I have graduated from the University of Basrah/Iraq with a Bachelor degree in Electrical Engineering in 2001 and a M.Sc. in Computer and Control system in 2005. I am working as a lecturer assistance in University of Basrah, Computer Engineering Department. I am currently a Ph.D. student at the University of Salford, Manchester, UK. My research interests include biologically inspired systems, soft robotics, pneumatic muscle actuators, multi-robot systems and intelligent control.
Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate ... more Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate position model allows wider use of continuum robot arms in industrial and medical applications. Furthermore, accurate control can be achieved. This paper illustrates the 3D position of a constructed soft arm from 4 pneumatic muscle actuators (PMAs) in parallel, and models the movement of its free end in space. The performance of the contraction and extension PMAs and the behaviour of the contraction and extension arms are analysed, and a comparison between the two arms is explained. Finally, the mathematical models are presented and validated.
Modelling of pneumatic muscle actuators “PMA” is one of the valued challenges in soft robotic res... more Modelling of pneumatic muscle actuators “PMA” is one of the valued challenges in soft robotic researches, which is still under modification for the McKibben artificial muscle. Accurate force, length and position models allow for the wide use of make the continuum robot arm in industrial and medical applications. Moreover, accurate control can be achieved. This paper presents new formulas to model the length of contraction PMA. The sigmoidal shape of contraction length characteristics makes the sigmoid function a suitable form to model, which its coefficients depend on the nominal length “Lo”. Furthermore, we modified the existing force model by calculating the most affected parameters. Then we are modelling the angle of the arm. The three proposed models make it easy to track the length (position), the force of PAMs and position angle of PMA arm.
This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle ... more This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle actuator (PMA). The extensor soft actuator has a vital feature of ability to bend and extend, and that give it the flexibility to use in numerous applications. The extended behaviour of this actuator is modelled mathematically to be used to predict the length of a wide range of actuators at different air pressure amounts and make the position control of such type of actuator easier and precise. Moreover, the contraction force formula is modified to describe the pushing force for the extensor actuator. The bending behaviour of single muscle is explained and a 4-PMA continuum arm has been constructed to study its performance and model the bending angle.
Designing a multi-robot system provides numerous advantages for many applications such as low cos... more Designing a multi-robot system provides numerous advantages for many applications such as low cost, multi-tasking and more efficient group work. However, the rigidity of the robots used in industrial and medical applications increases the probability of injury. Therefore, lots of research is done to increase the safety factor for robot-human interaction. As a result, either separation between the human and robot is suggested, or the force shutdown to the robot system is applied. These solutions might be useful for industrial applications, but it is not for medical applications as a direct interaction between the human and the machine is required. To overcome the rigidity problem, a soft robot arm is presented in this paper. Studying the structure and performance of a contraction pneumatic muscle actuator (PMA) is illustrated, then useful strategies are used to implement a multi PMA continuum arm to increase the performance options for such types of the actuator. Moreover, twin arms are constructed to organise a collaborative project depending on the performance abilities of the proposed arms and end effectors.
the localization problem is resolved by using an array of IR receiver sensors distributed uniform... more the localization problem is resolved by using an array of IR receiver sensors distributed uniformly in the environment. the position of a multi-robot system in an indoor localization system is successfully estimated using a new algorithm. The necessary information for the localization development is collected by scanning the IR sensor array in the environment. The scanning process is done column by column to recognize and state the position of the IR receiver’s sensors, which receive signals from the IR transmitter that is fixed on the robot. This principle of scanning helps to minimize the required time for robot localization. The kmeans clustering algorithm is used to estimate the multi-robot’s locations by isolating the labeled IR receivers into clusters. Basically, the multi-robot position is estimated to be in the middle of each cluster. Simulation results demonstrate the advanced algorithm in estimation to the multi-robot positions for various dimensional IR receiver’s array.
2018 24th International Conference on Automation and Computing (ICAC), 2018
This paper proposes a novel continuum robot arm based on the pneumatic muscle actuator (PMA). The... more This paper proposes a novel continuum robot arm based on the pneumatic muscle actuator (PMA). The simple design of the extensor and the contractor PMAs are used to implement the extension and the contraction sections respectively. Five actuators are used in each section to achieve an elongation and bending for the top section and a contraction and bending for the bottom section. Then, four self-bending contraction actuators (SBCA) are used instead of the five contractions PMA to enhance the bending performances. The performances of the proposed soft robot arm showed the advantages of using a biological inspiration robot arm for the unique features in comparison to its weight and cost.
