Browsing by Author "Davaria, S."

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    Design and fabrication of a robotic tactile device for abdominal palpation
    (IEEE, 2014) Davaria, S.; Najafi, F.; Mahjoob, M. J.; Motahari-Bidgoli, S. M.; Motahari-Bidgoli, S. M.
    Palpation can be used as a manual technique for detecting normal and abnormal tissues. According to the recent applications of the robotic and control systems in medical fields, the design and fabrication of a device capable of abdominal palpation is of great importance. In this paper, a device has been designed and fabricated to be used for palpation examinations. A cable mechanism has been used to meet weight and size criteria of the device. The proposed design has been explained in detail. The device measures contact force between the probe and palpated tissue and also the deflection of the tissue as the probe is pressed against the body. Useful parameters of abdominal tissue such as stiffness can also be obtained.
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    Simulation and analysis of a TET-walker robot motion
    (IEEE, 2014) Motahari-Bidgoli, S. M.; Mahjoob, M. J.; Davaria, S.; Motahari-Bidgoli, S. M.
    Tetrahedral walker robots are a group of reconfigurable robots which makes them adaptable for the full spectrum of activities in places that wheeled robots are inapplicable. In this paper, two different gaits for a single-TETwalker are introduced and the motion of the robot is then simulated. Modeling of the robot and simulation of its tumbling and walking gaits are performed within the ADAMS software. While the prismatic joints of the struts are gradually manipulated to make a walking gait, the motion in the tumbling gait is managed by changing the mass center and causing it to topple. Simulation results are used to improve the characteristics of the robot and to compare the performance of its motion in the gaits presented.