Human Dynamics and Controls Lab

Education:
B.S. in Mechanical Engineering from Sharif University of Technology, Tehran, Iran, 2018

Biography:

I graduated from Sharif University of Technology (Tehran, Iran) in September 2018 with a B.Sc. in Mechanical Engineering, and now I’m a third-year Ph.D. direct student in the Mechanical Science and Engineering Department of UIUC. I joined HDCL in August 2019.

LinkedIn | Google Scholar

Past projects

ALS mattress project

I worked with my former lab mate, Sandra Edwards, on the ALS mattress project where the goal was to create an air mattress from an array of soft actuators, called air bladders to redistribute the pressure underneath a bedridden patient. We worked togetehr to characterize and understand the behavior of a type of pneumatic soft actuator called air bladders. We developed a CNC heat-sealing machine which we use to fabricate soft TPU (extensible) and Nylon TPU-coated (non-extensible) air bladders. We conducted a series of pressure-displacement experiments on both single and stacked air bladders in different sizes and shapes to understand how the height of the air bladders changes as a function of its internal pressure while it was inflated, and how various design variables such as the air bladder size, shape, material, manufacturing technique, etc. would affect the displacement-pressure relationship.

Traveling waves project

As part of the ASL mattress project, one goal was to understand how we can design a morphing mattress and/or incorporate an assistive device to a bed mattress autonomously transfer a patient in multiple directions to reduce the physical burden of manual patient transfer from caregivers. Inspired by waves in nature such as water waves that can carry objects, and as part of my masters thesis, I studied how we can use traveling waves on a bed surface for multidirectional patient transfer and to minimize the caregiver’s physical effort for constant patient readjustment on the bed. Inspired by this idea, I explored the design requirements for moving a human body using traveling waves on a bed surface. Particularly, through kinematic analysis and simulation of traveling waves, this study explored how various wave parameters such as the wavelength, amplitude, frequency, and number of wave-generating actuators would affect human transportation speed and movement smoothness. Results are summarized into a set of design guidelines for the development of actuation systems to physically realize a traveling wave that can move a body on a bed.

 

Mahshid’s MS thesis link: Mansouri, M., 2022. Exploring patient pressure relief, repositioning and transfer while in a bed (Doctoral dissertation).

Arm trainer project

I worked with one of my senior lab mates, Yinan Pei, on the arm trainer project, where we developed a controller to be able to replicate the torque profile that is observed in rigidity and spasticity behaviors to deliver the haptic feeling of these abnormal muscle behaviors seen in real patients. In addition, we worked together on the clinical evaluation of the task trainer to understand how realistic the two behaviors are being replicated by asking clinicians to provide feedback on different aspects of the simulation.

Current projects:

PURE project

Currently for my PhD dissertation, I’m working on the development and implementation of semi and fully autonomous navigation/wayfinding assistance algorithms on PURE project, a self-balancing, omnidirectional ballbot-based wheelchair. My research uses path planning and obstacle avoidance techniques for collision prevention while the ballbot travels between two predefined locations (such as the office and restroom). In the semi-autonomous mode, the rider has some level of control over the wheelchair during navigation, whereas in the fully-autonomous mode, the device has full control.

Research Interests:

• Biomechanics
• Dynamics & Controls
• Human Assistive Devices
• Mechatronics & Robotics

Personal Interests:

• Traveling
• Swimming
• Cooking
• Dancing

Email: mm64(AT)illinois(DOT)edu