This article proposed a novel controller structure to track the non-linear behavior of the pneuma... more This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the proportional controller (P). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. The PNNP has been applied to control the length of the single extensor PMA and the bending angle of the single self-bending contraction actuator (SBCA) at different load values. For further validation, the PNNP has been applied to control a human–robot shared control system. The results show the efficiency of the proposed controller structure.
2020 International Conference on Electrical, Communication, and Computer Engineering (ICECCE), 2020
This paper proposes an innovative design of a continuum arm inspired by the human upper limb, whi... more This paper proposes an innovative design of a continuum arm inspired by the human upper limb, which could rotate clockwise and counterclockwise similar to the pronation and supination movements of the human arm. In addition to this unique feature, the proposed arm can contract and bend in different directions. The proposed continuum arm is designed to provide these features and is constructed by using two contraction pneumatic muscle actuators (PMA) and one self-bending contraction actuator (SBCA). The kinematics of the proposed rotating arm has been explained. The design provides flexibility in selecting the rotating radius according to the distance between the rotating centre and the contraction actuators. This article shows the advantages of using soft actuators to form different structures, which provide multiple operations.
The context where the robot will be used leads to understanding the interaction requirement among... more The context where the robot will be used leads to understanding the interaction requirement among the robots and between the human and robot. This includes the number of humans and robots to be used, the task to be solved, and in several cases, the human is expected to assist the robot in overcoming the limitation in robot performance. Numerous factors are nominated for the robot to be successful, such as the repetition to reach regular quality, the speed and the force of manufacturing robots, reduction of the task hazards, decrease of the force required and flexibility in programming. The estimated number of multi-task robots around the world is about 1,664,000 as reported by the International Federation of Robotics (IFR) statistical analysis. The industrial robots continue to develop in both safety and productivity; moreover, while they have evolved in their functionality, safety is a hugely significant concern. Since the risk of injury is the most crucial factor for the human-rob...
In this paper, the material constant of the dielectric elastomer (DE) has been observed under thr... more In this paper, the material constant of the dielectric elastomer (DE) has been observed under three parameters; the electrical frequency, the prestretch ratio, and the environmental temperature. While the dielectric elastomer actuator (DEA) can be used under different environmental conditions, the temperature factor is considered in this paper at the prestretch condition and various frequencies. Which shows a significant effect on the constant of the DEA.
This paper presents a simple and fast design and implementation for a soft robot arm. The propose... more This paper presents a simple and fast design and implementation for a soft robot arm. The proposed continuum arm has been built by a single self-bending contraction actuator (SBCA) with two-fingers soft gripper. Because of the valuable advantages of the pneumatic artificial muscle (PAM), this continuum arm provides a high degree of safety to individuals. The proposed soft robot arm has a bending behaviour of more 180° at 3.5 kg, while, its weight is 0.7 kg. Moreover, it is designed to assist the people by reducing the number of backbends and that leads to a decrease in the possibility of lower back pain.
This article presents the development of a self-bending contraction actuator (SBCA) through the a... more This article presents the development of a self-bending contraction actuator (SBCA) through the analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods to prove the efficiency of the human body inspiration, which represents the covering of human bones by soft tissues to protect the bone and give the soft texture. The SBCA provides bending behaviour along with a high force-to-weight ratio. As with the simple pneumatic muscle actuator (PMA), the SBCA is soft and easy to implement. Both the kinematics and the torque formula presented for the SBCA are scalable and can be used with different actuator sizes. The bending actuator has been tested under an air pressure of up to 500 kPa, and the behaviour of its bending angle, parameters, dimensions, and the bending torques have been illustrated. On the other hand, the experiments showed the efficient performances of the actuator and validate the ...
This article presents a novel design of a continuum arm, which has the ability to extend and bend... more This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum ar...
