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Description: Description: Description: Saeed_SmallSaeed Behzadipour

Associate professor

Mechanical Engineering Department

Sharif University of Technology

 

Areas of expertise: Medical Robotics, Cable-driven mechanisms,

Kinematics and dynamics of multi-body systems

 

 

 

 

Contacts:

Email: behzadipour(at)sharif.edu

Phone: +98-21-66165542

Address: Sharif University of Technology, Azadi St., Tehran, Iran

 

 

 

Academic Background

Research Interests

Courses

Awards

Pubications

 

 

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Academic Background

-          Associate Professor, since 2013, Mechanical Engineering Department, Sharif University of Technology

-          Assistant Professor 2005 - 2011, Mechanical Engineering Department, University of Alberta, Canada

-          NSERC/CSA Post doctoral fellow, May-July 2005, Mechanical Engineering, University of Waterloo

-          Ph.D.  May 2005, Mechanical Engineering, University of Waterloo, Waterloo Canada

-          MSc. August 2000, Mechanical Engineering, Sharif University of Technology, Tehran, Iran

-          BSc. August 1998, Mechanical Engineering, Sharif University of Technology, Tehran, Iran

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Research Interests

Smart Technologies for Neuro-Rehabilitation

-          Rehab robotics

-           GAIT analysis and motion indices

-          Gaming technologies and rehab applications

-          Tele-rehab systems

 

 

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Courses

University of Alberta

  1. Engineering Physics
  2. Dynamics
  3. Dynamics of Machine
  4. Robotics
  5. Linear Control

Sharif University of Technology

  1. Design of Machine Elements I
  2. Design of Machine Elements II
  3. Robotics
  4. Surgery Robotics
  5. Dynamics of Machine
  6. Seminar (biomechanics and mechatronics)

 

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Awards

1.       Best Technologist, National festival of research and technology, Ministry of Science, Research and Technology, 2017

2.       Freudenstein/General Motors Young Investigator Award, by ASME Design Engineering Division - Mechanisms and Robotics for a prize winning paper on "Tensionability of an Arbitrary Two-link Mechanism", 2009

3.       NSERC postdoctoral fellowship, 2005-2007

4.       Canadian Space Agency fellowship supplemental to NSERC-PDF, 2005-2007

5.       Meritorious Award for Best Paper Presented in Bar Product Process Technology, 43rd Conference in Mechanical Working and Steel Processing, Charlotte, NC, 2001

6.       Mechanical Engineering Teaching Assistant Excellence Award, University of Waterloo, Fall 2003

 

Research Funding

1.       Balance Rehabilitation Robot, Iran National Science Foundation, 2013

2.       Mega National Project: Smart Rehabilitation Devices, Vice-presidency for Science and Technology (Iran), 2011

3.       NSERC-Discovery grant 2010 (Canada)

4.       NSERC-Collaborative Research & Development grant, 2009-2010, (Canada)

5.       CFI-Leaders Opportunity Fund, 2007-2008, (Canada)

6.       MITACS internship grant, 2006-2007, (Canada)

7.       NSERC-Discovery grant, 2006-2011, (Canada)

8.       NSERC-Research Tools and Instrument grant, 2006, (Canada)

9.       University of Alberta Startup research fund, 2005-2009, (Canada)

 

Patents

P1.   Alireza Mirbagheri, Farzam Farahmand, Alireza Alamdar, Saeed Behzadipour, Borna Ghannadi, Hamed Jamshidifar, Seyedhamidreza Seyedhashemi, Seyedhamidreza Seyedhashemi, Seyedhamidreza Seyedhashemi, “Robotic system for tele-surgery”, US Patent 15/261,958

P2.   F Farahmand, A Mirbagheri, S Behzadipour, A Alamdar, S Hanifeh , “Adapting manual laparoscopic surgical instruments for robotic telesurgery applications”, US Patent 15/151,869

P3.   M. Azadi, S. Behzadipour, G. Faulkner, “Variable Stiffness Spring Using Tensegrity Prisms”, US provisional patent, 61/352,474

P4.   S. Behzadipour, “A Cartesian Manipulator with Stationary Actuators”, US provisional patent, 61/084,583

