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lab_members:lab_members_maziarahmadsharbafi [2018/09/19 17:14]
Maziar Sharbafi [Journals papers]
lab_members:lab_members_maziarahmadsharbafi [2019/12/17 11:10] (current)
Maziar Sharbafi [Journals papers]
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 ===== Selected publications===== ===== Selected publications=====
 ===== Journals papers===== ===== Journals papers=====
 +  *  ** 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]]
 +
 +  * ** Davoodi, A., Mohseni, O., Seyfarth, A., Sharbafi, M. A., ** From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability. Royal Society open science, vol. 6, no. 3[[https://​royalsocietypublishing.org/​doi/​pdf/​10.1098/​rsos.181911|Royal Society]]
 +
 +  * ** Oehlke, O., Beckerle, P., Seyfarth, A., Sharbafi, M. A., ** Human-like hopping in machines; Feedback- versus feed-forward-controlled motions. Biological cybernetics,​ vol. 113, no. 3[[https://​link.springer.com/​content/​pdf/​10.1007%2Fs00422-018-0788-4.pdf|Springer]]
 +
 +  * ** Sarmadi, A., Schumacher, C., Seyfarth, A., & Sharbafi, M. A., ** Concerted control of stance and balance locomotor subfunctions-Leg force as a conductor. IEEE Transactions on Medical Robotics and Bionics, 49-57 [[https://​ieeexplore.ieee.org/​abstract/​document/​8628258|IEEE]]
  
   * **Sharbafi, M. A., Barazesh, H., Iranikhah, M., & Seyfarth, A, ** Leg force control through biarticular muscles for human walking assistance. Frontiers in neurorobotics,​ 12, 2018, [[https://​www.ncbi.nlm.nih.gov/​pmc/​articles/​PMC6050398/​pdf/​fnbot-12-00039.pdf|Open Access]]   * **Sharbafi, M. A., Barazesh, H., Iranikhah, M., & Seyfarth, A, ** Leg force control through biarticular muscles for human walking assistance. Frontiers in neurorobotics,​ 12, 2018, [[https://​www.ncbi.nlm.nih.gov/​pmc/​articles/​PMC6050398/​pdf/​fnbot-12-00039.pdf|Open Access]]
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   * ** Yazdi-Mirmokhalesouni,​ S. D., Sharbafi, M. A., Yazdanpanah,​ M. J., & Nili-Ahmadabadi,​ M, ** Modeling, control and analysis of a curved feet compliant biped with HZD approach. Nonlinear Dynamics, 91(1), 459-473, 2018.[[https://​link.springer.com/​content/​pdf/​10.1007%2Fs11071-017-3881-7.pdf|Springer]]   * ** Yazdi-Mirmokhalesouni,​ S. D., Sharbafi, M. A., Yazdanpanah,​ M. J., & Nili-Ahmadabadi,​ M, ** Modeling, control and analysis of a curved feet compliant biped with HZD approach. Nonlinear Dynamics, 91(1), 459-473, 2018.[[https://​link.springer.com/​content/​pdf/​10.1007%2Fs11071-017-3881-7.pdf|Springer]]
  
- * ** 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]].
  
  
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   *   * **Sharbafi, M. A. and Mohammadinejad,​ A**. {{:​lab_members:​ifac2008.pdf|An Innovative Method for Identification of Dynamic Systems Based on LoLiMoT.}} 17th World Congress the International Federation of Automatic Control (IFAC 08), 2008, Seoul, Korea.   *   * **Sharbafi, M. A. and Mohammadinejad,​ A**. {{:​lab_members:​ifac2008.pdf|An Innovative Method for Identification of Dynamic Systems Based on LoLiMoT.}} 17th World Congress the International Federation of Automatic Control (IFAC 08), 2008, Seoul, Korea.
 +===== Hybrid Electric-Pneumatic Actuator (EPA) for legged locomotion (2017 - 2020) =====
 +
 +Funded by DFG
 +{{ :​projects:​epahopper.mp4?​400|EPA-hopper hopping}}
 +A better understanding of how actuator design supports locomotor function may 
help design and develop novel and more functional powered assistive or robotic legged
 systems. Legged locomotion can be described as a composition of locomotor
 sub-functions,​ namely axial leg function, leg swinging and balancing. In this 
project, we focus on the axial leg function (e.g., spring-like hopping) based on a novel concept of a hybrid electric-pneumatic actuator (EPA). This principal locomotor sub-function determines 
the movement of the body center of mass. We will design and manufacture EPA prototypes 
as enhanced variable impedance actuators (VIA). In contrast to other VIAs, the EPA provides not only adaptable compliance (e.g. an adjustable spring) 
but with the pneumatic artificial muscle (PAM) also 
an additional powerful actuator with muscle-like properties, which can be
arranged in different configurations (e.g., in series or parallel) to the electric motor (EM). This novel hybrid actuator
 shares the advantages of EM and PAM combining precise control with compliant
 energy storage required for efficient, robust and versatile human-like leg motions via simple control 
laws. ​
 + 
 +
 +[[projects:​projects_EPA|Read more...]]
 +
 +Contact: [[sharbafi@sport.tu-darmstadt.de|Ph.D. Maziar Sharbafi]] ​
 +
 +===== Balance (2013 - 2017) ===== 
 +
 +{{ :​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.
 +
 +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.
 +
 +At the Lauflabor, we will focus on biomechanical modelling in order to (a) understand how humans achieve and maintain balance in experiments,​ and (b) provide these models as basis for a control design to our project partners.
 +
 +[[projects:​projects_balance|Read more...]]
 +
 ===== BioBiped Project (2009 - 2014)===== ​ ===== BioBiped Project (2009 - 2014)===== ​
 **biologically inspired robots with human-like musculoskeletal leg structures** **biologically inspired robots with human-like musculoskeletal leg structures**