Ali Meghdari

Sharif University of Technology | SHARIF · Department of Mechanical Engineering

Reciprocal interaction and facial expression are some of the most interesting topics in the fields of social and cognitive robotics. On the other hand, children with autism show a particular interest toward robots, and facial expression recognition can improve these children’s social interaction abilities in real life. In this research, a robotic p...

This paper introduces a novel robotic platform, called RASA (Robot Assistant for Social Aims). This educational social robot is designed and constructed to facilitate teaching Persian Sign Language (PSL) to children with hearing disabilities. There are three predominant characteristics from which design guidelines of the robot are generated. First,...

Empowering a robot to direct its attention to the most appropriate target at all times during multi-party interactions is an interesting and useful challenge to establish natural communication between the robot and users. In this paper, implementing a social gaze control system suitable for multi-person interactions with a RASA social robot is disc...

The social impact of robotics applied to domains such as education, religion, nursing, and therapy across the world depends on the level of technology as well as the culture in which it is used. By studying how robots are used in Iran, a technologically-savvy country with a long history and a rich culture, we explore their possible impact on interr...

Sign language is an essential means of communication for millions of people around the world and serves as their primary language. However, most communication tools and technologies are designed for spoken and written languages, which can create barriers and limitations for the deaf community. By creating a sign language recognition system, we can...

The main objective of this research is to explore the impact of deploying social robots in team-based intellectual cooperation, specifically during brainstorming sessions. A total of 72 participants (36 females and 36 males) were involved, with groups of four participants (2 females and 2 males) engaging in brainstorming sessions. In nine sessions,...

Dyslexia is a neurodevelopmental disorder that has the highest prevalence among different types of learning disorders. Dyslexic children usually have difficulty in reading and as a result, they face different educational problems at school. Currently, social robots are widely used as educational assistants and tutors, mainly for children with speci...

Emerging technologies such as social robotics and virtual reality have found a wide application in the field of education and tutoring particularly for children with special needs. Taban is a novel social robot that has been designed and programmed specifically for educational interaction with dyslexic children, who have various problems in reading...

One option for teaching a robot new skills is to use learning from demonstration techniques. While traditional techniques often involve expensive sensors/equipment, advancements in computer vision have made it possible to achieve similar outcomes at a lower cost. To the best of our knowledge, there is no previous research on a robot learning to pro...

Recent studies show that asymmetric movements are important Low Back Disorders risk factors. Measuring the trunk strength and identifying the coupling effects in different postures can provide an objective tool to assess one's task capacity. This paper estimates the maximum performance capacity for isometric trunk extension and accompanying torques...

With the advancement of robotics technology, robots applications have been extended to more general-purpose practices in society such as the use of robots in clinical and rehabilitation, nursing and elderly care, search and rescue operations. However, for robotics technology to be successful in such environments, it is necessary to gain a better un...

This study scrutinizes the impacts of utilizing a socially assistive robot, the RASA robot, during speech therapy sessions for children with language disorders. Two capabilities were developed for the robotic platform to enhance children-robot interactions during speech therapy interventions: facial expression communication (containing recognition...

Socially Assistive Robots (SAR) may soon be able to play an important role in education and treatment of individuals with special needs based on their interests and needs. In this chapter, we present the specifications and performance of two social robots, designed and fabricated by our research group at Sharif University of Technology-Iran, to ser...

Lack of educational facilities for the burgeoning world population, financial barriers, and the growing tendency in favor of inclusive education have all helped channel a general inclination toward using various educational assistive technologies, e.g., socially assistive robots. Employing social robots in diverse educational scenarios could enhanc...

Since its invention, robots have been developed for various purposes and needs, quite similar to personal computers in their early days. However, with the advancement of technology, it is anticipated that in near future one of the cutting-edge technologies to be used in “language teaching and learning” is robotics. Humanoid and/or animal shaped rob...

In this research, we developed a cost-effective automated guided vehicle for small clothing production workshops that ordinary workers in such workplaces can operate. We acquired workers’ opinions in multiple workshops about using the robots (with some social capabilities) and working alongside them. We performed the tests in China and Iran to inve...

Robotic blimps have a wide range of applications, such as monitoring activities in their surroundings, advertising, and performing on stages. They also have remarkable capacities to be used as a social robot. In this research, a manually operated social robotic blimp has been developed intending to interact with children as a social agent and attra...