P5.   Khajepour, S. Behzadipour, R. Dekker and E. Chan “Light Weight Parallel Manipulators Using Active/Passive Cables”, US 7,172,385 B2

 

Book Chapter

B1.   Cable-based Robot Manipulators with Translational Degrees of Freedom, S. Behzadipour, A. Khajepour, Industrial Robotics: Theory, Modelling and Control, ARS (Advanced Robotic Systems), 2006, pp. 211-236

 

Refereed Journal Publications

J1.    M Sharifi, H Salarieh, S Behzadipour, M Tavakoli, “Stable Nonlinear Trilateral Impedance Control for Dual-User Haptic Teleoperation Systems With Communication Delays”, Journal of Dynamic Systems, Measurement, and Control 139 (12), 121012, 2017

J2.    M Sharifi, S Behzadipour, H Salarieh, M Tavakoli, “Cooperative modalities in robotic tele-rehabilitation using nonlinear bilateral impedance control”, Control Engineering Practice 67, 52-63, 2017

J3.    M Sharifi, H Salarieh, S Behzadipour, M Tavakoli, “Tele-echography of moving organs using an Impedance-controlled telerobotic system”, Mechatronics, Vol. 45, pp. 60-70, 2017

J4.    A ALIZADEGAN, S BEHZADIPOUR, “SHOULDER AND ELBOW JOINT ANGLE ESTIMATION FOR UPPER LIMB REHABILITATION TASKS USING LOW-COST INERTIAL AND OPTICAL SENSORS”, Journal of Mechanics in Medicine and Biology, 2017, pp 1750031

J5.    A Mobini, S Behzadipour, M Saadat Foumani, “Hand acceleration measurement by Kinect for rehabilitation applications”, Scientia Iranica. Transaction B, Mechanical Engineering, Vol. 24, No.1, pp.  191, 2017

J6.    M Sharifi, H Salarieh, S Behzadipour, “Nonlinear Optimal Control of Planar Musculoskeletal Arm Model With Minimum Muscles Stress Criterion”, Journal of Computational and Nonlinear Dynamics 12 (1), 011014, 2017

J7.    Seyed Mohsen Khadem, Saeed Behzadipour, Alireza Mirbagheri, Farzam Farahmand, “A modular force‐controlled robotic instrument for minimally invasive surgery–efficacy for being used in autonomous grasping against a variable pull force”, The International Journal of Medical Robotics and Computer Assisted Surgery, 12(4), DOI: 10.1002/rcs.1727, 2016

J8.    M. Sharifi, S. Behzadipour, H. Salarieh, “Nonlinear bilateral adaptive impedance control with applications in telesurgery and telerehabilitation”, Journal of Dynamic Systems, Measurement, and Control, Vol. 138, No. 11, 2016, pp.  111010

J9.    M Sharifi, S Behzadipour, H Salarieh, F Farahmand, “Transparent Bilateral Control with On-line Identification of Tissue Parameters for Telesurgery Robotic Systems”, Iranian Journal of Biomedical Engineering, 9 (2015), pp. 85-98

J10. Amir Mobini, Saeed Behzadipour, Mahmud Saadat, “Test–retest reliability of Kinect’s measurements for the evaluation of upper body recovery of stroke patients”, BioMed Eng OnLine DOI 10.1186/s12938-015-0070-0, 2015

J11. Ahmad Mozaffari, Saeed Behzadipour, “Modular Extreme Learning Machine with Linguistic Interpreter and Accelerated Chaotic Distributor for Evaluating the Safety of Robot Maneuvers in Laparoscopic Surgery”, Journal of Neurocomputing, No. 151, pp. 913-932, 2015

J12. Seyed Mohsen Khadem, Saeed Behzadipour, Mehrdad Boroushaki, Farzam Farahmand, Mahdi Tavakoli, “Design and Implementation of an Emotional Learning Controller for Force Control of a Robotic Laparoscopic Instrument”, Frontiers in Biomedical Technologies, 1(3), pp.168-181, 2014

J13. Mojtaba Sharifi, Saeed Behzadipour, Gholamreza Vossoughi, “Nonlinear model reference adaptive impedance control for human–robot interactions”, Control Engineering Practice, 32(1), pp. 9-27, 2014

