S.M.Hadi SadatiQueen Mary, University of London | QMUL · School of Engineering and Materials Science
S.M.Hadi Sadati
PhD
Intelligent Continuum Robotics
About
85
Publications
40,273
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Introduction
Dr S. M. Hadi Sadati is an Assistant Professor (UK Lecturer) in Robotics & Mechatronics at the Center for Advanced Robotics (ARQ), School of Engineering and Materials Science, Queen Mary University of London. His research experience and interests include soft robotics, medical robotics, embodied intelligence, bioinspiration, dynamics, control, AI, and mechatronics.
Additional affiliations
October 2019 - December 2019
April 2019 - April 2021
December 2017 - December 2017
Education
January 2014 - August 2018
September 2010 - April 2015
September 2010 - September 2012
Publications
Publications (85)
. Passive walkers perform a walking like stable limit cycle on small slopes without any external control. In this research, a deployed model of biped that can be built has been considered, and then its walking performance sensitivity such as efficiency, stability and robustness on uneven trains due to variation of structural parameters and their op...
Endovascular interventions are a life-saving treatment for many diseases, yet suffer from drawbacks such as radiation exposure and potential scarcity of proficient physicians. Robotic assistance during these interventions could be a promising support towards these problems. Research focusing on autonomous endovascular interventions utilizing artifi...
Optic nerve sheath fenestration (ONSF) is used to treat increased intracranial pressure caused by craniocerebral injury. The operation usually requires the detachment of the eye muscles and cutting open part of the skull to access the nerve behind the eye in the eye orbit [1]. Severe potential complications such as visual loss by making a deep inci...
The inherent compliance of soft everting (growing) robots permits them to conform to complex pathways and to continually change in shape and configura- tion. Such robots navigate their environments through pressure-driven eversion, whereby a compliant tip un- folds along its pathway (apical extension) [1]. This makes everting robots well-suited for...
This paper presents, for the first time, a low melting point alloy (LMPA)-based variable stiffness soft eversion growing robot. Eversion robots can extend into difficult-to-access pathways, such as anatomical structures, by means of pressure-induced apical extension. The proposed system combines the benefits of soft-robot compliance with temperatur...
Aortic valve surgery is the preferred procedure for replacing a damaged valve with an artificial one. The ValveTech robotic platform comprises a flexible articulated manipulator and surgical interface supporting the effective delivery of an artificial valve by teleoperation and endoscopic vision. This article presents our recent work on force-perce...
This paper presents vision-based autonomous navigation of a steerable soft growing robot. Our experimental platform is the previously presented MAMMOBOT, which is a small-diameter eversion growing robot with an embedded steerable catheter. The current manuscript first models the robot using kinematics (constant curvature) and mechanics (virtual wor...
Concentric Tube Robots (CTRs) are promising for minimally invasive interventions due to their miniature diameter, high dexterity, and compliance with soft tissue. CTRs comprise individual pre-curved tubes usually composed of NiTi and are arranged concentrically. As each tube is relatively rotated and translated, the backbone elongates, twists, and...
Soft robot’s natural dynamics calls for the development of tailored modeling techniques for control. However, the high-dimensional configuration space of the geometrically exact modeling approaches for soft robots, i.e., Cosserat rod and Finite Element Methods (FEM), has been identified as a key obstacle in controller design. To address this challe...
Robot-assisted minimally invasive surgery with catheters and steerable cannulas such as Concentric Tube Robots can improve the postoperative patient experience. Haptic sensing for tooltip can reduce the chance of complications in such procedures, such as vessel irritation, vasospasm, perforation, and aneurysm rupture. This paper investigates the de...
Background
Autonomous navigation of catheters and guidewires in endovascular interventional surgery can decrease operation times, improve decision-making during surgery, and reduce operator radiation exposure while increasing access to treatment.
Objective
To determine from recent literature, through a systematic review, the impact, challenges, an...
This paper proposes a new method for real-time terrain recognition-based navigation for mobile robots. Mobile robots performing tasks in unstructured environments need to adapt their trajectories in real-time to achieve safe and efficient navigation in complex terrains. However, current methods largely depend on visual and IMU (inertial measurement...
Herein, recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots are discussed. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, enabling currently unachievable tasks for medical, industrial, and service applications. The recent surge i...
Soft robots that grow through eversion/apical extension can effectively navigate fragile environments such as ducts and vessels inside the human body. This paper presents the physics-based model of a miniature steerable eversion growing robot. We demonstrate the robot's growing, steering, stiffening and interaction capabilities. The interaction bet...
This paper proposes a new method for real-time terrain recognition-based navigation for mobile robots. Mobile robots performing tasks in unstructured environments need to adapt their trajectories in real-time to achieve safe and efficient navigation in complex terrains. However, current methods largely depend on visual and IMU (inertial measurement...
The agile nature of physical interactions in animal and plant species has inspired many recent advances in robotics and their control frameworks. However, they still face challenges in interaction with ever-changing unconstructured world that we live in. Intelligence is one of nature’s survival solutions for biological creatures to adapt to and res...
