Imperial College London

DrMajidTaghavi

Faculty of EngineeringDepartment of Bioengineering

Research Fellow
 
 
 
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Contact

 

+44 (0)20 7594 6460m.taghavi Website

 
 
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Location

 

U618Sir Michael Uren HubWhite City Campus

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Summary

 

Publications

Publication Type
Year
to

37 results found

Hou N, Wen J, Pan Y, Taghavi Met al., 2024, Origami-Inspired Modular Electro-Ribbon Actuator for Multi-Degrees of Freedom Motion, Advanced Intelligent Systems

Origami robots, inspired by an ancient form of paper folding art, are capable of achieving high displacement in a lightweight and compact design that conventional robots can hardly attain. It, however, remains a challenge to drive origami robots with in situ active materials that imply minimal added mass and complexity and can be easily controlled to achieve multiple actuation modalities. Herein, inspired by the Twisted Tower origami structure, dielectrophoretic liquid zipping actuation concept is employed to develop a modular architecture, capable of achieving complicated motions with multiple degrees of freedom (DoF). The experimental results show a maximum of 3.9 degrees tilting per layer toward any desired direction, a 56.1% contraction of the original length, and 5.4 degrees twisting per layer. Each layer can generate a maximum contractile force of 1.03 N with a maximum 64.7% power efficiency and 2.775 W kg−1 power-to-weight ratio. A modified heterochiral arrangement of this modular actuator is proposed to enhance controllability across various movement modes. Its use in robotic-wrist-like actuation has been demonstrated, highlighting its significant potential for integration into soft robotic multi-DoF structures, such as continuum arms.

Journal article

Fraai T, Wen J, Taghavi M, 2023, Electrically zipping bending actuators for prosthetic fingers, IEEE Robotics and Automation Letters, Vol: 8, Pages: 7472-7478, ISSN: 2377-3766

State-of-the-art prosthetics use traditional ‘muscle-tendon’ systems to flex and extend fingers. The main consumer complaint is the weight of a prosthetic, aggravated by this complicated mechanism. This letter introduces an electrically zipping bending actuator (EZBA), a soft actuator that fuses structure and function into one component, reducing the weight of a single bending actuator to 2.5g. These actuators use the dielectrophoretic liquid zipping (DLZ) actuation concept, employing an amplified electrostatic force to attract two thin insulated electrodes. Holding the bottom strip in place and moving the tip of the top strip backwards creates a buckle, a crucial part of creating a bending movement using electrostatic attraction. During actuation, the buckle decreases in size and pushes the top end of the EZBA downwards and bends the whole structure. To evaluate the actuator's performance, tip bending and generated force were measured and compared to those achieved by a human finger. The actuator bent to 89.6° (45.8mm) and achieved a grip force of 177 mN

Journal article

Xu C, Faul CFJ, Taghavi M, Rossiter Jet al., 2023, Electric field-driven dielectrophoretic elastomer actuators, Advanced Functional Materials, Vol: 33, ISSN: 1616-301X

Dielectrophoresis is the electro-mechanical phenomenon where a force is generated on a dielectric material when exposed to a non-uniform electric field. It has potential to be exploited in smart materials for robotic manipulation and locomotion, but to date it has been sparsely studied in this area. Herein, a new type of dielectrophoretic actuator exploiting a novel electroactive polymer is described, termed as dielectrophoretic elastomer (DPE), which undergoes electric field-driven actuation through dielectrophoresis. Unique deflection and morphing behavior of the elastomer induced by controlling the dielectrophoretic phenomenon, such as out-of-plane deformation and independence of electric field polarity, are illustrated. The dielectric and mechanical properties of the DPE are studied to gain insight into the influence of materials composition on deformation. Actuation performance using different electrode parameters is experimentally investigated with supplementary analysis through finite element simulation, revealing the relationship between electric field inhomogeneity and deflection. The applications of DPE actuators in a range of robotic devices is demonstrated, including a pump, an adjustable optical lens, and a walking robot. This diverse range of applications illustrates the wide potential of these new soft-and-smart electric field-driven materials for use in soft robotics and soft compliant devices.