2021 International Conference on Communication & Information Technology (ICICT)
In this paper, a soft robot for foot rehabilitation is proposed. The presented robot is comfortab... more In this paper, a soft robot for foot rehabilitation is proposed. The presented robot is comfortable to wear, and it is designed to be suitable for a wide range of adult foot sizes. It is easy to use either by a physiotherapist or by the patient due to the softness, its lightweight, and a wide range of included programs. Furthermore, the system is suitable for foot exercises. The soft robot is actuated by two contraction pneumatic artificial muscles (PAM) which are controlled by the bang-bang control system. The robot has been tested and validated, and it shows high performance for the rehabilitation process and smooth operation due to the softness of its material and the actuation behaviour.
The end effector is a major part of a robot system and it defines the task the robot can perform.... more The end effector is a major part of a robot system and it defines the task the robot can perform. However, typically, a gripper is suited to grasping only a single or relatively small number of different objects. Dexterous grippers offer greater grasping ability but they are often very expensive, difficult to control and are insufficiently robust for industrial operation. This paper explores the principles of soft robotics and the design of low-cost grippers able to grasp a broad range of objects without the need for complex control schemes. Two different soft end effectors have been designed and built and their physical structure, characteristics, and operational performances have been analyzed. The soft grippers deform and conform to the object being grasped, meaning they are simple to control and minimal grasp planning is required. The soft nature of the grippers also makes them better suited to handling fragile and delicate objects than a traditional rigid gripper. INDEX TERMS Soft robotics, pneumatic muscle actuators (PMA), self-bending contraction actua-tor (SBCA), circular pneumatic muscle actuator (CPMA), soft grippers.
The soft actuator represents a valuable addition to the robotics research area in last two decade... more The soft actuator represents a valuable addition to the robotics research area in last two decades. These actuators provide significant features such as lightweight, softness, high force to weight ratio and the ability to form in different shapes. This article presents a new length model to the single extensor pneumatic muscle actuator (PMA) which is depended on the constructed parameters and the air pressure. On the other hand, the tensile force formula of the contractor actuator has been modified to describe the extension force of the extensor PMA. The parallel structure of four extensor actuators is designed and implemented as continuum arm. The bending behaviour of the proposed arm is illustrated and modelled mathematically. The length model of the single extensor actuator has validated by the comparison between the model and the experiment data and then a neural network (NN) control system is applied to control the elongation of the extensor PMA. The kinematics for the proposed continuum arm are presented to describe the bending of the arm and its direction.
Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate ... more Modelling a continuum arm is one of the major challenges in soft robotic researches. An accurate position model allows wider use of continuum robot arms in industrial and medical applications. Furthermore, accurate control can be achieved. This paper illustrates the 3D position of a constructed soft arm from 4 pneumatic muscle actuators (PMAs) in parallel, and models the movement of its free end in space. The performance of the contraction and extension PMAs and the behaviour of the contraction and extension arms are analysed, and a comparison between the two arms is explained. Finally, the mathematical models are presented and validated.
Modelling of pneumatic muscle actuators “PMA” is one of the valued challenges in soft robotic res... more Modelling of pneumatic muscle actuators “PMA” is one of the valued challenges in soft robotic researches, which is still under modification for the McKibben artificial muscle. Accurate force, length and position models allow for the wide use of make the continuum robot arm in industrial and medical applications. Moreover, accurate control can be achieved. This paper presents new formulas to model the length of contraction PMA. The sigmoidal shape of contraction length characteristics makes the sigmoid function a suitable form to model, which its coefficients depend on the nominal length “Lo”. Furthermore, we modified the existing force model by calculating the most affected parameters. Then we are modelling the angle of the arm. The three proposed models make it easy to track the length (position), the force of PAMs and position angle of PMA arm.
This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle ... more This paper illustrates the design, implementation and modelling of the extensor pneumatic muscle actuator (PMA). The extensor soft actuator has a vital feature of ability to bend and extend, and that give it the flexibility to use in numerous applications. The extended behaviour of this actuator is modelled mathematically to be used to predict the length of a wide range of actuators at different air pressure amounts and make the position control of such type of actuator easier and precise. Moreover, the contraction force formula is modified to describe the pushing force for the extensor actuator. The bending behaviour of single muscle is explained and a 4-PMA continuum arm has been constructed to study its performance and model the bending angle.