J14. Mojtaba Sharifi, Saeed Behzadipour, & G.R. Vossoughi, “Model reference adaptive impedance control in Cartesian coordinates for physical human–robot interaction”, Advanced Robotics, DOI:

10.1080/01691864.2014.933125, 2014

J15. Ahmad Mozaffari, Alireza Fathi, Saeed Behzadipour, “An Evolvable Self-organizing Neuro-Fuzzy Multilayerd Classifier With Group Method Data Handling and Grammer-based Bio-inspired Supervisors for Fault Diagnostics of Hydraulic Systems” International Journal of Intelligent Computing and Cybernetics, 7(1), pp. 38-78, 2014

J16. Malihe Fakhar, Saeed Behzadipour, Amir Mobinin, “Motion Performance Measurement using the Microsoft Kinect Sensor”, International Journal of Reliable and Quality E-Healthcare, 2(4), 28-37, 2013

J17. Amir Mobini, Saeed Behzadipour, Mahmud Saadat Foumani, “Robotics and Tele-Rehabilitation:

Recent Advancements, Future Trends”, International Journal of Reliable and Quality E-Healthcare, 2(4), 1-13, 2013

J18. Ahmad Mozaffari, Saeed Behzadipour, Mehdi Kohani, "Identifying the tool-tissue force in robotic laparoscopic surgery using neuro-evolutionary fuzzy systems and a synchronous self-learning hyper level supervisor", Applied Soft Computing, DOI: 10.1016/j.asoc.2013.09.023, 2013

J19. A. Mobini, S. Behzadipour, M. Saadat, “Accuracy of Kinect’s Skeleton Tracking for Upper Body Rehabilitation”, accepted for publication in the Journal of Disability and Rehabilitation: Assistive Technology

J20. M. Hadavand, A.R. Mirbagheri, S. Behzadipour, F. Farahmand, “A Novel Remote Center of Motion Mechanism for the Force-Reflective Master Robot of Haptic Tele-Surgery Systems”, accepted for publication in The International Journal of Medical Robotics and Computer Assisted Surgery

J21. Mojtaba Azadi, Saeed Behzadipour, Gary Faulkner, "Introducing a new semi-active engine mount using force controlled variable stiffness", Vehicle System Dynamics, 51(5), 721-736, 2013

J22. Alireza Mirbagheri, Mina Arab Baniasad, Farzam Farahmand, Saeed Behzadipour, Alireza Ahmadian, "Medical Robotics: State-of-the-Art Applications and Research Challenges", International Journal of Healthcare Information Systems and Informatics (IJHISI), 8(2), 1-14, 2013

J23. M. Kohani, S. Behzadipour, F. Farahmand, “Tool-tissue force estimation in laparoscopic surgery using geometric features” , Studies in Health Technology and Informatics, Vol. 184, pp. 225-229, 2013

J24. M. Azadi, S. Behzadipour, G. Faulkner, “Introducing a new semi-active engine mount using force

controlled variable stiffness”, Vehicle System Dynamics, DOI:10.1080/00423114.2013.768347, 2013

J25. Ahmad Mozaffari, Alireza Fathi, Saeed Behzadipour, “The great salmon run: a novel bio-inspired algorithm for artificial system design and optimization”, International journal of Bio-inspired computations, Vol 4, No. 5, pp. 286-301, 2012

J26. S. Rezazdeh, S. Behzadipour, “Workspace analysis of multibody cable-driven mechanisms”, ASME Journal of Mechanisms and Robotics, Vol. 3, No. 2, 2011

J27. M. Azadi, S. Behzadipour, G. Faulkner, “Performance analysis of a semi-active mount made by a new variable stiffness spring”, Journal of Sound and Vibration, Vol. 330, No. 12, pp. 2733-2746, 2011

J28. Alikhani, S. Behzadipour, A. Alasty, S. A. Sadough Vanini, “Design of a Large Scale Cable-driven Robot with Translational Motion”, Robotics and Computer Integrated Manufacturing, Vol. 27, No. 2, pp. 357-366, 2011

J29. M. Azadi, S. Behzadipour, G. Faulkner, “Variable Stiffness Spring Using Tensegrity Prisms”, to appear in ASME Journal of Mechanisms and Robotics, Vol. 2, No. 4, 2010

