Amin Fakhari / 아민 파카리


Personal Website



  • Ph.D. in Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran, Sep. 2009 – Dec. 2015.

  • Visiting Scholar, Stony Brook University, NY, USA, Jan. 2013 – Sep. 2013.

  • M.Sc. in Mechanical Engineering, Isfahan University of Technology, Isfahan, Iran, Sep. 2007 – Jul. 2009.

  • B.Sc. in Mechanical Engineering, Kashan University, Isfahan, Iran, Sep. 2003 – Sep. 2007.



Journal Papers:

  • "Dynamic Modeling and Slippage Control in Planar Manipulation of an Object by Robotic Soft Fingers", (In Preparation).

  • A. Fakhari, M. Keshmiri, I. Kao, and S. Hadian Jazi, "Slippage Control in Soft Finger Grasping and Manipulation", Advanced Robotics, vol. 30, iss. 2, pp. 97-108, 2016.

  • A. Fakhari, M. Keshmiri, and I. Kao, "Development of Realistic Pressure Distribution and Friction Limit Surface for Soft-Finger Contact Interface of Robotic Hands", Journal of Intelligent and Robotic Systems, vol. 82, iss. 1, pp. 39-50, 2016.

  • A. Mostashfi, A. Fakhari, and M.A. Badri, "A Novel Design of Inspection Robot for High-Voltage Power Lines", Industrial Robot: An International Journal, vol. 41, no. 2, pp. 166-175, 2014.

  • A. Fakhari, M. Keshmiri, "Slippage Dynamic Modeling in Object Grasping and Manipulation with Soft Fingers", Modares Mechanical Engineering, vol. 15, no. 8, pp. 332-340, 2015 (In Persian).


Conference Papers:

  • A. Fakhari, M. Keshmiri, M. Keshmiri, "Dynamic Modeling and Slippage Analysis in Object Manipulation by Soft Fingers", ASME International Mechanical Engineering Congress & Exposition (IMECE), 2014.

  • A. Fattah and A. Fakhari, "Trajectory Planning of Walking with Different Step Lengths of a Seven-Link Biped Robot", ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), Montreal, Quebec, Canada, Aug. 2010.

  • -  A. Fattah, A. Fakhari, and S. Behbahani, "Dynamics Modeling and Trajectory Planning of a Seven-Link Planar Biped Robot", 17th Annual (International) Conference on Mechanical Engineering (ISME), Tehran, Iran, May 2009.


Research Areas:

Robotics, Dynamic Modeling and Control of Robotic Systems, Object Grasping and Manipulation, Anthropomo rphic Robotic and Prosthetic Hands, Biped and Humanoid Robots, and Biomechanics.

Current, and Future Research:

Using soft fingers increases stability and dexterity in object grasping and manipulation. This is because of the enlargement of the contact interface between the soft fingers and the object. My recent research has focused on both soft contact modeling and slippage control in object manipulation with the use of soft fingers.

Previous models for pressure distribution in the contact interface of a soft finger have been proposed without considering the effect of the tangential forces which are usually exerted in the contact interface of the soft finger during grasping and manipulation. Hence, in my research, a new and more accurate model is proposed to describe the asymmetry of the pressure distribution in the contact interface of a hemispherical soft finger under the existence of both normal and tangential forces. This model is derived based upon experimental observations from previous literature. According to the proposed model, an improved and more accurate friction limit surface is presented. Friction limit surface (LS) is used as a mapping between sliding motions and contact frictional force/moment and also determines when planar slippage between two objects occurs.

Although slippage phenomenon has a crucial role in robust grasping and stable manipulation, in the most of previous research in the field of finger manipulation, it is assumed that the slippage between fingers and object does not occur. Hence, in my research, first, general models of one-dimensional and planar slippage in soft contacts are proposed. In these models, equality and inequality relations of different states of contact forces are rewritten in the form of a single second-order differential equation with variable coefficients. The planar slippage model is derived based on the concept and features of ellipsoid approximation of the friction limit surface. Second, the proposed slippage models are used in dynamic analysis of object manipulation using a planar two- link soft finger and also a spatial three-link soft finger. For each case, a controller is designed to reduce and remove the undesired slippage occurring between soft finger and object and simultaneously to move the object on a predefined desired path. The controllers are designed based on the concept of feedback linearization and their algorithms are similar to what human do when manipulating an object on a horizontal plane. Currently, I am working on slippage control in multi-finger manipulation using robotic hands with soft fingers.

My future research goal is to develop and manufacture of biomimetic anthropomorphic artificial hands with high degree of dexterity and intelligence, which will be utilized for both robotic and prosthetic applications.