Soroush Sadeghnejad

• Professor
• (Assistant) at Amirkabir University of Technology

Driver drowsiness and fatigue are the main reason of the road accidents. Various studies have suggested that around 20% of all road accidents are fatigue-related, up to 50% on certain roads which is more than the percentage of drink-driving. Driver Drowsiness Detection System by the use of OpenCV libraries and image processing can detect different...

The bilateral teleoperation technique has garnered significant attention due to its effectiveness in performing tasks in surgical applications and simulators. The Novint Falcon robot combines affordability, haptic feedback, and versatility, making it a valuable tool for advancing haptic and teleoperation technologies. It can be used as a training s...

Haptic technology has attracted wide attention because of its various applications, such as surgery simulators. However, there exist some challenging control issues such as unmeasurable force, and modeling uncertainties. In this study, the disturbance observer is designed based on the haptic system dynamics to observe the unmeasurable human force w...

Control of haptic system with complex and un-structured environments like endonasal sinus region which is used in surgical simulator, puts fundamental challenges forward. This study proposes a robust adaptive sliding mode control technique for adjusting the impedance of a one-degree-of-freedom Falcon robot to a pre-defined nonlinear impedance that...

Total Knee Arthroplasty (TKA) aims to relieve knee dysfunction caused by osteoarthritis or injury, but its success is hindered by implant failure. This study examines the impact of implant porosity on the biomechanical performance of TKA implants. We utilized Finite Element Analysis (FEA) to evaluate the biomechanical performance of porous TKA impl...

The bilateral teleoperation technique has drawn much attention with its attractive superiority to implement tasks in surgical applications and surgical simulators. It can be used as a training simulator for otolaryngology surgery, which has simultaneously hard and soft tissues, and this makes this field challenging. The stability of these kinds of...

In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted disturbances during switching. In addition, the effects of uncertainties are reduced in the prediction dynamics, and robust st...

Human motion analysis is one of the most important fields ofresearch in biomechanics. Scientific advances and innovations in thisfield enhance the living conditions of patients as well as healthypeople. Arm swing is a natural movement in human gait thatimproves stability and energy efficiency, and in addition to theshoulder joint, it also affects t...

The development of humanoid robots, particularly in enhancing human-robot interaction, is a rapidly advancing field. This paper explores the simulation of the Thormang humanoid robot and the development of advanced grasping models using machine learning techniques. Our research delves into the intricacies of kinematics, dynamics, and computer visio...

Since the use of multi-agent systems has significantly increased over the past few decades, it is crucial to study the methods used in this area and take implementation-related practical issues into consideration. For instance, in the formulation of the consensus problem , the communication between the agents is depicted using a graph, where each e...

This study presents an approach to formulating the optimal control policy for self-driving cars. Our method integrates sensor fusion with deep reinforcement learning, specifically utilizing the Soft Actor-Critic (SAC) algorithm. By leveraging identity mapping and residual structures, we improve agent training through a two-branch fusion technique f...

The advent of tele-operation systems and haptic technology has revolutionized various aspects of industry and human life. In modern examples, tele-operation systems have been used in several clinical applications, including tele-operated surgery, tele-rehabilitation, and tele-diagnostic systems. Due of the substantial advantages in terms of medical...

Intervertebral disc (IVD) carries compressive loads and resists the tensile and shear stress produced during bending and rotational movements. Hence, identifying its mechanical behavior has always encouraged researchers to propose various models for this tissue. Both viscoelastic and hyperelastic behavior have been observed regarding the IVD. There...

The ankle joint plays a vital role in enabling normal locomotion in healthy individuals. However, diseases and conditions can result in weakening or dysfunction of the ankle joint. In many cases, the use of active ankle orthoses or exoskeletons can prove beneficial in assisting ankle joint function. The necessity for simplified models makes it esse...

Walking and jogging are very popular activities in daily life. Identification of stiffness and damping structure during these activities is significant in understanding movement mechanical behavior. This study aimed to provide a fundamental mathematical model for describing these activities and finding stiffness and damping coefficients in order to...

This paper discusses challenges and opportunities when using competitions in robotics education. The authors describe the Federation of International RoboSports Association (FIRA) competition and, in particular, the FIRA Youth—Mission Impossible, an event targeted at overcoming problems of students consciously or thoughtlessly plagiarizing, by forc...

