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photo of Dr. Mahdi Haghshenas-Jaryani

Dr. Mahdi Haghshenas-Jaryani

Associate Professor

Ph.D., The University of Texas at Arlington, 2014


Tel: (575) 646-5698

Email: mahdihj@nmsu.edu

Office: Jett Hall, Room 230

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

Patents

  1. M.B.J. Wijesundara, W. Carrigan, and M. Haghshenas-Jaryani, "Fluid-Driven Actuators and Related Methods (Hand Rehabilitation Device)", (Feb 09 2021), U.S. Patent 10,912,701.
  2. M.B.J. Wijesundara, W. Carrigan, and M. Haghshenas-Jaryani, "Variable Stiffness Apparatuses using an Interconnected Dual Layer Fluid-Filled Cell Array", (Apr. 19 2022), US Patent 11,304,476.
  3. C. Pande, M. Haghshenas-Jaryani, and M.B.J. Wijesundara, "System and Methods for Robotics Mirror Therapy of the Hand", (Apr. 15, 2020), Application No. 16/849,914.

Journal

  1. A. Valles and M. Haghshenas-Jaryani, "Multi-Objective Co-Design Optimization of a Planar PAM-Based Snake-Like Robot for Enhanced Agility and Energy Efficiency", Advanced Robotics Research (ARR), 2025, under review.
  2. M. Haghshenas-Jaryani, "Control-oriented Learning Nonlinear Systems using Lyapunov Stable Guaranteed Soft-bodied Physical Reservoir Computing", the IEEE Control Systems Letters (L-CSS), 2025, under review.
  3. UK. Alam and M. Haghshenas-Jaryani, "Modeling a Hybrid Soft-and-Rigid Robotic Exo-digit with Varying Length Soft Segments Coupled to a Human Finger", Journal of Medical Robotics Research (JMRR), (2025) 10:01n02, 2540007 (12 pages), DOI: 10.1142/S2424905X25400070.
  4. J. Linford and M. Haghshenas-Jaryani, "A Ground Robotic System for Crops and Soil Monitoring and Data Collection in New Mexico Chile Pepper Farms", Discover Agriculture 2, 101 (2024). https://doi.org/10.1007/s44279-024-00113-3.
  5. N. Mendoza and M. Haghshenas-Jaryani, “Combined Soft Grasping and Crawling Locomotor Robot for Exterior Navigation of Tubular Structures”, Machines, 2024,12(3),157; https://doi.org/10.3390/machines12030157.
  6. UK. Alam, K. Shedd, J. Kirkland, K. Yaksich, and M. Haghshenas-Jaryani, "Modeling the Human Finger and Soft Robotic Exo-digit Physical Interaction for Wearable Rehabilitation Robotics Applications", Frontiers in Robotics and AI, Vol. 10, 2023, https://doi.org/10.3389/frobt.2023.1209609.
  7. UK. Alam, K. Shedd, and M. Haghshenas-Jaryani, "Trajectory Control in Discrete-Time Nonlinear Coupling Dynamics of a Soft Exo-Digit and a Human Finger using Input-Output Feedback Linearization", Automation, 2023, 4(2):164-190. https://doi.org/10.3390/automation4020011.
  8. M. Lopez and M. Haghshenas-Jaryani, "A Study of Energy-efficient and Optimal Locomotion in a Pneumatic Artificial Muscle-driven Snake Robot", Robotics, 2023, 12(3), 89; https://doi.org/10.3390/robotics12030089.
  9. A. Western, M. Haghshenas-Jaryani, and M. Hassanalian, "Golden Wheel Spider-Inspired Rolling Robots for Planetary Exploration", 2023, Acta Astronautica, Vol. 204, pp. 34-48 https://doi.org/10.1016/j.actaastro.2022.12.030.
  10. M. Haghshenas-Jaryani, “Exploiting Morphology of Underactuated Two-segment Soft-bodied Robotic Arm for Swing-up Control”, Journal of Intelligent and Robotic Systems, 105 (4), 92 (2022). https://doi.org/10.1007/s10846-022-01700-6.
  11. M. Haghshenas-Jaryani, “Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot”, Actuators, 11(7), 194. 2022. https://doi.org/10.3390/act11070194.
  12. D. N. Lozada, P. Bosland, D. W. Barchenger, M. Haghshenas-Jaryani, S. Sanogo, and S. Walker, “Chile pepper (Capsicum) breeding and improvement in the "multi-omics" era”, Frontiers in Plant Science, section Plant Breeding, 13, 2022, doi: 10.3389/fpls.2022.879182.
  13. M. Lopez and M. Haghshenas-Jaryani, "A Muscle-Driven Mechanism for Locomotion of Snake-Robots" Automation, 3(1): 1-26. 2022. https://doi.org/10.3390/automation3010001
  14. MU. Masood and M. Haghshenas-Jaryani, “A Study on the Feasibility of Robotic Harvesting for Chile Pepper”, Robotics, 10(3), 94, 2021. https://doi.org/10.3390/robotics10030094
  15. 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, 33 (2020) 198-208, May 2020, https://doi.org/10.1016/j.jht.2020.03.024.
  16. A. Bowling and M. Haghshenas-Jaryani, “A Multiscale Modeling Approach for Biomolecular Systems”, Multibody System Dynamics, 33(4), pp 333-365, April 2015, https://doi.org/10.1007/s11044-014-9431-x.
  17. M. Haghshenas-Jaryani and 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), https://doi.org/10.1115/1.4026819
  18. 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, https://doi.org/10.1007/s11071-013-1185-0.
  19. M. Haghshenas-Jaryani and 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, https://doi.org/10.1007/s11044-012-9333-8.