J30. Alikhani, S. Behzadipour, S.A. Sadough Vanini, A. Alasty, “Workspace Analysis of a Three DOF Cable-driven Mechanism”, ASME Journal of Mechanisms and Robotics, Vol. 1, No. 4, pp. 041005.1-041005.7, 2009 (0 citation)

J31. M. Azadi, S. Behzadipour, G. Faulkner, “Antagonistic variable stiffness elements”, Mechanism and Machine Theory, Volume 44, No. 9,  pp. 1746-1758, 2009  (0 citation)

J32. S. Behzadipour, “Kinematics and Dynamics of a Self-Stressed Cartesian Cable-Driven Mechanism”, ASME Journal of Mechanical Design, Vol.131, No.6, 2009 (1 citation, ASME Digital Library)

J33. S. Behzadipour and A. Khajepour, “Time-optimal trajectory planning in cable-based manipulators”, IEEE Transaction on Robotics, Vol. 22, No. 3, pp. 559 – 563, 2006, (7 citation, Scopus)

J34. S. Behzadipour and A. Khajepour, “Stiffness of Cable-based Parallel Manipulators with Application to the Stability Analysis”, ASME Journal of Mechanical Design, Vol. 128, No. 1, pp.303-310, 2006 (8 citation, Scopus)

J35. S. Behzadipour and A. Khajepour, “Causality in Vector Bondgraphs and its Application to Modeling of Multi-Body Dynamic Systems”, Simulation Modelling Practice and Theory, Vol. 14, No. 3, pp. 279-295, 2006, (4 citation, Scopus)

J36. R. Dekker, A. Khajepour, S. Behzadipour, “Design and Testing of an Ultra High-Speed Cable Robot”, International Journal of Robotics & Automation, Vol. 21, No. 1, pp. 25-34, 2006, (5 citation, Scopus)

J37. S. Behzadipour and A. Khajepour, “A New Cable-based Parallel Manipulator with Three Degrees of Freedom”, Journal of Multibody Systems Dynamics, Vol. 13, No. 4, pp. 371-383, 2005, (9 citation, Scopus)

J38. S. Behzadipour and A. Khajepour, “Design of Reduced DOF Cable-based Robots”, Journal of Mechanisms and Machine Theory, Vol. 39, No. 10, pp. 1051-1065, 2004, (5 citation, Scopus)

J39. S. Behzadipour and A. Khajepour, J.G. Lenard and J. Biglou, “A New Shape Quantification Method for Modeling of Shape Rolling by Neural Networks”,  Journal of Material Processing Technology, Vol. 148, No. 3, pp. 353-361, 2004, (2 citation, Scopus)

J40. Khajepour, S. Behzadipour, G. Sabatini and M. Kim, “Automatic Gain Optimization of Industrial Controllers”, International Journal of Robotics & Automation, Vol. 18, No. 3, pp. 111-120, 2003, (0 citation)

 

Selected Conference Proceedings

C1.   Z Jamali, S Behzadipour, “Quantitative evaluation of parameters affecting the accuracy of Microsoft Kinect in GAIT analysis”, Biomedical Engineering and 2016 1st International Iranian Conference on Biomedical Engineering (ICBME), 2016 23rd Iranian Conference on, 306-311, 2016

C2.   Z Rahmati, S Behzadipour, “Analysis and design of a cable-driven mechanism for a spherical surgery robot” 22nd Iranian Conference on Biomedical Engineering (ICBME), 221-226, 2015

C3.   H.D. Ashkezari, A. Mirbagheri, F. Farahmand, S. Behzadipour, “Real time simulation of grasping procedure of large internal organs during laparoscopic surgery”, 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 924-927, 2012

C4.   A. Taghavi, S. Behzadipour, N. Khalilnasab, H. Zohoor, Workspace Improvement of Two-link Cable-driven mechanisms with spring cable, International Conference on Cable-driven Parallel Robots, Germany, 2012

C5.   M. Sharifi, S. Behzadipour, G.R. Vossoughi, “Model reference adaptive impedance control of rehabilitation robots in operational spac”, 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 1698-1703, 2012