This paper describes a novel approach to introduce early undergraduate and high schools to humanoid robotics. Instead of building a full humanoid robot, we start with the construction of a single leg, and analyze its kinematic and dynamic behavior. The approach is heavily based on writing various programs to solve and visualize the domains. We intr...

Autonomous vehicles are one of the most popular and also fast-growing technologies in the world. As we go further, there are still a lot of challenges that are unsolved and may cause problems in the future when it comes to testing in real world. Simulations on the other hand have always had a huge impact in the fields of science, technology, physic...

This paper is a technical report of the activities carried out in the MHI Driver Drowsiness Detection System project. Driver drowsiness detection is a car safety technology which helps prevent accidents caused by the driver getting drowsy. Various studies have suggested that around 20% of all road accidents are fatigue-related, up to 50% on certain...

Autonomous vehicles are one of the most popular and also fast-growing technologies in the world. As we go further, there are still a lot of challenges that are unsolved and may cause problems in the future when it comes to testing in real world. Simulations on the other hand have always had a huge impact in the elds of science, technology, physics,...

Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for the whole system's performance improvement in terms of transparency, the analogy to the real environment, and...

A modified robust model predictive control scheme for linear parametric variable (LPV) or hybrid systems is proposed based on a quasi-min-max algorithm. Using a new cost function reduced unwanted disturbances during switching. In addition, the effects of uncertainties are reduced in the prediction dynamics that guarantee robust stability of piecewi...

This paper discusses challenges and opportunities when using competitions in robotics education. The authors describe the Federation of International RoboSports Association (FIRA) competition and, in particular, the FIRA Youth-Mission Impossible, an event targeted at overcoming problems of students consciously or thoughtlessly plagiarizing , by for...

Simulated training platforms offer a suitable avenue for surgical students and professionals to build and improve upon their skills, without the hassle of traditional training methods. To enhance the degree of realistic interaction paradigms of training simulators, great work has been done to both model simulated anatomy in more realistic fashion,...

This paper presents a real-time quasi-optimal impedance controller based on MPC and Laguerre functions for the lower-limb rehabilitation robot. Impedance control is crucial in rehabilitation devices because of robot and human interaction. Model predictive control (MPC) can be used appropriately for this goal when the robot's dynamic and desired tra...

Autonomous vehicles are one of the most popular and also fast-growing technologies in the world. As we go further, there are still a lot of challenges that are unsolved and may cause problems in the future. Simulations on the other hand have always had a huge impact in the fields of science, technology, physics, etc. The simulation also powers real...

A modified robust model predictive control scheme, for linear parametric variable or hybrid systems based on a quasi-min-max algorithm, is proposed. Defining a new cost function, enable us not only to produce control with zero initial value but also to reduce or even eliminate the unwanted disturbances during switching. In addition, the effects of...

Haptic training simulators generally consist of three major components, namely a human operator, a haptic interface, and a virtual environment. Appropriate dynamic modeling of each of these components can have far-reaching implications for the whole system's performance improvement in terms of transparency, the analogy to the real environment, and...

Intervertebral disc (IVD) carries compressive loads and resists the tensile and shear stress produced during bending and rotational movements. Hence, identifying its mechanical behavior has always encouraged researchers to propose various models for this tissue. Both viscoelastic and hyperelastic behavior have been observed regarding the IVD. There...

Robotics has seen increasing applications in the medical field, but its application is often limited by size and rigidity. By employing non-rigid mechanical structures, soft robotics allows for safer human interactions and is more readily adaptable with wearable medical devices. In addition, soft robotic devices provide greater freedom of movement...

Since the demand of aging society and those recovering from strokes or injuries is growing, familiarity with the global advancements of rehabilitation robotics is crucial. Hence, this chapter aims to familiarize the reader with the field of rehabilitation robotics, its development, and the latest technological innovations. Necessary definitions and...

Simulated training platforms offer a suitable avenue for surgical students and professionals to build and improve upon their skills, without the hassle of traditional training methods. To enhance the degree of realistic interaction paradigms of training simulators, great work has been done to both model simulated anatomy in more realistic fashion,...