Journal article

Taghavi M, Chen H-Y, Conn A, Rossiter Jet al., 2022, Stiffness graded electroactive artificial muscle, Advanced Functional Materials, Vol: 32, ISSN: 1616-301X

In nature, hydrostatic, endo- and exo-skeletons are widely observed, and provide essential rigidity and anchoring points for the application of muscular forces. The efficient interface between a hard skeleton and soft muscle in biology is made possible by a complex hierarchy of structures and composite materials, extending from the nano- to the meso-scale. In contrast, artificial constructs which aim to bridge this hard-soft interface are prone to failure due to local discontinuities and concentrations in stress and strain which lead to material ruptures, delamination and tearing. In this article, the concept of a stiffness-graded electroactive material (SGEM) is proposed which emulates the soft-rigid interface in the nature biological systems and provides both electromechanical activity and the smooth stiffness gradient needed to bridge these two extreme states. This is achieved by programming the diffusion of a rigid filler material (polyvinyl chloride) in a liquid plasticizer (diisodecyl adipate). It is shown that the resulting stiffness gradient can match that of biological tissues such as smooth and skeletal muscles, and that the distal rigid region can be drilled and bonded and significant loads can be safely applied. Additionally, the resulting composite shows electroactive capability through graded anodophilic actuation characteristics. This protocol can be extended to numerous morphologies such as vertical or radial gradients depending on the deployment of two precursor ingredients. Finally, example applications including surface morphing and motion generation are demonstrated. The embodied stiffness gradient and electroactivity make this concept suitable for the development of bio-integrating and wearable artificial muscles systems and more effective soft robots.

Journal article

Malas A, Saleh E, del Carmen Gimenez-Lopez M, Rance GA, Helps T, Taghavi M, Rossiter JM, Tuck CJ, Ashcroft IA, Goodridge RDet al., 2022, Reactive Jetting of High Viscosity Nanocomposites for Dielectric Elastomer Actuation, ADVANCED MATERIALS TECHNOLOGIES, Vol: 7, ISSN: 2365-709X

Journal article

Helps T, Romero C, Taghavi M, Conn AT, Rossiter Jet al., 2022, Liquid-amplified zipping actuators for micro-air vehicles with transmission-free flapping, SCIENCE ROBOTICS, Vol: 7, ISSN: 2470-9476

Journal article

Chong JH, Romero C, Taghavi M, Rossiter Jet al., 2022, Electro-Ribbon Muscles for Biomimetic Wing Flapping, 5th International Conference on Soft Robotics (RoboSoft), Publisher: IEEE, Pages: 638-643

Conference paper

Hoh S, Helps T, Diteesawat RS, Taghavi M, Rossiter Jet al., 2021, Electro-lattice actuator: a compliant high-contractile active lattice structure, SMART MATERIALS AND STRUCTURES, Vol: 30, ISSN: 0964-1726

Journal article

Carreira SC, Taghavi M, Lorie EP, Rossiter Jet al., 2021, FleXert: A Soft, Actuatable Multiwell Plate Insert for Cell Culture under Stretch, ACS BIOMATERIALS SCIENCE & ENGINEERING, Vol: 7, Pages: 2225-2245, ISSN: 2373-9878

Journal article

Diteesawat RS, Helps T, Taghavi M, Rossiter Jet al., 2021, Characteristic Analysis and Design Optimization of Bubble Artificial Muscles, SOFT ROBOTICS, Vol: 8, Pages: 186-199, ISSN: 2169-5172

Journal article

Diteesawat RS, Helps T, Taghavi M, Rossiter Jet al., 2021, Electro-pneumatic pumps for soft robotics, SCIENCE ROBOTICS, Vol: 6, ISSN: 2470-9476

Journal article

Castro B, Diteesawat RS, Taghavi M, Rossiter Jet al., 2021, Modular simulation framework for Electro-ribbon Actuators, 4th International Conference on Soft Robotics (RoboSoft), Publisher: IEEE, Pages: 215-221

Conference paper

Diteesawat RS, Fishman A, Helps T, Taghavi M, Rossiter Jet al., 2020, Closed-Loop Control of Electro-Ribbon Actuators, FRONTIERS IN ROBOTICS AND AI, Vol: 7, ISSN: 2296-9144

Journal article

Bluett S, Helps T, Taghavi M, Rossiter Jet al., 2020, Self-Sensing Electro-Ribbon Actuators, IEEE ROBOTICS AND AUTOMATION LETTERS, Vol: 5, Pages: 3931-3936, ISSN: 2377-3766

Journal article

Helps T, Taghavi M, Wang S, Rossiter Jet al., 2020, Twisted Rubber Variable-Stiffness Artificial Muscles, SOFT ROBOTICS, Vol: 7, Pages: 386-395, ISSN: 2169-5172

Journal article

Taghavi M, Helps T, Rossiter J, 2020, Characterisation of Self-locking High-contraction Electro-ribbon Actuators, IEEE International Conference on Robotics and Automation (ICRA), Publisher: IEEE, Pages: 5856-5861, ISSN: 1050-4729