Designing a multi-robot system provides numerous advantages for many applications such as low cos... more Designing a multi-robot system provides numerous advantages for many applications such as low cost, multi-tasking and more efficient group work. However, the rigidity of the robots used in industrial and medical applications increases the probability of injury. Therefore, lots of research is done to increase the safety factor for robot-human interaction. As a result, either separation between the human and robot is suggested, or the force shutdown to the robot system is applied. These solutions might be useful for industrial applications, but it is not for medical applications as a direct interaction between the human and the machine is required. To overcome the rigidity problem, a soft robot arm is presented in this paper. Studying the structure and performance of a contraction pneumatic muscle actuator (PMA) is illustrated, then useful strategies are used to implement a multi PMA continuum arm to increase the performance options for such types of the actuator. Moreover, twin arms are constructed to organise a collaborative project depending on the performance abilities of the proposed arms and end effectors.
the localization problem is resolved by using an array of IR receiver sensors distributed uniform... more the localization problem is resolved by using an array of IR receiver sensors distributed uniformly in the environment. the position of a multi-robot system in an indoor localization system is successfully estimated using a new algorithm. The necessary information for the localization development is collected by scanning the IR sensor array in the environment. The scanning process is done column by column to recognize and state the position of the IR receiver’s sensors, which receive signals from the IR transmitter that is fixed on the robot. This principle of scanning helps to minimize the required time for robot localization. The kmeans clustering algorithm is used to estimate the multi-robot’s locations by isolating the labeled IR receivers into clusters. Basically, the multi-robot position is estimated to be in the middle of each cluster. Simulation results demonstrate the advanced algorithm in estimation to the multi-robot positions for various dimensional IR receiver’s array.
2018 24th International Conference on Automation and Computing (ICAC), 2018
This paper proposes a novel continuum robot arm based on the pneumatic muscle actuator (PMA). The... more This paper proposes a novel continuum robot arm based on the pneumatic muscle actuator (PMA). The simple design of the extensor and the contractor PMAs are used to implement the extension and the contraction sections respectively. Five actuators are used in each section to achieve an elongation and bending for the top section and a contraction and bending for the bottom section. Then, four self-bending contraction actuators (SBCA) are used instead of the five contractions PMA to enhance the bending performances. The performances of the proposed soft robot arm showed the advantages of using a biological inspiration robot arm for the unique features in comparison to its weight and cost.
This article proposed a novel controller structure to track the non-linear behavior of the pneuma... more This article proposed a novel controller structure to track the non-linear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists of a neural network (NN) controller laid in parallel with the proportional controller (P). The parallel neural network proportional (PNNP) controllers provide a high level of precision and fast-tracking control system. The PNNP has been applied to control the length of the single extensor PMA and the bending angle of the single self-bending contraction actuator (SBCA) at different load values. For further validation, the PNNP has been applied to control a human–robot shared control system. The results show the efficiency of the proposed controller structure.
2020 International Conference on Electrical, Communication, and Computer Engineering (ICECCE), 2020
This paper proposes an innovative design of a continuum arm inspired by the human upper limb, whi... more This paper proposes an innovative design of a continuum arm inspired by the human upper limb, which could rotate clockwise and counterclockwise similar to the pronation and supination movements of the human arm. In addition to this unique feature, the proposed arm can contract and bend in different directions. The proposed continuum arm is designed to provide these features and is constructed by using two contraction pneumatic muscle actuators (PMA) and one self-bending contraction actuator (SBCA). The kinematics of the proposed rotating arm has been explained. The design provides flexibility in selecting the rotating radius according to the distance between the rotating centre and the contraction actuators. This article shows the advantages of using soft actuators to form different structures, which provide multiple operations.
The context where the robot will be used leads to understanding the interaction requirement among... more The context where the robot will be used leads to understanding the interaction requirement among the robots and between the human and robot. This includes the number of humans and robots to be used, the task to be solved, and in several cases, the human is expected to assist the robot in overcoming the limitation in robot performance. Numerous factors are nominated for the robot to be successful, such as the repetition to reach regular quality, the speed and the force of manufacturing robots, reduction of the task hazards, decrease of the force required and flexibility in programming. The estimated number of multi-task robots around the world is about 1,664,000 as reported by the International Federation of Robotics (IFR) statistical analysis. The industrial robots continue to develop in both safety and productivity; moreover, while they have evolved in their functionality, safety is a hugely significant concern. Since the risk of injury is the most crucial factor for the human-rob...
