S.MahboubiHeydarabad's picture






My Bio: 

Saber received his Bachelor’s degree in Power Engineering from the University of Shahid Rajaee Tehran in 2007, and Master’s degree in Mechatronics Engineering from the University of Tabriz in 2010. Before starting his PhD at the Department of Computing, Science and Engineering at the University of Salford in the SMART-E project, he worked for three years as an Automation engineer in Iran Khodro Co.

What I do in Smart-E: 

ESR1: Low cost and robust dexterous end effectors

The Human hand is one of the important parts of our body which can execute variety of different tasks. The richness and capability comes from its well developed and integrated action of two basic systems: The Motor Synergy which is the correlation in redundant hand mobility (muscles and tendons) and the Sensor Synergy which is the correlation in redundant receptors and cues (Skin). With the combination of these systems as sensorimotor synergy, the hand becomes the most useful and vital organ for humans.

Industrial robots are among the highly flexible, multipurpose tools which can perform wide range of tasks. The grippers used in these robots forms the most important part. But these grippers are task oriented and the downtime production loss in changing these grippers for different application along with maintaining an inventory is huge. Because of these reasons, using multi-fingered and multipurpose robot hand is gaining grounds recently.

Imitating the human hand from nature, research is being carried out in the development of dexterous robot hand. Even though it could be used efficiently, it has been put in the back foot because of the complexity, robustness, cost and lack of research.

Commonly designers of dexterous multi fingered hand have used up to 16 motors such that a single motor controls each joint. But 80% of everyday grasping needs just two synergies. A robotic hand therefore with two synergies (pattern of combined joint motion) would increase the robustness bringing down the cost and potential failure points to a minimum compared to conventional dexterous robot hand. This project will also explore the development of mechanically robust low cost multi-fingered dexterous end-effector hand for industrial application.

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