Peer Reviewed Conferences

  1. U.K. Alam and M. Haghshenas-Jaryani, "Learning Force and Motion Parameters of Human-Wearable-Robot Interaction Using a Multi-Tasking Soft Fluidic Actuator-Based Physical Reservoir Computing", the ASME 2025 Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2025), St. Louis, MO, USA, September 16-20, 2025, (invited paper) accepted for publication and presentation.
  2. E. Dehghan Niri, H. Nemati, M. Nasr, and M. Haghshenas-Jaryani, "Laying the Foundations for Bioinspired Active Acoustic Sensing in Gas Leak Localization", the 2025 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2025), Chengdu, China, December 3-7, 2025, under review.
  3. B. Jogeshwar, H.E. Sevil, and M. Haghshenas-Jaryani, "Multi-Agent Task Allocation for Agricultural Robotics-Based Soil and Crops Monitoring", the ASME 2025 International Mechanical Engineering Congress and Exposition (IMECE2025), Memphis, TN, USA, November 16-20, 2025, accepted for publication and presentation.
  4. UK. Alam and M. Haghshenas-Jaryani, "Modeling and Numerical Simulation of Variable Length Soft Fluidic Actuators for Wearable Rehabilitation Robots", the 2025 International Symposium on Medical Robotics (ISMR 2025), May 14-16, 2025, Georgia Tech, Atlanta, USA, pp. 94-100, doi: 10.1109/ISMR67322.2025.11025958.
  5. M. Haghshenas-Jaryani, "Controllability and Stability Analysis of a Multi-Contact Human-Soft-Wearable-Robot Interaction for Trajectory Tracking", the 2025 American Control Conference (ACC 2025), Denver, CO, USA, July 8-10, 2025, pp. 529-534, doi: 10.23919/ACC63710.2025.11107558.
  6. UK. Alam and M. Haghshenas-Jaryani, "Model-based Control of an Underactuated Soft Robotic Exo-digit Coupled to a Human Finger", the 2025 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE), August 17-20, 2025, Anaheim, USA, accepted for publications and presentation.
  7. A. Valles and M. Haghshenas-Jaryani, "Modeling and Joint Space Control of a Planar Pneumatic Artificial Muscle-driven Snake-Like Robot", the 2025 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE), August 17-20, 2025, Anaheim, USA, accepted for publications and presentation.
  8. J. Flesner and M. Haghshenas-Jaryani, "Design and Analysis of a Robotic Vacuum Arm for the Collection of Submerged Golf Balls", the 2025 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE), August 17-20, 2025, Anaheim, USA, accepted for publication and presentation.
  9. A. Valles and M. Haghshenas-Jaryani, "Dynamic Modeling, Control, and Design Optimization of an Artificial Muscle-Driven Limbless Robot for Agile Locomotion", the 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 15-18, 2024, Boston, USA, pp. 1126-1131, doi: 10.1109/AIM55361.2024.10636952.
  10. UK. Alam, L. Garcia, J. Grajeda, M. Haghshenas-Jaryani, and L.E. Boucheron, “Automated Harvesting of Green Chile Peppers with a Deep Learning-based Vision-enabled Robotic Arm", the 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 15-18, 2024, Boston, USA, pp. 805-811, doi: 10.1109/AIM55361.2024.10636976.
  11. M. Haghshenas-Jaryani, "Morphological Computation by Exploiting Partial Feedback Linearizable Underactuated Soft-bodied Systems", the 2024 American Control Conference (ACC 2024), Toronto, Canada, July 8-12, 2024, pp. 1-6, doi: 10.23919/ACC60939.2024.10644224.
  12. UK. Alam and M. Haghshenas-Jaryani, "Model-based Control for a Coupled Soft Robotic Exo-digit and Anthropomorphic Finger with Multi-Contact Point Physical Interaction", the 2024 International Symposium on Medical Robotics (ISMR 2024), June 3-5, 2024, Georgia Tech, Atlanta, USA, pp. 1-6, doi: 10.1109/ISMR63436.2024.10585641.
  13. UK. Alam and M. Haghshenas-Jaryani, "Learning Contact Forces in Human-Wearable-Robot Interaction using Morphological Computation", 2024 IEEE-RAS 7th International Conference on Soft Robotics (RoboSoft), San Diego, CA, USA, April 14-17, 2024, pp. 671-677, doi: 10.1109/RoboSoft60065.2024.10521979.
  14. M. Haghshenas-Jaryani, "Dynamic Modeling and Trajectory Control of a Soft Cylindrical Rolling Robot with Shape Morphing-based Steering Mechanism", The 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, December 4-9, 2023, pp. 1-6, doi: 10.1109/ROBIO58561.2023.10354967.
  15. M. Haghshenas-Jaryani, "Timoshenko Beam-based Analytical Formulation and Numerical Simulation of Continuum Soft-bodied Robotic Arms", The 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, December 4-9, 2023, pp. 1-6, doi: 10.1109/ROBIO58561.2023.10354597.