The concept of continuum and soft robotics has opened new abilities that were previously unachievable by rigid robotics alone, such as squeezing, growing, and morphing to their environments. As an example, Concentric Tube Robots (CTR) are continuum robots made of a series of pre-curved, elastic tubes where each tube can individually be rotated, as...
Concentric tube robots (CTRs) are catheter-like robots that can navigate anatomical lumen to reach surgical targets that are deep inside the body. While CTRs have been extensively studied in quasi-static conditions, unique robot behaviours such as hysteresis and snapping, i.e. the sudden release of elastic energy accumulated due to robot tubes’ twi...
Identifying terrain type is important for safely operating robots exploration in unstructured environments. In this letter, we firstly proposed a novel tapered whisker-based semi-supervised reservoir computing (TWSSRC) system for improving terrain classification and terrain property estimation for traversability assessment with low computing cost....
Continuum surgical robots can navigate anatom-ical pathways to reach pathological locations deep inside thehuman body. Their flexibility, however, generally comes with re-duced dexterity at their tip and limited workspace. Building onrecent work on eccentric tube robots, this paper proposes a newcontinuum robot architecture and theoretical framewor...
The agile nature of physical interactions in animal and plant species has inspired many recent advances in robotics and their control frameworks. However, they still face challenges in interaction with ever-changing unconstructured world that we live in. Intelligence is one of nature's survival solutions for biological creatures to adapt to and res...
This paper presents a multi-purpose gripping and incision tool-set to reduce the number of required manipulators for targeted therapeutics delivery in Minimally Invasive Surgery. We have recently proposed the use of multi-arm Concentric Tube Robots (CTR) consisting of an incision, a camera, and a gripper manipulator for deep orbital interventions,...
The direct relationship between early-stage breast cancer detection and survival rates has created the need for a simple, fast and cheap method to detect breast cancer at its earliest stages. Endoscopic evaluation of the mammary ducts known as ductoscopy has great potential to detect early breast cancers. Unfortunately, there are technical limitati...
This paper shows analytical and experimental evidence of using the vibration dynamics of a compliant whisker for accurate terrain classification during steady state motion of a mobile robot. A Hall effect sensor was used to measure whisker vibrations due to perturbations from the ground. Analytical results predict that the whisker vibrations will h...
This letter presents MAMMOBOT, one of the first millimetre-scale steerable soft growing robots for medical applications. MAMMOBOT aims to access the breast through the nipple and navigate the mammary ducts to detect precursors of invasive breast cancers. Addressing limitations of the state-of-the-art, MAMMOBOT maintains a hollow inner lumen through...
This paper presents MAMMOBOT, one of the first millimetre-scale steerable soft growing robots for medical applications. MAMMOBOT aims to access the breast through the nipple and navigate the mammary ducts to detect precursors of invasive breast cancers. Addressing limitations of the state-of-the-art, MAMMOBOT maintains a hollow inner lumen througho...
Continuum robots can traverse anatomical pathways to intervene in regions deep inside the human body. They are able to steer along 3D curves in confined spaces and dexterously handle tissues. Concentric tube robots (CTRs) are continuum robots that comprise a series of precurved elastic tubes that can be translated and rotated with respect to each o...
In the past decade, the use of soft, deformable materials has gained widespread interest due to their potential to carry out tasks in unstructured environments, such as grasping or manipulating objects with a wide variety of shapes and sizes, locomotion in irregular terrains, and enabling safe and flexible interactions between humans and robots. Th...
Soft robots' natural dynamics calls for the development of tailored modeling techniques for control. However, the high-dimensional state space of the commonly practiced modeling approaches for soft robots, i.e. Cosserat rod and Finite Element Methods, has been identified as a key obstacle in controller design. To address this niche, Reduced-Order M...
Concentric tube robots (CTRs) are continuum robots that can navigate the lumen to reach surgical targets that are deep inside the body. While CTRs have been extensively studied in quasistatic conditions, limited work on their dynamic modeling exists. This paper presents the dynamic modelling of CTR using Reduced-Order Modeling (ROM) by Polynomial S...
This paper presents a medical robotic system for deep orbital interventions, with a focus on Optic Nerve Sheath Fenestration (ONSF). ONSF is a currently invasive ophthalmic surgical approach that can reduce potentially blinding elevated hydrostatic intracranial pressure on the optic disc via an incision on the optic nerve. The prototype is a multi-...
Soft Robotics is a research field still in its infancy, but it has remarkable potential. Nevertheless, it still has to overcome a number of challenges before it can deliver off-the-shelf solutions. To address these challenges and form a community, the first IEEE international conference of Soft Robotics (RoboSoft 2018) was organized in Livorno (Ita...
In this paper, we propose benefiting from load readings at the base of a continuum appendage for real-time forward integration of Cosserat rod model with application in configuration and tip load estimation. The application of this method is successfully tested for stiffness imaging of a soft tissue, using a 3-DOF hydraulically actuated braided con...
