She received her BSc and MSc degrees in Mechanical Engineering from Shiraz University in 2014 and 2017, respectively. Her master project was designing, manufacturing and controlling of a 3 DoF arm exoskeleton with hydraulic actuators.
She joined Dynamic Locomotion Group in May 2017. In DLG, she is working on characterizing a soft pneumatic torque actuator. She is using an analytical model to overcome the challenges in these types of actuators such as bulging and the spring effect of the soft material.
She joined Haptic Intelligence Department in March 2018. In HI department, she is participating in Haptipedia project. Haptipedia is a visualized database for grounded force-feedback haptic devices and it is a collaboration between the Haptic Intelligence Department at MPI-IS and the SPIN lab at UBC.
She is generally interested in force transparent mechanisms, haptic devices, sensor fusion, soft actuators and sensors, mechanism design, robotics, mechatronics and exoskeletons.
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering, 40, pages: 77–85, Springer International Publishing, March 2016 (article)
Gas and liquid pipelines surround us. To ensure reliable product delivery and to maintain pipeline integrity, asset managers should consider routine pipeline inspection and holistic management programs to extend pipeline life and prevent risk. Therefore, pipe inspection robots are of special interest to industries. In this paper, we present a new and simple locomotion strategy for an out-pipe inspection robot which can provide adjustable tractive force and can also be utilized to support active diameter adaptability. The advantages proposed by this design include simplicity, low manufacturing costs, online inspection capability and short operational time. Here a dynamic model of the robot is presented with the required assumptions. The mathematical model of 2-DOF robot is obtained using the well-known Lagrange equation. Modeling and simulations were conducted to test the validity and practicality of the proposed design and strategies. The prototype has successfully traveled along a pipe of 20 cm diameter. The results obtained from our dynamic model are then validated by experimental data.
Our goal is to understand the principles of Perception, Action and Learning in autonomous systems that successfully interact with complex environments and to use this understanding to design future systems