  16. J. Linford and M. Haghshenas-Jaryani, “Workspace Study of Floating-Base Ground Mobile Manipulator for Soil Moisture Monitoring in NM-Type Green Chile Pepper Farming”, 2023 IEEE/SICE International Symposium on System Integrations (SII 2023), Atlanta, Georgia, Jan 17-20, 2023, pp. 1-6, doi: 10.1109/SII55687.2023.10039476.
  17. M. Haghshenas-Jaryani, “Adaptive Quasi-Static Motion Control of a Soft Robotic Exo-Digit in physical Human-Wearable-Soft-Robot-Interaction”, 2022 IEEE 18th International Conference on Automation Science and Engineering, Mexico City, Mexico, Aug 20-24, pp. 2401-2406, 2022, doi: 10.1109/CASE49997.2022.9926652.
  18. N. Mendoza, H. Nemati, M. Haghshenas-Jaryani, and E. Dehghan-Niri, “An Inflatable Soft Crawling Robot with Nondestructive Testing Capability for Overhead Power Line Inspection”, ASME 2022 International Mechanical Engineering Congress and Exposition (IMECE2022), Columbus, Ohio, Oct. 30-Nov. 3, 2022, Volume 5: Dynamics, Vibration, and Control, https://doi.org/10.1115/IMECE2022-95228.
  19. M. Haghshenas-Jaryani, “Maneuvering Control of a Planar Snake Robot Locomotion using a Combined Heading-Velocity-Shape Strategy”, 2022 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), 46th Mechanisms and Robotics Conference (MR), St. Louis, Missouri, Aug 14-17, 2022, https://doi.org/10.1115/DETC2022-87984
  20. A. Western, C. Dunning, R. Cervantes, M. Haghshenas-Jaryani, and M. Hassanalian. "Dynamical Modeling of a Spider-Bioinspired Rolling Robot for Planetary Exploration", AIAA 2022-3710. P.3710, AIAA AVIATION 2022 FORUM. June 27-July 1 2022, Chicago, IL. https://doi.org/10.2514/6.2022-3710
  21. A. Western, R. Cervantes, C. Dunning, M. Haghshenas-Jaryani, and M. Hassanalian. "Bioinspired Robot with Walking, Rolling, and Jumping Capabilities for Planetary Exploration," AIAA 2021-2784. AIAA AVIATION 2021 FORUM. August 2021, https://doi.org/10.2514/6.2021-2784.
  22. M. Lopez and M. Haghshenas-Jaryani, “A Muscle-driven Mechanism for Locomotion of Snake-Robots: Kinematics, Design, and Prototyping”, 2021 Florida Conference for Recent Advances in Robotics (FCRAR), May13-14, 2021.
  23. 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, V001T05A001, https://doi.org/10.1115/DSCC2020-3156.
  24. 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 Robots and Systems (IROS), October 25-29, 2020, Las Vegas, USA, pp. 7507-7512, doi: 10.1109/IROS45743.2020.9341256.
  25. L. Fina, H.E. Sevil, and M. Haghshenas-Jaryani, “Anomaly Detection in Joint Angle Sensor of a Snake Robot”, 33rd Florida Conference on Recent Advances in Robotics (FCRAR), May 14-16, 2020, Melbourne, FL, USA.
  26. 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) November 29-December 2, 2020, New York, USA, pp. 370-375, doi: 10.1109/BioRob49111.2020.9224387.
  27. 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.
  28. 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.
  29. 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.
  30. 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.
  31. 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.
  32. 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.
  33. 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.
  34. 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.
  35. 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.
  36. M. Haghshenas-Jaryani and 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.
  37. M. Haghshenas-Jaryani and 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.
  38. 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.
  39. M. Haghshenas-Jaryani and 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, doi: 10.1109/ROBIO.2012.6490994.
  40. M. Haghshenas-Jaryani and 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.
  41. M. Haghshenas-Jaryani and A. Bowling, “Multiscale Dynamic Modeling 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, doi: 10.1109/ROBIO.2011.6181486.
  42. M. Haghshenas-Jaryani and A. Bowling, “Spatial Multibody Dynamics of Motor Proteins,” Multibody Dynamics 2011, An ECCOMAS Thematic Conference, July 4-7, 2011, Brussels, Belgium.
  43. A. Bowling and 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.
  44. M. Haghshenas-Jaryani and 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, doi: 10.1109/ROBIO.2009.4913046.
  45. H. Zomorodi, M. Haghshenas-Jaryani, and 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, https://doi.org/10.1115/IMECE2008-67118.
  46. 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, doi: 10.1109/ICSMC.2007.4413685.