One of the main challenges in social and cognitive research is relevant to our understanding of how to perceive and interact with others in the world around us. With the dramatic growth of emerging technologies in our societies, such as social robots, computer graphic generated avatars, and virtual reality devices, the complexity of this challenge...

Sign language is a non-verbal communication tool used by the deaf. A robust sign language recognition framework is needed to develop Human–Robot Interaction (HRI) platforms that are able to interact with humans via sign language. Iranian sign language (ISL) is composed of both static postures and dynamic gestures of the hand and fingers. In this pa...

This paper addresses the lack of proper Learning from Demonstration (LfD) architectures for Sign Language-based Human–Robot Interactions to make them more extensible. The paper proposes and implements a Learning from Demonstration structure for teaching new Iranian Sign Language signs to a teacher assistant social robot, RASA. This LfD architecture...

Deficit in imitation skills is one of the core symptoms of children with Autism Spectrum Disorder (ASD). In this study, we have tried to look closer at the body gesture imitation performance of 20 participants with autism, i.e. ASD group, and 20 typically developing subjects, i.e. TD group, in a set of robot-child and human-child gross imitation ta...

One of the most important problems in teleoperation systems is time delay and packet loss in the communication channel, which can affect transparency and stability. One way to overcome the time delay effects in a teleoperation system is to predict the master-side motion. In this way, when data is received in the slave side, it will be considered as...

Social Robots have the potential to attract people and this capability can be used to develop robots that can come into the retail market and enhance visual merchandising. This paper investigates important criteria to use in the design of a robot that can be utilized to promote customer appeal in the fashion industry. RoMa is a novel robotic manneq...

Robotics and Artificial Intelligence (AI) have always been among the most popular topics in science fiction (sci-fi) movies. This paper endeavors to review popular movies containing Fictional Robots (FR) to extract the most common characteristics and interesting design ideas of robots portrayed in science fiction. To this end, 134 sci-fi films, inc...

Social robots may soon be able to play an important role in expanding communication with the deaf. Based on the literature, adaptive user interfaces lead to greater user acceptance and increased teaching efficiency compared to non-adaptive ones. In this paper, we build a robotic architecture able to simultaneously adjust a robot’s teaching paramete...

This article endeavors to present the impact of conducting robot-assisted music-based intervention sessions for children with low-functioning (LF) autism. To this end, a drum/xylophone playing robot is used to teach basic concepts of how to play the instruments to four participants with LF autism during nine educational sessions. The main findings...

In this paper, a new haptic interaction is presented where the operator is in contact with the haptic device (HD) only when she/he is in contact with the virtual environment (VE). This is in contrast with traditional haptic systems, where the operator is always in contact with the HD, even if she/he is out of the VE. In this haptic interaction, a v...

In this study, we introduce a novel three-dimensional micro-scale robot capable of swimming in low Reynolds number. The proposed robot consists of three rotating disks linked via three perpendicular adjustable rods, actuated by three rotary and three linear motors, respectively. The robot mechanism has an important property which makes it superior...

Virtual Reality (VR) technology is a growing technology that has been used in various fields of psychology, education, and therapy. One group of potential users of VR are children with autism who need education and have poor social interactions; this technology could help them improve their social skills through real-world simulation. In this study...

Molecular machines, such as nanocars, have shown promising potential for various tasks, including manipulation at the nanoscale. In this paper, we examined the influence of temperature gradients on nanocar and nanotruck motion as well as C60 – as their wheel – on a flat gold surface under various conditions. We also compared the accuracy and comput...

Language is one of the most important features of humanity and an essential element of human existence. Sign language is a solution to meet the verbal and communication needs of the Deaf community as the many spoken languages meet the communication needs of the hearing community. Since unique skills and life experiences shape scientists, each resea...

Molecular machines and surface rolling molecules show great potential to accomplish different tasks in several fields, such as bottom-up assembly and nano-manipulation. Many researchers have investigated molecular machines, most of which was on a flat single crystal substrate. In this paper, we studied the influence of vacancies in different sizes...

In recent years the development of Simultaneous Localization and Mapping (SLAM) techniques have enabled social robots to autonomously navigate in routine human workplaces. However, most common SLAM techniques are developed for mapping and localization in static worlds. In this paper, we have developed and analyzed a novel augmentation of the FastSL...

