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Locomotion Laboratory
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lab_members:lab_members_maziarahmadsharbafi [2019/12/17 11:04]
Maziar Sharbafi 		lab_members:lab_members_maziarahmadsharbafi [2022/01/15 16:14] (current)
Maziar Sharbafi [Journals papers]
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-{{::maziar_ahmad_sharbafi.jpg?nolink&159 |Maziar Ahmad Sharbafi}}+{{::lab_members:maziarsharbafi.jpg?nolink&160 |Maziar Ahmad Sharbafi}}
  
 **Maziar Ahmad Sharbafi** \\ **Maziar Ahmad Sharbafi** \\
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 ===== Selected publications===== ===== Selected publications=====
 +===== Books =====
 +    * ** Beckerle, P., Sharbafi, M. A., Verstraten, T., Pott, P. P., & Seyfarth, A**. (2021). Novel Bioinspired Actuator Designs for Robotics. Studies in Computational Intelligence book series, Springer. [[https://link.springer.com/content/pdf/10.1007%2F978-3-030-40886-2.pdf|pdf]]
 +    * **  Sharbafi, M. A., Naseri, A., Seyfarth, A., & Grimmer, M **. (2020). Neural control in prostheses and exoskeletons. In Powered Prostheses (pp. 153-178). Academic Press [[https://doi.org/10.1016/B978-0-12-817450-0.00007-9|DOI]].
 +
 +  * **  Sharbafi, M. A., Seyfarth, A., **. (2020). Bioinspired legged locomotion: models, concepts, control and applications. Butterworth-Heinemann, Elsevier .[[https://doi.org/10.1016/C2014-0-04899-X|DOI]].
 +
 +
 +
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 ===== Journals papers===== ===== Journals papers=====
-  *  ** Sharbafi, M. A., Yazdanpanah, M. J., Nili Ahmadabadi. M., & Seyfarth. A., ** Parallel compliance design for increasing robustness and efficiency in legged locomotion – proof of concept. IEEE Transactions on Mechatronics, 24 (4), 1541 - 1552, [[https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8716548|IEEE]]+  * ** Galljamov. R., Ahmadi, A., Mohseni, O., Seyfarth, A., Beckerle, & Sharbafi, M. A. ** (2021). Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping. IEEE Robotics and Automation Letters, 6(4), pp. 6797-6804. [[https://doi.org/10.1109/LRA.2021.3095024|DOI]] 
 + 
 +  * ** Firouzi, V., Davoodi, A., Bahrami F., & Sharbafi, M. A. ** (2021). From a Biological Template Model to Gait Assistance with an Exosuit, Bioinspiration and Biomimetics,  16, pp. 066024. [[https://doi.org/10.1088/1748-3190/ac2e0d|DOI]] 
 + 
 +  * **  Sharbafi, M. A., Yazdanpanah, M. J., Ahmadabadi, M. N., & Seyfarth, A**. (2021). Parallel Compliance Design for Increasing Robustness and Efficiency in Legged Locomotion—theoretical background and applications. IEEE/ASME Transactions on Mechatronics, 26(1), pp. 335-346 [[https://doi.org/10.1109/TMECH.2020.3019686|DOI]]. 
 + 
 +  * ** Schumacher, C., Sharbafi, M. A., Seyfarth, A. & Rode, C. ** (2020). Biarticular muscles in light of template models, experiments and robotics: a review. J. R. Soc. Interface, 17. [[https://doi.org/10.1098/rsif.2018.0413|DOI]] 
 + 
 +  * **  Barazesh, H., Sharbafi, M. A. ** (2020) A biarticular passive exosuit to support balance control can reduce metabolic cost of walking. Bioinspiration & Biomimetics, 15(3), pp. 036009. [[https://doi.org/10.1088/1748-3190/ab70ed|DOI]]. 
 + 
 +  * **  Firouzi, V., Davoodi, A., Bahrami, F., & Sharbafi, M. A. ** (2020). From a biological template model to gait assistance with an exosuit. BioRxiv [[https://doi.org/10.1101/2020.03.24.005389|DOI]]. 
 +   
 +  * ** Naseri, A.; Mohammadi Moghaddam, M.; Gharini, M.; Sharbafi, M. A. ** (2020). Novel Adjustable Damper Design for a Hybrid Passive Ankle Prosthesis. Actuators 9(3), [[https://doi.org/10.3390/act9030074|DOI]]. 
 + 
 +  *  ** Sharbafi, M. A., Yazdanpanah, M. J., Nili Ahmadabadi. M., & Seyfarth. A., ** {{ :lab_members:sharbafi2019ieeetmech.pdf |Parallel compliance design for increasing robustness and efficiency in legged locomotion – proof of concept}}. IEEE Transactions on Mechatronics, 24 (4), 1541 - 1552, [[https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8716548|IEEE]]
      