Wheelchairs are widely used as assistive devices; there are an estimated 1.6 to 2.2 million users within the US, and worldwide. It is estimated that 65 million people require the utilization of a wheelchair. The bulk of those individuals (83%) use a manual wheelchair. Considering the recognition of wheelchair among physically disabled people this p...

Haptic systems provide a sense of touch by applying forces and motions in order to create a real-world experience using computer simulations for educational and surgical purposes. Identification of realistic physical models and the advancement of simulators are essential for the effectiveness of haptic systems. In this study, a modified nonlinear K...

In this paper, we propose a method for predicting the path of the ball on the soccer field for the humanoid robots. A cost-function-based k-nearest neighbor regression method is first proposed to account for the part of the prediction which is based on previously observed data. Next, the autoregression method is utilized in order to carry out the p...

Autonomous vehicles are one of the most popular and also fast-growing technologies in the world. There are a lot of research and development done in this field which helps the development of the technology even faster. Simulating different technologies or in this case autonomous vehicles can lead researchers in this industry to feasibly do experime...

Prediction of the trajectory of the moving objects is of paramount importance in different fields of intelligent systems. In this paper, we proposed a novel method for prediction of trajectory of the ball on the soccer field for the humanoid robots. Our proposed method is based on combination of the k-nearest neighbor regression and autoregression...

Haptic interfaces, a kinesthetic link between a virtual environment and a human operator, is a significant element in the development of virtual reality-based simulators and play a key role in the reproduction of realistic haptic force feedback. Since most of the practical control theories are model-based, the identification of the robot's dynamics...

Humanoid robots have made great strides in their ability to walk on different surfaces and many different kinds of walking gaits have been proposed by researchers. They can have many usages in various aspects such as the rehabilitation field. One of the issues that have garnered little attention, but that is nevertheless important for developing pr...

Background: The development of Endoscopic Sinus Surgery (ESS) training simulators for clinical environment applications have reduced the existing shortcomings in conventional teaching methods, creating a standard environment for trainers and trainees in a more accurate and repeatable fashion. Materials and methods: In this research, the validati...

Today, the use of wheeled robots in the industry and daily life is increasing. The growing importance of wheeled robots is due to the greater movement stability of these robots compared to the other kinds of robots like humanoid and drones. In this paper, we presented some challenges that our wheeled robot faced in the field during the match and tr...

Recent advances in robotics have made it necessary for robots to be able to predict actions like humans. This problem is well presented in international RoboCup competition leagues, especially for humanoid robots in challenges such as Goal-Kick from Moving Ball. In this paper, we proposed double exponential smoothing (DES), autoregressive (AR) and...

Endoscopic Sinus and Skull Base Surgery (ESSS) training simulators were developed as a way to improve the training process, due to the complex modern surgical techniques. The ideal simulator for ESSS not only must be supported by a physical model but also should have the ability to provide repetitive behavior in a controlled environment. Thus, deve...

The development of Endoscopic Sinus Surgery (ESS) training haptic simulators for clinical environment applications will reduce the existing shortcomings in conventional teaching methods. To improve the hand movements control in the orbital floor removal, pre-experiment learning, training, and evaluation tasks were defined. Recruiting 20 participant...

The aim of this research was to provide a simple yet realistic model of the sino-nasal tissue as a major requirement for developing more efficient endoscopic neurosurgery simulation systems. Ex-vivo indention tests were performed on the orbital floor soft tissue of four sheep specimens. The resulting force-displacement data was incorporated into an...

Haptic interfaces, a kinesthetic link between a virtual environment and a human operator, is a significant element in the development of virtual reality based simulators and play a key role in the reproduction of a realistic haptic force feedbacks. Since most of the practical control theories are model-based, the identification of the robot's dynam...

In a haptic teleoperation system, which interacts with unknown and hybrid environments, it is important to achieve stability and transparency. In medical usages, the utilization of knowledge on the tissues behavior in a controller design can improve the performance of the surgery in a robot-assisted telesurgery. Simultaneous interaction with hard a...

Understanding and modeling the crushing phenomenon are the key points of the general problem of impact on sandwich structures with honeycomb core. An experimental-numerical methodology for investigation of quasi-static indentation and low velocity impact on sandwich panels with composite skins and Nomex™ Honeycomb core is presented. Sandwich panels...