Condition and performance monitoring of underwater equipment and infrastructure is of one the major concern for marine industries. In the past two decades, several technique and methods have been developed for efficient monitoring of marine structures. Fish robots potentially can be used as an efficient device for under water monitoring. The design...

Interaction quality improvement in a social robotic platform can be achieved through intention detection/prediction of the user. In this research, we tried to study the effect of intention prediction during a human-robot game scenario. We used our humanoid robotic platform, RASA. Rock-Paper-Scissors was chosen as our game scenario. In the first ste...

This paper proposes a novel framework for teaching sign language to RASA, a humanoid teaching assistant social robot. The ultimate goal was to design a user-friendly process by which the RASA robot could learn new signs from non-expert users. In the proposed method, the user would wear a motion capture suit and perform a sign multiple times to trai...

In the previous years, a few types of nanocars have been built with the promising potential to transport other molecules, to provide bottom-up assembly, or to perform other mechanical tasks. In this study, we propose a method to convert the diffusive displacement of nanocars to a guided motion in a desired path by adding some impurity atoms in the...

An online operator position prediction approach based on artificial neural network for teleoperation systems is proposed in this paper, which predicts future position of operator's hand based on current available data. The neural network gathers inputs for some time at the beginning of the operation, then is trained, and is finally exploited throug...

One of the main challenges in social and cognitive research is relevant to our understanding of how to perceive and interact with others in the world around us. With the dramatic growth of emerging technologies in our societies, such as social robots, computer graphic generated avatars, and virtual reality devices, the complexity of this challenge...

Social robots applications are becoming more and more popular in our daily life. Advertising, in this case, apparel advertising, is an area that humans must deal with every day. RoMa is a social robot mannequin that has been designed and developed as a mobile robot for use in the field of advertising and visual trading. In this paper, characteristi...

In recent years, various nanocars have been synthesized in order to provide controlled mechanical function, transport other nanoparticles, or enable bottom-up assembly capability. There have even been racing competitions among well-known nanocars in which the wheels play an influential role. In this paper, the motion of thermally driven nanocars eq...

Utilizing a humanoid social robot to systematically teach music to children with autism has not received enough attention to date. In this study, a novel robot-assisted music-based scenario was designed in order to: 1) teach fundamentals of music via a xylophone-/drum-player robot as a teacher assistant, and 2) improve social/cognitive skills throu...

Different social robotics studies are carried out to give robotic gadgets an interactive retrofit. In this research, we tried to present a new perspective on using interactive animated toys in a virtual environment. Such social toys would be able to interact with children in the same way as social robots. To this end, a 3D scanner setup and interfa...

This paper endeavors to propose a novel cognitive architecture specialized for Teaching Assistant (TA) social robotic platforms. Designing such architectures could lead to a more systematic approach in using TA robots. The proposed architecture consists of four main blocks: Perception, Memory, Logic and Action Units. The designed cognitive architec...

The role of technology in education and clinical therapy cannot be disregarded. Employing robots and computer-based devices as competent and advanced learning tools for children indicates that there is a role for technology in overcoming certain weaknesses of common therapy and educational procedures. In this paper, we present a new platform for a...

One of the main challenges in developing and applying modern technologies in our societies is the identification and consideration of ethical issues. With the dramatic growth of emerging technologies in today's societies, such as social robots, lifelike computer graphics (avatars), and virtual reality tools and haptic systems, the social complexity...

This paper presents the design process and construction of a mobile social robot companion “Arash” for educational and therapeutic intervention for children with chronic diseases; one which is based on their interests and needs. This study concentrates on children with cancer who suffer from physical pain caused by both the disease and its treatmen...

In this paper, the robot-assisted interventions for a pair of fraternal twins with autism, of whom one was high-functioning and the other low-functioning, are presented. Since many genetic and environmental factors were the same for both participants, the effects of individual and group robotic games on these two children with high- and lowfunction...

This article presents the thorough design procedure, specifications, and performance of a mobile social robot friend Arash for educational and therapeutic involvement of children with cancer based on their interests and needs. Our research focuses on employing Arash in a pediatric hospital environment to entertain, assist, and educate children with...

During chemotherapy children with cancer have a great need for special care and attention. The more familiar they are with the disease and its treatment process affects their collaboration with doctors and psychologists which can improve their condition. Using modern and intelligent technologies like social humanoid robots as a tool for motivation...