A reliable, accurate, and yet simple dynamic model is important to analyze, design and control hybrid rigid-continuum
robots. Such models should be fast, as simple as possible and user-friendly to be widely accepted by the ever-growing
robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a
ge...
The book was inadvertently published with an incorrect version of an author’s name in Chapter 13 as “Althoefer Kaspar” whereas it has been updated as “Kaspar Althoefer”.
Mammals like rats, who live in dark burrows, heavily depend on tactile perception obtained through the vibrissal system to move through gaps and to discriminate textures. The organization of a mammalian whisker follicle contains multiple sensory receptors and glands strategically organized to capture tactile sensory stimuli of different frequencies...
Hybrid rigid-continuum robot design addresses a range of challenges associated with using soft robots in application areas such as robotic surgery. Design of 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-co...
Robust mechanisms for slip resistance are an open challenge in legged locomotion. Animals such as goats show impressive ability to resist slippage on cliffs. It is not fully known what attributes in their body determine this ability. Studying the slip resistance dynamics of the goat may offer insight toward the biologically inspired design of robot...
A reliable, accurate, and yet simple dynamic model is important to analyze, design and control continuum manip-ulators. Such models should be fast, as simple as possible and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new mod-eling methods for continuum manipulators: a general...
Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact fo...
Various methods based on hyperelastic assumptions have been developed to address the mathematical complexities of modeling motion and deformation of continuum manipulators. In this study, we propose a quasistatic approach for 3D modeling and real-time simulation of a pneumatically actuated soft continuum robotic appendage to estimate the contact fo...
Having a reliable accurate and at the same time simple dynamic model is important in analysis, design, path planning and control of robotic systems. Such models should be fast, convenient and simple to use to be accepted by the ever growing robotics research community. Among all the challenges, controlling complex systems with compound rigid and co...
Several semi-analytical models are considered for a double-gyre problem in a turbulent flow regime for which a reference fully numerical eddy-resolving solution is obtained. The semi-analytical models correspond to solving the depth-averaged Navier–Stokes equations using the spectral Galerkin approach. The robustness of the linear and Smagorinsky e...
This thesis investigates how the problem of stiffness regulation of continuum manipulators can be simplified by inspiration from morphology of biological fish scales and experimental observation of manipulator geometry deformation. Soft continuum “trunk and tentacle” manipulators have high inherent dexterity and reconfigurability and have become an...
Spiders are able to extract crucial information, such as the location prey, predators, mates, and even broken threads from propagating web vibrations. The complex structure of the web suggests that the morphology itself might provide computational support in form of a mechanical signal processing system - often referred to as morphological computat...
We present a 3D-printable thermoactive scale jamming interface as a new way to control a continuum manipulator dexterity by taking inspiration from the helical arrangement of fish scales. A highly articulated helical interface is 3D-printed with thermoactive functionally graded joints using a conventional 3D printing device that utilizes UV curable...
Spiders are able to extract crucial information, such as the location prey, predators, mates, and even broken threads from propagating web vibrations. The complex structure of the web suggests that the morphology itself might provide computational support in form of a mechanical signal processing system-often referred to as morphological computatio...
We present a 3D-printable thermoactive scale jamming interface as a new way to control a continuum manipulator dexterity by taking inspiration from the helical arrangement of fish scales. A highly articulated helical interface is 3D-printed with thermoactive functionally graded joints using a conventional 3D printing device that utilizes UV curable...
Inspired by teleost fish scale, this paper investigates the possibility of implementing stiffness control as a new source of robots dexterity and flexibility control. Guessing about the possibility of biological scale jamming in real fish, we try to understand the possible underlying actuation mechanism of such behavior by conducting experiments on...
As it was discussed in previous chapters of Part I, soft continuum trunk and tentacle manipulators have high inherent dexterity and reconfigurability and have become an attractive candidate for safe manipulation and explorations in surgical and space robotic applications, recently. However, achieving accuracy in precise tasks is a challenge with th...
To address the challenges with real-time accurate modeling of multi-segment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic method. By combining a modified Lagrange polynomial series solution, based on experimental o...
Investigations on control and optimization of continuum manipulators have resulted in a number of kinematic and dynamic modeling approaches each having their own advantages and limitations in various applications. In this paper, a comparative study of five main methods in the literature for kinematic, static and dynamic modeling of continuum manipu...
Cat free fall righting maneuverer has inspired many aerial, space and legged robotic research. Conservation of angular momentum principle is used to derive the inverse differential kinematic and TMT vector form dynamics of the motion for three robotic models: a two-link model, a three-link model with tail, and a comprehensive eight-link model with...
Continuum manipulators have gained significant attention in the robotic community due to their high dexterity, deformability, and reachability. Modeling of such manipulators has been shown to be very complex and challenging. Despite many research attempts, a general and comprehensive modeling method is yet to be established. In this paper, for the...