Endoscopic Sinus and Skull Base Surgery (ESSS) training simulators were developed as a way to improve the training process, due to the complex modern surgical techniques. The ideal simulator for ESSS not only must be supported by a physical model but also should have the ability to provide repetitive behavior in a controlled environment. Thus, deve...

The aim of this research was to provide a simple yet realistic model of the sino-nasal tissue as a major requirement for developing more efficient endoscopic neurosurgery simulation systems. Ex-vivo indention tests were performed on the orbital floor soft tissue of four sheep specimens. The resulting force-displacement data was incorporated into an...

Understanding and modeling the crushing phenomenon are the key points of the general problem of impact on sandwich structures with honeycomb core. An experimental-numerical methodology for investigation of quasi-static indentation and low velocity impact on sandwich panels with composite skins and Nomex™ Honeycomb core is presented. Sandwich panels...

Humanoid robots have made great strides in their ability to walk on different surfaces and many different kinds of walking gaits have been proposed by researchers. They can have many usages in various aspects such as the rehabilitation field. One of the issues that have garnered little attention, but that is nevertheless important for developing pr...

Recent advances in robotics have made it necessary for robots to be able to predict actions like humans. This problem is well presented in international RoboCup competition leagues, especially for humanoid robots in challenges such as Goal-Kick from Moving Ball. In this paper, we proposed double exponential smoothing (DES), autoregressive (AR) and...

This team description paper describes the hardware and software of the new joint team ZSTT-AUT as well as their previous contribution to research. This team is a joint team between ZSTT (Taiwan and Korea) and Amirkabir University of Technology (Iran). Team ZSTT participated in adult-size RoboCup humanoid league for the first time in 2017. But ZSTT...

These rules are intended to ensure a fair competition in the RoboCup Soccer Humanoid League. They want to encourage creativity and technical development. The rules are oriented towards the FIFA Laws of the Game. However, they still deviate in many points from the FIFA laws, but it is intended to decrease these deviations in the future, in order to...

This paper describes the 2018 AMN United Teen Size Team, a team jointly developed by three universities:. This extends the partnership between Amirkabir and Manitoba (AUTMan) that goes back to 2013. We provide a brief history of our team's past performance, and describe current hardware and software. We then describe current research in terms of pu...

Performing a safe and effective endoscopic sinus and skull-based surgery (ESSS) requires special training programs to gain sufficient hand-eye coordination and instrument manipulation skills. In this regard, virtual-based haptic surgical training systems have been considered among the medical students and residents as an effective approach for trai...

Recent advances in computer vision have made the detection of landmarks on the soccer field easier for teams. However, the detection of other robots is also a critical capability that has not garnered much attention in the RoboCup community so far. This problem is well represented in different RoboCup Soccer and Rescue Robot Leagues. In this paper,...

Robot Interaction, has always been a challenge in collaborative robotics. In tasks comprising Inter-Robot Interaction, robot detection is very often needed. We explore humanoid robots detection because, humanoid robots can be useful in many scenarios, and everything from helping elderly people live in their own homes to responding to disasters. Cam...

The robot has to adapt its movement with the various conditions of surfaces and ensures the stability of the proper motion of its bust and legs in order to be able to move on different surfaces. Many of the basic parameters of the gait can be expressed by the planned seven-linked bipedal robot. One of the issues that have always attracted the atten...

For simulating the surgical procedures in a virtual environment, it is necessary to propose a suitable virtual environment model which can reflect the real physical tool-tissue interaction behavior and a proper human user interface appropriate dynamic model. In this study, a linear Kelvin-Voigt and a nonlinear Hunt-Crossley models have been utilize...

Tactile sense is a key element is in developing virtual reality simulators or surgical training systems. In this regard, haptic interfaces as the generator of a sense of touch play a significant role in producing a realistic haptic feedback force. Since the majority of practical control theories are model based, the robot dynamic model identificati...

The robot has to be able to move on different surfaces and ensuring the stability of the proper motion of upper and legs. One of the issues that have always attracted the attention of researchers in this field is optimization of power consumption along with maximum stability during the motion. Lots of basic gait parameters can be expressed by a pla...

This paper presents our preliminary research into the autonomous control of an alpine skiing robot. Based on our previous experience with active balancing on difficult terrain and developing an ice-skating robot, we have implemented a simple control system that allows the humanoid robot Jennifer to steer around a simple alpine skiing course, brake,...

