Research Overview
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I believe there are three pillars that must be considered when developing wearable platforms for assistance/rehabilitation in order for successful adoption into daily life.
Performance: A wearable device must effectively accomplish its tasks. For haptic interfaces this is typically generating enough force/displacement at the frequencies of interest to excite the relevant mechanoreceptors in the body. For assistive robots this is generally providing enough forces/torques to support the targeted joint.
Human-System Communication: Wearable devices are tightly coupled human-agent systems. There needs to be proper data transfer from the human to the robot (e.g., intent-detection) and from the robot to the user (e.g., haptic feedback).
Comfort and Accessibility: Generally one of the most overlooked aspects in wearable device design, If a device is too complex to don/doff or uncomfortable to wear for long periods of time, it won't be used by consumers.
Research Area 1: Intelligent Control Strategies for Upper Extremity Soft Assistive Robots
A Task-Agnostic Control Strategy to Enable Tunable and Dynamic Assistance in Pneumatically Actuated Wearable Soft Robots
Work in progress
Data-driven Grasp Prediction for a Soft Rehabilitation Glove based on Kinematic Compliance
Work in progress
Research Area 2: Wearable Haptic Interfaces using Smart Materials
CASAband: Easy-to-Wear Textile Wristband using Shape Memory Alloys for Spatial and Temporal Haptic Feedback
Baekgyeom Kim*, Anoush Sepehri*, Jessica Healey, Taeuk Oh, Hyungseok Seo, Je-sung Koh, Tania K. Morimoto
* Equal Contribution (Under Review)
Bundled Liquid Crystal Elastomer Actuators with Integrated Cooling for Mesoscale Soft Robots
Anoush Sepehri, Sukjun Kim, Devyansh Agrawal, Hannah Yared, Gaoweiang Dong, Shengqiang Cai, Tania K. Morimoto
IEEE Robotics and Automation Letters (RA-L), 2025
Research Area 3: Accessible and Comfortable Tools for Rehabilitation
Retrofitting Soft Assistive Robots with Sew-free Sensing Garments for Joint Motion Tracking and Kinematic Feedback
Anoush Sepehri, Michael T. Tolley, Tania K. Morimoto
IEEE International Conference on Rehabilitation Robotics (ICORR), 2025
A Soft Robotic Wrist Orthosis using Textile Pneumatic Actuators for Passive Rehabilitation
Anoush Sepehri, Samual Ward, Michael T. Tolley, Tania K. Morimoto
IEEE International Conference on Soft Robotics, 2024 (Best Paper Finalist)
Undergraduate Research
A fiber Bragg Grating Tactile Sensor for Soft Material Characterization based on Quasi-Linear Viscoelastic Analysis
Anoush Sepehri, Hamed Helisaz, Mu Chiao
Sensors and Actuators A: Physical, 2023
A Motion Planning Algorithm for Redundant Manipulators Using Rapidly Exploring Randomized Trees and Artificial Potential Fields
Anoush Sepehri, Amirreza Mirbeygi Moghaddam
IEEE Access, 2021
Filed Patent Applications
Microfluidic-based fiber formation methods and systems
US Application No.: 18/239,682
Simon Beyer, Samuel Wadsworth, Jackson He, Zhensong Xu, Usama Khan, Konrad Walus, Anoush Sepehri, Marita Rodriguez
Method and system for monitoring operations of a mining shovel
US Application No.: 18/686,755
Burhanuddin S Terai, Ali Torabiparizi, Anoush Sepehri, Saeed Karimifard, Shahram Tafazoli Bilandi
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