Email: firstname.lastname@example.org , email@example.com
S.M.Hadi Sadati received his B.Sc. in Mechanical Engineering in 2010 from Amirkabir University of technology (Tehran Polytechnic), Tehran, Iran, and his M.Sc. in Mechanical Engineering in 2012 from the Sharif University of Technology, Tehran, Iran. He is currently working toward the Ph.D. degree in mechanical engineering at King’s College London, University of London, London, UK. His current research interests include bio-inspired robotics, soft robotics, robotics dynamics and control, and system modeling and design.
Description of Research
Stiffness control has become an interesting area of research recently. Compliant actuators, artificial pneumatic muscles, electroactive polymers, continuum manipulators, soft robots, etc. are the topics which stiffness control can be helpful. While application specific designs have been addressed in the literature, actuation method and miniaturization are the problems yet need to be more investigated. This research focus on the design of a wearable stiffness controllable interface inspired by snake scales jamming. So far we used rigid scales actuated with wire tension, SMA wires. Scales of a snake attached on a helix backbone. We noticed variable stiffness, as well as actuation, can be achieved by controlling the torsion in helix cross section which we showed in concept by a preliminary design and comprehensive analytical modelling. A new dynamic modelling approach for compound continuum manipulators and a high-level language modelling is proposed in the process to address the control problem. The ultimate goal is to achieve regional directional stiffness control and actuation in a wearable integrable interface with application in wearable and continuum robots. Miniaturization is a necessary part to make a design adaptable to various surfaces to increase wearability. We plan to address this by investigating the possibility of using microfabrication methods and smart materials in the next steps of our work. This includes using micro scale jamming by electro-active polymer layers to control the inter-layer slip velocity and damping by modulating the friction force. While recent research mainly focused on improvement of characteristics of the smart material in different actuation and sensing applications, combined behavior of these materials and analytical approach toward modeling and design of products using such material needs further investigation which we are going to investigate further.
Recent Conference Publication
A Bio-Inspired Electro-Active Velcro Mechanism Using Shape Memory Alloy for Wearable and Stiffness Controllable Layers.
H. Afrisal and S.M.H. Sadati, T. Nanayakkara. Information and Automation for Sustainability (ICIAfS), 2016 8th International Conference on. IEEE, 2016. PDF
- A Geometry Deformation Model for Compound Continuum Manipulators with External Loading.
S.M.Hadi Sadati, Ali Shiva, Ahmad Ataka, Seyedeh Elnaz Naghibi, Ian Walker, Kaspar Althoefer, and Thrishantha Nanayakkara, accepted in IEEE International Conference on Robotics and Automation (ICRA), 2016. PDF
- Stiffness Control of Soft Robotic Manipulator for Minimally Invasive Surgery (MIS) Using Scale Jamming.
S.M.Hadi Sadati, Yohan Noh, S. Elnaz Naghibi, Althoefer Kaspar, and Thrishantha Nanayakkara. In Intelligent Robotics and Applications, pp. 141-151. Springer International Publishing, 2015. PDF
- An Automatic Algorithm to Derive Linear Vector Form of Lagrangian Equation of Motion with Collision and Constraint.
S. M. H. Sadati, S. E. Naghibi, and M. Naraghi. “An Automatic Algorithm to Derive Linear Vector Form of Lagrangian Equation of Motion with Collision and Constraint.” Procedia Computer Science 76 (2015): 217-222. PDF
- Passive dynamics of high frequency bat wing flapping with an anisotropic membrane.
Zheng, M., Sadati, S. M. H., Ghalamchi, P., & Nanayakkara, T. Information and Automation for Sustainability (ICIAfS), 2014 7th International Conference on. IEEE, 2014. PDF