The KIARASH-AR humanoid bipedal prototype with the modular hand are easy to maintain and to modify. Given the open source construction plans, the prototype can be reproduced and assembled at low cost from commonly available materials and standard electronic components. Furthermore, continued successful collaboration between team Snobots and team AU...

Recent advances in computer vision have made the detection of landmarks on the soccer field easier for teams. However, the detection of other robots is also a critical capability that has not garnered much attention in the RoboCup community so far. This problem is well represented in different RoboCup Soccer and Rescue Robot Leagues. In this paper,...

During the endoscopic sinus and skull base training surgeries, the haptic perception of tool-tissue interaction and even transitions and ruptures in the tissues are fundamental which should be taken into account in a robotic control scheme. However, this problem is extremely complex given the nature and the variety of tissues involved in an ESS pro...

In this article, a nonlinear adaptive impedance control strategy is proposed to adjust the impedance of a one-degree of freedom Falcon robot to a pre-defined nonlinear impedance which is an approximate mathematical representation of the sino-nasal tissue. Further developments can be used for a training simulator system for the otolaryngology surger...

In this investigation, we aim to design and develop a robotic arm (manipulator) to be used in general Robotics and Automation demands. The main purpose of the AUTMan (Amirkabir University of Technology Manipulator) is for educational at technical levels. It is needed to design a high performance manipulator to have maximum ability of access and mos...

Teleoperation systems allow a surgeon to perform a remote distance operation with or without magnification. Nonlinearity and unknown dynamics of master and slave robots, in teleoperation systems, make it challenging to guarantee stability and convergence of the position tracking error in such systems. This paper presents an interval Type-2 Fuzzy (T...

These rules are intended to ensure a fair competition in the RoboCup Soccer Humanoid League. They want to encourage creativity and technical development. The rules are oriented towards the FIFA Laws of the Game. However, they still deviate in many points from the FIFA laws, but it is intended to decrease these deviations in the future, in order to...

This document introduces AUTMan (Amirkabir University of Technology and University of Manitoba) humanoid joint team for participating in Humanoid Teen Size Robot League in RoboCup 2017, Nagoya, Japan. This joint team was founded in 2013 on collaboration between two teams A brief history of Team AUTMan and its' research interests and directions for...

This document introduces AUTMan humanoid joint team for participating in Humanoid Kid Size Robot League in RoboCup 2017, Nagoya, Japan. This joint team was founded in 2015 on collaboration between two teams A brief history of Team AUTMan and its' research interests and directions for future research will be described. Our main research interests wi...

A spherical wheel robot or Ballbot - a robot that balances on an actuated spherical ball - is a new and recent type of robot in the popular area of mobile robotics. This paper focuses on the modeling and control of such a robot. We apply the Lagrangian method to derive the governing dynamic equations of the system. We also describe a novel fuzzy co...

Inter-humanoid robot interaction with emphasis on detection: a comparison study – ADDENDUM - Volume 32 - Taher Abbas Shangari, Vida Shams, Bita Azari, Faraz Shamshirdar, Jacky Baltes, Soroush Sadeghnejad

Accurate and deep understanding of the mechanical and physical behavior of sandwich panels with soft elastomeric foams, e.g. cellular solids, such as Ethylene Vinyl Acetate (EVA) is a key task in designing these structures, and also optimizing their mechanical behavior. The main objective of the present research is to present an applicable method t...

Robot Interaction has always been a challenge in collaborative robotics. In tasks comprising Inter-Robot Interaction, robot detection is very often needed. We explore humanoid robots detection because, humanoid robots can be useful in many scenarios, and everything from helping elderly people live in their own homes to responding to disasters. Came...

Fast and flexible walking is necessary in humanoid robots, and researchers showed that omnidirectional locomotion is advantageous in dynamic environments and in restricted spaces. Push recovery is an important capability that needs to be included, while developing a robust omnidirectional walking engine for a biped robot. This paper describes an on...

This paper describes the motivation for the development of the HuroCup competition and follows the rule development from its inaugural competition in 2002 to 2015. The history of HuroCup is broken down into its growing phase (2002 – 2006), a time of explosive growth (2007 – 2011), and current times. The paper describes the main research focus of Hu...