In this paper, the material constant of the dielectric elastomer (DE) has been observed under thr... more In this paper, the material constant of the dielectric elastomer (DE) has been observed under three parameters; the electrical frequency, the prestretch ratio, and the environmental temperature. While the dielectric elastomer actuator (DEA) can be used under different environmental conditions, the temperature factor is considered in this paper at the prestretch condition and various frequencies. Which shows a significant effect on the constant of the DEA.
This paper presents a simple and fast design and implementation for a soft robot arm. The propose... more This paper presents a simple and fast design and implementation for a soft robot arm. The proposed continuum arm has been built by a single self-bending contraction actuator (SBCA) with two-fingers soft gripper. Because of the valuable advantages of the pneumatic artificial muscle (PAM), this continuum arm provides a high degree of safety to individuals. The proposed soft robot arm has a bending behaviour of more 180° at 3.5 kg, while, its weight is 0.7 kg. Moreover, it is designed to assist the people by reducing the number of backbends and that leads to a decrease in the possibility of lower back pain.
This article presents the development of a self-bending contraction actuator (SBCA) through the a... more This article presents the development of a self-bending contraction actuator (SBCA) through the analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods to prove the efficiency of the human body inspiration, which represents the covering of human bones by soft tissues to protect the bone and give the soft texture. The SBCA provides bending behaviour along with a high force-to-weight ratio. As with the simple pneumatic muscle actuator (PMA), the SBCA is soft and easy to implement. Both the kinematics and the torque formula presented for the SBCA are scalable and can be used with different actuator sizes. The bending actuator has been tested under an air pressure of up to 500 kPa, and the behaviour of its bending angle, parameters, dimensions, and the bending torques have been illustrated. On the other hand, the experiments showed the efficient performances of the actuator and validate the ...
This article presents a novel design of a continuum arm, which has the ability to extend and bend... more This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum ar...
2021 International Conference on Communication & Information Technology (ICICT)
In this paper, a soft robot for foot rehabilitation is proposed. The presented robot is comfortab... more In this paper, a soft robot for foot rehabilitation is proposed. The presented robot is comfortable to wear, and it is designed to be suitable for a wide range of adult foot sizes. It is easy to use either by a physiotherapist or by the patient due to the softness, its lightweight, and a wide range of included programs. Furthermore, the system is suitable for foot exercises. The soft robot is actuated by two contraction pneumatic artificial muscles (PAM) which are controlled by the bang-bang control system. The robot has been tested and validated, and it shows high performance for the rehabilitation process and smooth operation due to the softness of its material and the actuation behaviour.
The end effector is a major part of a robot system and it defines the task the robot can perform.... more The end effector is a major part of a robot system and it defines the task the robot can perform. However, typically, a gripper is suited to grasping only a single or relatively small number of different objects. Dexterous grippers offer greater grasping ability but they are often very expensive, difficult to control and are insufficiently robust for industrial operation. This paper explores the principles of soft robotics and the design of low-cost grippers able to grasp a broad range of objects without the need for complex control schemes. Two different soft end effectors have been designed and built and their physical structure, characteristics, and operational performances have been analyzed. The soft grippers deform and conform to the object being grasped, meaning they are simple to control and minimal grasp planning is required. The soft nature of the grippers also makes them better suited to handling fragile and delicate objects than a traditional rigid gripper. INDEX TERMS Soft robotics, pneumatic muscle actuators (PMA), self-bending contraction actua-tor (SBCA), circular pneumatic muscle actuator (CPMA), soft grippers.
The soft actuator represents a valuable addition to the robotics research area in last two decade... more The soft actuator represents a valuable addition to the robotics research area in last two decades. These actuators provide significant features such as lightweight, softness, high force to weight ratio and the ability to form in different shapes. This article presents a new length model to the single extensor pneumatic muscle actuator (PMA) which is depended on the constructed parameters and the air pressure. On the other hand, the tensile force formula of the contractor actuator has been modified to describe the extension force of the extensor PMA. The parallel structure of four extensor actuators is designed and implemented as continuum arm. The bending behaviour of the proposed arm is illustrated and modelled mathematically. The length model of the single extensor actuator has validated by the comparison between the model and the experiment data and then a neural network (NN) control system is applied to control the elongation of the extensor PMA. The kinematics for the proposed continuum arm are presented to describe the bending of the arm and its direction.
To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of... more To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled in three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly PMAs. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.
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