Mecharithm Blog

Mahdieh Babaiasl Featured on DailyEvergreen

Mahdieh Babaiasl Featured on DailyEvergreen

Mahdieh Babaiasl is featured on an article entitled "Researchers develop new needle" on the DailyEvergreen. In this interview, she talked about her research on waterjet steerable needles in which the direction of the tissue fracture is controlled by angled waterjet nozzle with subsequent following of the superelastic needle. Continuing this process will lead to steering of the needle to the target. To read more please Click HERE! You can see the other posts on Mecharithm News, and waterjet steerable needles in the links below: https://www.mecharithm.com/category/news/ https://www.mecharithm.com/category/needles/ If you enjoyed this post, please consider contributing to help us with the website's…
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Mahdieh Babaiasl Received SWE’s Registration Grant

Mahdieh Babaiasl Received SWE’s Registration Grant

Mahdieh Babaiasl received Registration Grant to attend Society of Women Engineer (SWE)'s Annual conference (we18) held at Minneapolis, Minnesota, 2018. She has been featured in the following video (see 0:17): https://www.youtube.com/watch?v=utByKRlw7lw&feature=youtu.be Here are some of the photos and videos of the held conference: https://www.mecharithm.com/wp-content/uploads/2020/06/Society-of-Women-Engineers-SWE-Annual-Conference-2018-WE18.mp4 You can see more News for the Mecharithm in the link below: https://www.mecharithm.com/category/news/ If you enjoyed this post, please consider contributing to help us with the website's running costs and keep making awesome content for you. We deeply thank you for your generous contribution! Do not forget to contact us: Be sure to let us know…
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Waterjet Steerable Needles’ Abstract Published in WSU’s Website

Waterjet Steerable Needles’ Abstract Published in WSU’s Website

Our abstract entitled "WATERJET STEERABLE NEEDLES: A NEW PROMISE FOR IMPROVING MEDICAL PROCEDURES" about waterjet steerable needles is accepted for WSU's this year Academic Showcase but the actual event is not held because of the outbreak of the COVID-19. Mahdieh Babaiasl, and Fan Yang are presenters of this abstract under the supervision of Dr. John Swensen. Abstract of the Waterjet Steerable Needle Steerable needles are a type of medical devices that can steer around obstacles to reach to a target location within patient anatomy and thus can improve the accuracy of medical procedures. Radius of curvature is an important parameter…
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Segway Robot (Two-Wheeled Robot)

Segway Robot (Two-Wheeled Robot)

Note: Segway Robot project was done during the years 2011 - 2013 when Madiosn was a Master's student. Study on two-wheeled robots started in late 1990 in different robotic labs in different countries. The main objective is to design a balanced two-wheeled robot that has human-like abilities. The main research challenge in these robots is the inherent instability of their dynamical system. These robots can be used as autonomous vehicles in companies, factories, or just to transport people. Mechanical Design of Segway Robot Actuator Modeling According to Kirchhoff law: \[V_a - Ri - L\frac{di}{dt} - V_e = 0\] Newton's Law…
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Shrimp Rover Robot

Shrimp Rover Robot

Note: Shrimp Rover Robot project was done during the years 2011 - 2013 when Madi was a master's student. Shrimp rover robot first introduced in 2001 for military applications: We have built a similar robot but instead of military applications, it can have rescue application by embedding Vital Sign Monitoring Sensors like CO2 sensor. The robot can also pass the obstacles by lifting the front leg. Mechanical Design Figure below shows the mechanical design of the robot: In case you are interested in re-building the robot, you can find the mechanical design in SolidWorks below: Mechanical Design in SolidWorks: Click…
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Design and Implementation of Driver for 8 DC Motors

Design and Implementation of Driver for 8 DC Motors

Note: The driver for the DC motor project was done during the years 2011 - 2013 when Madi was a Master's student. Problem Definition The aim of this project is to design and implement a driver for 8 DC motors to be used in a surgical robot. L298 Driver This IC is the most common and powerful IC to drive DC motors, Relays, and Solenoids. Each IC can drive up to 2 motors. Therefore, in order to drive 8 motors, 4 of these ICs are needed. The pins of the IC are as follows: As can be seen above, the…
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6-Legged Robot to Mimic Ant Locomotion

6-Legged Robot to Mimic Ant Locomotion

Note: The Ant Robot project was done during 2011 - 2013 when Madi was a master's student. The robot built in this LINK is inspired by our Ant Robot. Abstract Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, a new parallel kinematic structure is proposed for a six-legged ant robot. The mechanical structure is designed and optimized in Solidworks. The mechanism has six legs and only two DC motors actuate the six legs so from…
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Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Note: The Sliding Mode Control of The Shoulder Rehabilitation Robot project was done during 2011 - 2013 when Madi was a master's student. Sliding-Mode Control of 3-DOF Rehabilitation Robot Abstract In this paper, mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterwards, direct and inverse kinematics, Jacobian matrix,…
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Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Note: The Exoskeleton Robot project was done during 2011 - 2013 when Madi was a master's student. Inverse Dynamics Controller Abstract Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years. Robot-aided arm therapy is more intensive, of longer duration and more repetitive. By using robots repetitive dull exercises can turn into a more challenging and motivating tasks…
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Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Note: The Lyapunov-based control of the Rehabilitation Robot project was done during 2011 - 2013 when Madi was a Master's student. 3-DOF Shoulder Rehabilitation Robot Stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged recently. The control schemes of rehabilitation robots are designed for two reasons. First they are designed for passive rehabilitation in which the robot guides the patient's limb through a predefined…
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