In this paper, three pairs of children with autism include a pair of twins, two siblings, and two classmates were enrolled in a 12-session robot-assisted group-games program. As many environmental factors were for the most part the same for the siblings as well as genetic factors for the twins, we were able to observe/compare the effect of the desi...

A new method for guiding the motion of fullerene and fullerene-based nanocars is introduced in this paper. The effect of non-flat substrate on the motion of C60 and the nanocar and the nanotruck is investigated at different conditions and temperatures. Their behavior is studied with two different approaches: analyzing the variation of potential ene...

Introducing a New Journal

In this paper we aimed to explore young Iranian EFL learners’ attitude towards Robot Assisted Language Learning (RALL) in an English language classroom. To this end, 19 preschool children ranging from 3 to 6 years old were randomly assigned to a RALL group which had a robot as an assistant to the teacher. Their attitude towards the robot was video...

Technology is inevitable, and its role for clinical therapists and specialists cannot be ignored. The promising movement towards computer-based interventions, specifically the use of tablets as an effective and newly developed learning device for children with autism spectral disorder (ASD) highlights the role of technology in addressing the shortc...

This paper presents the design performance characteristics of a novel Robotic Mannequin, “RoMa”, developed for the fashion industry. RoMa, a full-body humanoid social robot platform, is currently in the final stages of development for visual merchandising to promote customer appeal. RoMa is characterized by nine features which are listed as: appeal...

Instruction has been the most important way of transferring knowledge. Education efficiency is dependent on many different parameters such as education scenario (game scenario designed based on winning strategy), environmental condition, the method of interaction with students, etc. Teachers during the history have employed many tools like blackboa...

Cat free fall righting maneuverer has inspired many aerial, space and legged robotic research. Conservation of angular momentum principle is used to derive the inverse differential kinematic and TMT vector form dynamics of the motion for three robotic models: a two-link model, a three-link model with tail, and a comprehensive eight-link model with...

This paper is about designing a humanoid social robot platform, this robot designed to be able to monitor machine shops and doing non-destructive testing. simultaneously this robot can interact with technicians.

In this article, an analytical method for calculating pull-in voltage is proposed. This methodcan accurately predict pull-in voltage of clamped-free, clamped-clamped and curved micro- and nano-beams. In this study, mid-plane stretching, axial stress, initial deformation and the effect of size are takeninto account. To achieve this goal, governing e...

Water (or " Aab " in Persian) is the first word Iranian children learn at school. Based on that, when it comes to water conservation we believe it is crucial to start educating our kids from this point on the importance of saving one of the Earth's most valuable resources for posterity. To teach young students about the critical value of water, pro...

The novel concept of a Water Awareness Teaching and Educational Robot " WATERobot " is presented through an educational video clip which has great potential to educate kindergarten and primary school children about the efficient use and conservation of water. Water (" Aab " in Persian) is the first word Iranian children learn at school. Based on th...

One of the main issues in the field of social and cognitive robotics is the robot’s ability to recognize emotional states and emotional interaction between robots and humans. Through effective emotional interaction, robots will be able to perform many tasks in human society. In this research, we have developed a robotic platform and a vision system...

This paper presents the design characteristics of a new Robot Assistant for Social Aims (RASA), being an upper-torso humanoid robot platform currently under final stages of development. This project addresses the need for developing affordable humanoid platforms designed to be utilized in new areas of social robotics research, primarily teaching Pe...

Music-based therapy is an appropriate tool to facilitate multisystem development in children with autism. The focus of this study is to implement a systematic and hierarchical music-based scenario in order to teach the fundamentals of music to children with autism through a social robot. To this end, we have programmed a NAO robot to play the xylop...

Facial expression imitation with applications in the design of human robot interaction (HRI) systems is an active area of research. In this study, we propose an approach for real-time imitation of human facial expression by a humanoid social robot " Alice ". Artificial neural network (ANN) and Kinect sensor are used for recognition and classifying...

No-one likes being confined to a hospital bed. Children particularly can feel lonely, bored or frightened in these conditions. Hours feel like days, and they may not be able to fully comprehend why they are there. Among kids hospitalized because of distinct diseases, children with cancer have incomparable status and needs. They experience physical...

In recent years robotic technology has extended its applications beyond the factory and is now used for more general-purpose practices in society, such as in clinical affairs and rehabilitation, child and elderly care, search and rescue operations, and many other areas. However for robotic technology to be successful in such fields, it is necessary...