Publications

2025:

• UK. Alam and M. Haghshenas-Jaryani, "Modeling a Hybrid Soft-and-Rigid Robotic Exo-digit with Varying Length Soft Segments Coupled to a Human Finger", Journal of Medical Robotics Research (JMRR), Vol. 10, No. 01n02, 2540007 (2025), https://doi.org/10.1142/S2424905X25400070.

• A. Valles and M. Haghshenas-Jaryani, "Co-Design Optimization of a Planar Pneumatic Artificial Muscle-driven Snake-Like Robot for Agile and Energy-efficient Locomotion", Advanced Robotics Research (ARR), 2025, under review.

• U.K. Alam and M. Haghshenas-Jaryani, "Learning Force and Motion Parameters of Human-Wearable-Robot Interaction Using a Multi-Tasking Soft Fluidic Actuator-Based Physical Reservoir Computing", the ASME 2025 Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2025) , St. Louis, MO, USA, September 16-20, 2025, (invited paper) the abstract has been accepted, the full paper has been accepted for presentation and publication.

• UK. Alam and M. Haghshenas-Jaryani, "Model-based Control of an Underactuated Soft Robotic Exo-digit Coupled to a Human Finger", the 2025 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE), August 17-20, 2025, Anaheim, USA, accepted for publication and presentation.

• A. Valles and M. Haghshenas-Jaryani, "Modeling and Joint Space Control of a Planar Pneumatic Artificial Muscle-driven Snake-Like Robot", the 2025 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE), August 17-20, 2025, Anaheim, USA, accepted for publication and presentation.

• J. Flesner and M. Haghshenas-Jaryani, "Design and Analysis of a Robotic Vacuum Arm for the Collection of Submerged Golf Balls", the 2025 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC-CIE), August 17-20, 2025, Anaheim, USA, accepted for publication and presentation.

• UK. Alam and M. Haghshenas-Jaryani, "Modeling and Numerical Simulation of Variable Length Soft Fluidic Actuators for Wearable Rehabilitation Robots", the 2025 International Symposium on Medical Robotics (ISMR 2025), May 14-16, 2025, Georgia Tech, Atlanta, USA, accepted for publication and presentation.

• M. Haghshenas-Jaryani, "Controllability and Stability Analysis of a Multi-Contact Human-Soft-Wearable-Robot Interaction for Trajectory Tracking", the 2025 American Control Conference (ACC 2025), Denver, CO, USA, July 8-10, 2025, (Invited paper) accepted for publication and presentation.

• M. Haghshenas-Jaryani, "Control-oriented Learning Nonlinear Systems using Lyapunov Stable Guaranteed Soft-bodied Physical Reservoir Computing", the 2025 64th IEEE Conference on Decision and Control (CDC), Rio de Janeiro, Brazil, December 9-12, 2025, under review.

• E. Dehghan Niri, H. Nemati, M. Nasr, and M. Haghshenas-Jaryani, "Laying the Foundations for Bioinspired Active Acoustic Sensing in Gas Leak Localization", the 2025 64th IEEE Conference on Decision and Control (CDC), Rio de Janeiro, Brazil, December 9-12, 2025, under review.

• B. Jogeshwar, H.E. Sevil, and M. Haghshenas-Jaryani, "Multi-Agent Task Allocation for Agricultural Robotics-Based Soil and Crops Monitoring", the ASME 2025 International Mechanical Engineering Congress and Exposition (IMECE2025) , Memphis, TN, USA, November 16-20, 2025, the abstract has been accepted (the full paper is in preparation).

2024: 

• J. Linford and M. Haghshenas-Jaryani, "A Ground Robotic System for Crops and Soil Monitoring and Data Collection in New Mexico Chile Pepper Farms", 2024, Discover Agriculture, 2, 101, https://doi.org/10.1007/s44279-024-00113-3.

• N. Mendoza and M. Haghshenas-Jaryani, “Combined Soft Grasping and Crawling Locomotor Robot for Exterior Navigation of Tubular Structures”, Machines, 2024, 12(3), 157; https://doi.org/10.3390/machines12030157.

• A. Valles and M. Haghshenas-Jaryani, "Dynamic Modeling, Control, and Design Optimization of an Artificial Muscle-Driven Limbless Robot for Agile Locomotion", the 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 15-18, 2024, Boston, USA,  pp. 1126-1131, doi: 10.1109/AIM55361.2024.10636952.

• UK. Alam, L. Garcia, J.  Grajeda, M. Haghshenas-Jaryani, and L.E. Boucheron, “Automated Harvesting of Green Chile Peppers with a Deep Learning-based Vision-enabled Robotic Arm", the 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), July 15-18, 2024, Boston, USA, pp. 805-811, doi: 10.1109/AIM55361.2024.10636976.

• UK. Alam and M. Haghshenas-Jaryani, "Model-based Control for a Coupled Soft Robotic Exo-digit and Anthropomorphic Finger with Multi-Contact Point Physical Interaction", International Symposium on Medical Robotics (ISMR), June 3-5, 2024, Georgia Tech, Atlanta, pp. 1-6, doi: 10.1109/ISMR63436.2024.10585641.

