, “Design and Development of a Novel Soft-and-Rigid Hybrid Actuator System for Robotic Applications”, Proc. ASME. 39th Mechanisms and Robotics Conference, vol. 5A, V05AT08A047, DETC2015-47761, August 2-5, 2015, Boston, MA, doi:10.1115/DETC2015-47761.
  13. M. Haghshenas-Jaryani, G.R. Vossoughi, “Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller”, Proc. ASME. 39th Mechanisms and Robotics Conference, vol. 5A, V05AT08A053, DETC2015-46480, August 2-5, 2015, Boston, MA, doi:10.1115/DETC2015-46480.
  14. M. Haghshenas-Jaryani, A. Bowling, “Computational Study of Kinesin Motility and the Effect of Neck Linker using a Flexible Articulated Rigid Multibody Model”, in Proceedings of ASME 3rd Cong. on Nanoengineering for Medicine and Biology, NEMB 2014, February 2-5, 2014, San Francisco, CA.
  15. M. Haghshenas-Jaryani, A. Bowling, “Multiscale Dynamic Modeling of Flexibility in Myosin V”, in Proceedings of International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), DETC2013-13154, vol. 7A, V07AT10A008, August 4-7, 2013, Portland, OR, doi:10.1115/DETC2013-13154.
  16. M. Haghshenas-Jaryani, J. Drake, N. Tran, A. Bowling, S. Mohanty, “Multiscale Modeling and Simulation of a Microbead in an Optical Trapping Process”, Proc. of ASME 2nd Cong. on Nanoengineering for Medicine and Biology, NEMB2013-93059, pp. V001T05A003, 2013, February 4-6, 2013, Boston, MA.
  17. M. Haghshenas-Jaryani, A. Bowling, “Multiscale Dynamic Modeling of Flexibility in Myosin V using a Planar Mechanical Model”, Proc. of IEEE int’l conf. on Robotics and Biomimetics, ROBIO 2012, pp. 366-371, December 11-14, 2012, Guangzhou, China.
  18. M. Haghshenas-Jaryani, A. Bowling, “A New Numerical Strategy for Handling Quaternions in Dynamic Modeling and Simulation of Rigid Multibody Systems”, The Second Joint International Conference on Multibody System Dynamics, IMSD2012, May 29-June 1, 2012, Stuttgart, Germany.
  19. M. Haghshenas-Jaryani, A. Bowling, “Multiscale Multibody Dynamics of Processive Motor Proteins,” Proceedings of IEEE int’l conf. on Robotics and Biomimetics, ROBIO 2011, pp. 1403-1408, December 7-11, 2011, Phuket Island, Thailand.
  20. M. Haghshenas-Jaryani, A. Bowling, “Spatial Multibody Dynamics of Motor Proteins,” Multibody Dynamics 2011, An ECCOMAS Thematic Conference, July 4-7, 2011, Brussels, Belgium.
  21. A. Bowling, M. Haghshenas-Jaryani, “Spatial Multibody Dynamics of Nano-scale motor protein Locomotion”, Proc. of the 1st International Conference on Applied Bionics and Biomechanics (ICABB), October 14-16, 2010, Venice, Italy.
  22. M. Haghshenas-Jaryani, G.R. Vossoughi, “Modeling and Sliding Mode Control of a Snake-like Robot with Holonomic Constraints”, Proc. of IEEE int’l conf. on Robotics and Biomimetics, ROBIO 2008, pp. 454-461, February 22-25, 2009, Bangkok, Thailand.
  23. H. Zomorodi, M. Haghshenas-Jaryani, F. Farahmand, “A Supervisory Fuzzy-PID Controller for a MIMO Biped Robot Balance in Frontal Plane”, Proc. of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, vol. 2, pp. 307-314, October31-November 6, 2008, Boston, MA, USA.
  24. M. Haghshenas-Jaryani, “An Effective Manipulator Trajectory Planning with Obstacles Using Virtual Potential Field Method”, Proc. of IEEE int’l conf. on System, Man and Cybernetics, SMC2007, pp. 1573-1578, October 7-10, 2007, Montreal, Canada.