   * ** Zhao, G., Sharbafi, M. A., Vlutters, M., van Asseldonk, E., & Seyfarth, A. (2019). ** Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking. IEEE transactions on neural systems and rehabilitation engineering, 27(9), 1760-1769, [[https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8794599|IEEE]]   * ** Zhao, G., Sharbafi, M. A., Vlutters, M., van Asseldonk, E., & Seyfarth, A. (2019). ** Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking. IEEE transactions on neural systems and rehabilitation engineering, 27(9), 1760-1769, [[https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8794599|IEEE]]
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   * ** Sharbafi, M. A., Seyfarth, A., Hosoda, K., & Sugar, T. G. ** . In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (pp. 640-657), DOI: 10.1016/B978-0-12-803766-9.00012-9 [[https://www.sciencedirect.com/science/article/pii/B9780128037669000129?via%3Dihub|Elsevier]].   * ** Sharbafi, M. A., Seyfarth, A., Hosoda, K., & Sugar, T. G. ** . In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (pp. 640-657), DOI: 10.1016/B978-0-12-803766-9.00012-9 [[https://www.sciencedirect.com/science/article/pii/B9780128037669000129?via%3Dihub|Elsevier]].
- 
  
   *   ** Sharbafi, M.A., Rode, C., Kurowski, S., Scholz, D., Möckel, R., Radkhah, K., Zhao, G., Rashty, A.M., von Stryk, O. and Seyfarth, A**., A new biarticular actuator design facilitates control of leg function in BioBiped3. Bioinspiration & Biomimetics, 11(4), p.046003, 2016. [[http://iopscience.iop.org/article/10.1088/1748-3190/11/4/046003/meta|DOI: 10.1088/1748-3190/11/4/046003]]\\   *   ** Sharbafi, M.A., Rode, C., Kurowski, S., Scholz, D., Möckel, R., Radkhah, K., Zhao, G., Rashty, A.M., von Stryk, O. and Seyfarth, A**., A new biarticular actuator design facilitates control of leg function in BioBiped3. Bioinspiration & Biomimetics, 11(4), p.046003, 2016. [[http://iopscience.iop.org/article/10.1088/1748-3190/11/4/046003/meta|DOI: 10.1088/1748-3190/11/4/046003]]\\
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   * ** Sharbafi, M. A. and Mohammadinejad, A. and Sedigh, A. K. and Roshanian, J**. Stability Proof of Gain-Scheduling Controller for Skid-to-Turn Missile Using Kharitonov Theorem. Journal of Aerospace Society and Technology, 6(2),  2009.   * ** Sharbafi, M. A. and Mohammadinejad, A. and Sedigh, A. K. and Roshanian, J**. Stability Proof of Gain-Scheduling Controller for Skid-to-Turn Missile Using Kharitonov Theorem. Journal of Aerospace Society and Technology, 6(2),  2009.
   * **Aghazade, O. and Sharbafi, M. A. and Haghighat, A. T**. Implementing Parametric Reinforcement Learning in Robocup Rescue Simulation. //RoboCup 2007: Robot Soccer World Cup XI, Springer Berlin / Heidelberg//, 5001 (8pp), 2008. [[http://link.springer.com/chapter/10.1007%2F978-3-540-68847-1_42#page-1|DOI: 10.1007/978-3-540-68847-1_42]]   * **Aghazade, O. and Sharbafi, M. A. and Haghighat, A. T**. Implementing Parametric Reinforcement Learning in Robocup Rescue Simulation. //RoboCup 2007: Robot Soccer World Cup XI, Springer Berlin / Heidelberg//, 5001 (8pp), 2008. [[http://link.springer.com/chapter/10.1007%2F978-3-540-68847-1_42#page-1|DOI: 10.1007/978-3-540-68847-1_42]]
- 
  