Conference paper

Helps T, Taghavi M, Rossiter J, 2019, Thermoplastic electroactive gels for 3D-printable artificial muscles, SMART MATERIALS AND STRUCTURES, Vol: 28, ISSN: 0964-1726

Journal article

Xiang C, Guo J, Sun R, Hinitt A, Helps T, Taghavi M, Rossiter Jet al., 2019, Electroactive Textile Actuators for Breathability Control and Thermal Regulation Devices, POLYMERS, Vol: 11

Journal article

Pourfarzaneh A, Taghavi M, Helps T, Rossiter Jet al., 2019, Towards Adaptive Prosthetic Sockets using 3D-printed Variable-stiffness Shape-memory Structures, 2nd IEEE International Conference on Soft Robotics (RoboSoft), Publisher: IEEE, Pages: 410-415

Conference paper

Taghavi M, Helps T, Rossiter J, 2018, Electro-ribbon actuators and electro-origami robots, SCIENCE ROBOTICS, Vol: 3, ISSN: 2470-9476

Journal article

Keshvari A, Darbari S, Taghavi M, 2018, Self-Powered Plasmonic UV Detector, Based on Reduced Graphene Oxide/Ag Nanoparticles, IEEE ELECTRON DEVICE LETTERS, Vol: 39, Pages: 1433-1436, ISSN: 0741-3106

Journal article

Taghavi M, Helps T, Huang B, Rossiter Jet al., 2018, 3D-Printed Ready-To-Use Variable-Stiffness Structures, IEEE ROBOTICS AND AUTOMATION LETTERS, Vol: 3, Pages: 2402-2407, ISSN: 2377-3766

Journal article

Helps T, Taghavi M, Manns S, Turton AJ, Rossiter Jet al., 2018, Easy undressing with soft robotics, Pages: 79-90, ISBN: 9783319967271

Dexterity impairments affect many people worldwide, limiting their ability to easily perform daily tasks and to be independent. Difficulty getting dressed and undressed is commonly reported. Some research has been performed on robot-assisted dressing, where an external device helps the user put on and take off clothes. However, no wearable robotic technology or robotic assistive clothing has yet been proposed that actively helps the user dress. In this article, we introduce the concept of Smart Adaptive Clothing, which uses Soft Robotic technology to assist the user in dressing and undressing. We discuss how Soft Robotic technologies can be applied to Smart Adaptive Clothing and present a proof of concept study of a Pneumatic Smart Adaptive Belt. The belt weighs only 68 g, can expand by up to 14% in less than 6 s, and is demonstrated aiding undressing on a mannequin, achieving an extremely low undressing time of 1.7 s.

Book chapter

Helps T, Taghavi M, Rossiter J, 2018, Towards electroactive gel artificial muscle structures, SPIE 20th Conference on Electroactive Polymers Actuators and Devices (EAPAD), Publisher: SPIE-INT SOC OPTICAL ENGINEERING, ISSN: 0277-786X

Conference paper

Guo J, Xiang C, Helps T, Taghavi M, Rossiter Jet al., 2018, Electroactive textile actuators for wearable and soft robots, 1st IEEE-RAS International Conference on Soft Robotics (RoboSoft), Publisher: IEEE, Pages: 339-343

Conference paper

Diteesawat RS, Helps T, Taghavi M, Rossiter Jet al., 2018, High Strength Bubble Artificial Muscles for Walking Assistance, 1st IEEE-RAS International Conference on Soft Robotics (RoboSoft), Publisher: IEEE, Pages: 388-393

Conference paper

Beccai L, Lucarotti C, Totaro M, Taghavi Met al., 2017, Soft Robotics Mechanosensing, Editors: Laschi, Rossiter, Iida, Cianchetti, Margheri, Publisher: SPRINGER INTERNATIONAL PUBLISHING AG, Pages: 11-21, ISBN: 978-3-319-46459-6

Book chapter

Taghavi M, Stinchcombe A, Greenman J, Mattoli V, Beccai L, Mazzolai B, Melhuish C, Ieropoulos IAet al., 2016, Self sufficient wireless transmitter powered by foot-pumped urine operating wearable MFC, BIOINSPIRATION & BIOMIMETICS, Vol: 11, ISSN: 1748-3182

Journal article

Taghavi M, Beccai L, 2015, A contact-key triboelectric nanogenerator: Theoretical and experimental study on motion speed influence, NANO ENERGY, Vol: 18, Pages: 283-292, ISSN: 2211-2855

Journal article

Taghavi M, Sadeghi A, Mondini A, Mazzolai B, Beccai L, Mattoli Vet al., 2015, Triboelectric smart machine elements and self-powered encoder, NANO ENERGY, Vol: 13, Pages: 92-102, ISSN: 2211-2855

Journal article

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