C6.   F. Alambeigi, S. Behzadipour, G. Vossoughi, F. Farahmand, “Simulation and Control of a Multi- DOF Laparoscopic Tele-Surgery System in Virtual Reality”, International Conference on Control, Instrumentation, and Automation, Shirza, Iran, 2011

C7.   M. Azadi, Saeed Behzadipour, Simon Guest, "A New Variable Stiffness Spring Using a Prestressed Mechanism", Proceeding of ASME International Design Engineering Technical Conference, DETC2010-28496, Montreal QC, August 2010

C8.   S. Rezazadeh, S. Behzadipour, “Tensionability of an Arbitrary Two-link Multi-body”, Proceedings of ASME International Design Engineering Technical Conference & Computers and Information in Engineering Conference, DETC2009-87597, August 2009

C9.   M. Azadi, S. Behzadipour, G. Faulkner, “A Variable Spring Using a Tensegrity Prism”, Proceedings of ASME International Design Engineering Technical Conference & Computers and Information in Engineering Conference, DETC2009-87407, August 2009

C10.           Alikhani, S. Behzadipour, F. Ghahremani, A. Alasty, S. A. Sadough Vanini, “Modeling, Control and Simulation of a new Large Scale Cable-driven Robot”, Proceedings of ASME International Design Engineering Technical Conference & Computers and Information in Engineering Conference, DETC2009-86713, August 2009

C11.           S. Behzadipour, “A Hybrid Self-stressed Cable-driven Mechanism”, Proceedings of ASME International Design Engineering Technical Conference & Computers and Information in Engineering Conference, DETC2008-49658, August 2008

C12.           M. Azadi, S. Behzadipour, “An application of Parallel Singularity in Variable Stiffness Elements”, Proceedings of ASME International Design Engineering Technical Conference & Computers and Information in Engineering Conference, IDETC2008-49414, August 2008

C13.           S. Rezazadeh, S. Behzadipour, “Impedance Control of Cable-driven Mechanisms”, Proceedings of ASME International Design Engineering Technical Conference & Computers and Information in Engineering Conference, IDETC2008-49927, August 2008

C14.           S. Rezazadeh, S. Behzadipour, “Tensionability Conditions of a Multi-Body System Driven by Cables”, International Mechanical Engineering Congress & Exposition, pp.1369-1375, Seattle, 2007

C15.           M. Azadi, S. Behzadipour, “Variable Antagonistic Stiffness Element Using Tensegrity Structure”,  International Mechanical Engineering Congress & Exposition, pp. 21-28, Seattle, 2007

C16.           S. Behzadipour, M. Azadi, “Antagonistic Stiffness in Cable-driven Mechanisms”, 12th IFToMM World Congress, Besancon (France), 2007

C17.           M. Azadi, S. Behzadipor, “A Planar Cable-driven Mechanism as a New Variable Stiffness Element”, SAE Noise and Vibration Conference, Paper No., 2007-01-2421. A short version was also published in CANCAM 2007

C18.           Khajepour, S. Behzadipour, R. Dekker and E. Chan, “New Cable-based Ultra high speed robots with reduced degree of freedom”, Proceedings of International Conference on Intelligent Manipulation and Grasping, pp. 410-415, Florance, Italy, 2004.

C19.           S. Behzadipour, R. Dekker, A. Khajepour and E. Chan, “DELTABOT: A New Cable-Based Ultra High Speed Robot”, Proceedings of International Mechanical Engineering Congress & Exposition, IMECE2003-41470, New York 2003.

C20.           S. Behzadipour, R. Dekker and A. Khajepour, “Vibration reduction in robots using gain optimization”, Proceedings of the ASME Design Engineering Technical Conference, pp. 1283-1288, Montreal, 2002.

C21.           S. Behzadipour, J. Lenard, and A. Khajepour, “Power Estimation in Shape Rolling Using Neural Networks”, Proceedings of 43rd Mechanical Working and Steel Processing Conference, Charlotte, NC, 2001, Vol. 39, pp. 127-138, (winner of the Meritorious Award for best paper in bar product process technology), Reprinted in Iron & Steelmaker, pp. 19-27, October 2002.

C22.           Alasti and S. Behzadipour, “Dynamic modeling and sensitivity analysis of a pressure regulator”, Proceedings of AERO 2000, Vol. 3, pp. 609-621, Tehran, Iran.