   * **Sharbafi, M. A. and Ghiasvand, O. A. and Ramandi, S. A**. Hierarchical Hybrid Fuzzy Decision Making in Multi Agent Time Critical Environment. //International Journal of Innovation, Management and Technology, Vol. 5, No. 1//, 5(1)(5pp), 2014. [[http://www.ijimt.org/papers/486-E00161.pdf|DOI: 10.7763/IJIMT.2014.V5.486]]   * **Sharbafi, M. A. and Ghiasvand, O. A. and Ramandi, S. A**. Hierarchical Hybrid Fuzzy Decision Making in Multi Agent Time Critical Environment. //International Journal of Innovation, Management and Technology, Vol. 5, No. 1//, 5(1)(5pp), 2014. [[http://www.ijimt.org/papers/486-E00161.pdf|DOI: 10.7763/IJIMT.2014.V5.486]]
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 ===== Conference papers===== ===== Conference papers=====
 +  * **Mohseni. O, Gagey. F, Zhao. G, Seyfarth. A, & Sharbafi, M. A.** (2020), How Far Are Pneumatic Artificial Muscles from Biological Muscles?, IEEE International Conference on Robotics and Automation (ICRA), {{ :projects:mohseni_icra2020.pdf |pdf}}.
 +
 +  * **Firouzi, V., Seyfarth, A., & Sharbafi, M. A. ** (2019, November). TIP Model: A Combination of Unstable Subsystems for Lateral Balance in Walking. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 476-482). {{ :projects:firouziiros2019.pdf |pdf}}.
 +
 +  * **Firouzi, V., Seyfarth, A., & Sharbafi, M. A.** (2019). Does VPP exist in lateral balancing?. In 9ᵗʰ International Symposium on Adaptive Motion of Animals and Machines (AMAM 2019), EPFL, Switzerland {{ :projects:firouzivpp2019.pdf |pdf}}.
 +
 +  * **Sharbafi, M. A. Seyfarth, A. ** (2019) Concerted control approach with leg force as a conductor. (2019). Dynamic Walking, Canmore, Canada,{{ :projects:sharbafi2019.pdf |}} [[https://www.youtube.com/watch?v=Ya4-I1CVDgU&list=PLQFJwiFNKBz1TqTTujzadicZ-hHPt_RFj&index=14|Presentation video in youtube]].
 +
 +  * ** Seyfarth, A., Sharbafi, M. A., Zhao, G., & Schumacher, C. **(2018, October). Modular Composition of Human Gaits Through Locomotor Subfunctions and Sensor-Motor-Maps. In International Symposium on Wearable Robotics (pp. 339-343). Springer, Cham {{ :projects:seyfarth_2018_werob.pdf |pdf}}.
 +
 +
 +  * ** Naseri. A., [[lab_members:lab_members_martingrimmer|Grimmer, M.]],  Seyfarth, A. & Sharbafi, M. A.,** {{ :publications:fmcaaswer.pdf |Template-based control of prosthetic feet}}. CYBATHLON PROSTHESIS SERIES & SYMPOSIUM ON ASSISTIVE AND WEARABLE ROBOTICS (AsWeR19)
 +
 +  * ** Sharbafi, M. A., Zadravec, M., Matjačić, Z, & Seyfarth, A. ** [[https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8594013|A 3D Template Model for Healthy and Impaired Walking]]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018
 +
 +  * ** Sarmadi, A., Sharbafi, M. A., Schumacher, C., & Seyfarth, A.**[[https://ieeexplore.ieee.org/document/8487748|Force-Feedback Coordinates Stance and Balance Locomotor Subfunctions in Hopping]]. 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob). IEEE, 2018
 +
 +  * ** Zhao G., Sharbafi M., Vlutters M., Van Asseldonk E. and Seyfarth A.**. [[http://ieeexplore.ieee.org/abstract/document/8009293/|Template model inspired leg force feedback based control can assist human walking]]. International Conference on Rehabilitation Robotics (ICORR), London, 2017, 473-478.
 +
 +  * ** Sharbafi M. A. and Seyfarth A.**. [[http://ieeexplore.ieee.org/abstract/document/7803387/|VBLA, a swing leg control approach for humans and robots]]. IEEE-RAS 16th International Conference on Humanoid Robots (//Humanoids//), Cancun (MX), 2016, 952-957.
 +
 +
 +  * ** Oehlke J., Sharbafi M. A., Beckerle P. and Seyfarth A**.[[http://ieeexplore.ieee.org/abstract/document/7523595/|Template-based hopping control of a bio-inspired segmented robotic leg]]. 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 2016, 35-40.
 +
 +
   * **Sharbafi, M. A. and Seyfarth, A**. {{:lab_members:Sharbafi2015IROS.pdf|FMCH: a new model for human-like postural control in walking.}} IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 28 Sep-2Oct 2015, Hamburg, Germany.    * **Sharbafi, M. A. and Seyfarth, A**. {{:lab_members:Sharbafi2015IROS.pdf|FMCH: a new model for human-like postural control in walking.}} IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), 28 Sep-2Oct 2015, Hamburg, Germany. 
  
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 {{ :image_balance.jpg?nolink&190|The BALANCE project}} {{ :image_balance.jpg?nolink&190|The BALANCE project}}
  
-The [[http://www.balance-fp7.eu/objectives.php|Balance Project]] is a interdisciplinary project funded by the European Union. It aims at creating an exoskeleton that providesbalance support for humans. BALANCE, or more precisely B.A.L.A.N.C.E. is an acronym for Balance Augmentation in Locomotion, through Anticipative, Natural and Cooperative control of Exoskeletons.+The Balance Project is a interdisciplinary project funded by the European Union. It aims at creating an exoskeleton that providesbalance support for humans. BALANCE, or more precisely B.A.L.A.N.C.E. is an acronym for Balance Augmentation in Locomotion, through Anticipative, Natural and Cooperative control of Exoskeletons.
  
 There are four main fields of research in this project: Experiments with healthy subjects, biomechanical modelling, control design and hardware design of an improved exoskeleton. There are four main fields of research in this project: Experiments with healthy subjects, biomechanical modelling, control design and hardware design of an improved exoskeleton.