• M. Haghshenas-Jaryani, "Morphological Computation by Exploiting Partial Feedback Linearizable Underactuated Soft-bodied Systems",  2024 American Control Conference (ACC2024), Toronto, Canada, July 8-12, 2024, pp. 1-6, doi: 10.23919/ACC60939.2024.10644224.

• UK. Alam and M. Haghshenas-Jaryani, "Learning Contact Forces in Human-Wearable-Robot Interaction using Morphological Computation", 7th IEEE-RAS International Conference on Soft Robotics (ROBOSOFT 2024), San Diego, CA, USA, April 14-17, 2024, accepted for publication and presentation.

2023:

• UK. Alam, K. Shedd, J. Kirkland, K. Yaksich, and M. Haghshenas-Jaryani, "Modeling Multi-Contact Point Physical Interaction between the Anthropomorphic Finger and Soft Robotic Exo-digit for Wearable Rehabilitation Robotics Applications", Frontiers in Robotics and AI, Vol. 10, 2023, https://doi.org/10.3389/frobt.2023.1209609. 

• UK. Alam, K. Shedd, and M. Haghshenas-Jaryani, "Trajectory Control in Discrete-Time Nonlinear Coupling Dynamics of a Soft Exo-Digit and a Human Finger using Input-Output Feedback Linearization", Automation, 2023, 4(2):164-190. https://doi.org/10.3390/automation4020011. 

• M. Lopez and M. Haghshenas-Jaryani. "A Study of Energy-efficient and Optimal Locomotion in a Pneumatic Artificial Muscle-driven Snake Robot", Robotics, 2023, 12(3), 89; https://doi.org/10.3390/robotics12030089. 

• M. Haghshenas-Jaryani, "Dynamic Modeling and Trajectory Control of a Soft Cylindrical Rolling Robot with Shape Morphing-based Steering Mechanism," 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023, pp. 1-6, doi: 10.1109/ROBIO58561.2023.10354967.

• M. Haghshenas-Jaryani, "Timoshenko Beam-based Analytical Formulation and Numerical Simulation of Continuum Soft-bodied Robotic Arms," 2023 IEEE International Conference on Robotics and Biomimetics (ROBIO), Koh Samui, Thailand, 2023, pp. 1-6, doi: 10.1109/ROBIO58561.2023.10354597.

• A. Western, M. Haghshenas-Jaryani, and M. Hassanalian. "Golden Wheel Spider-Inspired Rolling Robots for Planetary Exploration", Acta Astronautica, 2023, Volume 204, pp. 34-48, https://doi.org/10.1016/j.actaastro.2022.12.030.

• J. Linford and M. Haghshenas-Jaryani, "Workspace Study of Floating-Base Ground Mobile Manipulator for Soil Moisture Monitoring in NM-Type Green Chile Pepper Farming",  2023 IEEE/SICE International Symposium on System Integrations (SII 2023), Atlanta, Georgia, Jan 17-20, 2023, pp. 1-6, doi: 10.1109/SII55687.2023.10039476.

2022:

• M. Haghshenas-Jaryani,  “Exploiting Morphology of Underactuated Two-segment Soft-bodied Robotic Arm for Swing-up Control”, Journal of Intelligent and Robotic Systems, 105(4), 92, 2022, https://doi.org/10.1007/s10846-022-01700-6 .

• M. Haghshenas-Jaryani, “Dynamics and Computed-Muscle-Force Control of a Planar Muscle-Driven Snake Robot”, Actuators, 11 (7), 194. https://doi.org/10.3390/act11070194 , 2022.

• M. Haghshenas-Jaryani, “Adaptive Quasi-Static Motion Control of a Soft Robotic Exo-Digit in physical Human-Wearable-Soft-Robot-Interaction”, 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), Mexico City, Mexico, Aug 20-24, 2022.

• N. Mendoza, H. Nemati, M. Haghshenas-Jaryani, and E. Dehghan-Niri, “An Inflatable Soft Crawling Robot With Nondestructive Testing Capability for Overhead Power Line Inspection”, ASME 2022 International Mechanical Engineering Congress and Exposition (IMECE2022), Columbus, Ohio, Oct. 30-Nov. 3, 2022,  Accepted for publication and presentation.

• M. Haghshenas-Jaryani, “Maneuvering Control of a Planar Snake Robot Locomotion using a Combined Heading-Velocity-Shape Strategy”, 2022 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE), 46th Mechanisms and Robotics Conference (MR),  St. Louis, Missouri, Aug 14-17, 2022.

• A. Western, C. Dunning, R. Cervantes, M. Haghshenas-Jaryani, and M. Hassanalian. "Dynamical Modeling of a Spider-Bioinspired Rolling Robot for Planetary Exploration", AIAA 2022-2784. AIAA AVIATION 2022 FORUM. June 27-July 1 2022, Chicago, IL.

• D. N. Lozada, P. Bosland, D. W. Barchenger, M. Haghshenas-Jaryani, S. Sanogo, and S. Walker, “Chile pepper (Capsicum) breeding and improvement in the "multi-omics" era”, Frontiers in Plant Science, section Plant Breeding, 2022, accepted for publication.

• Lopez, M.; Haghshenas-Jaryani, M. "A Muscle-Driven Mechanism for Locomotion of Snake-Robots". Automation 2022, 3(1), 1-26. https://doi.org/10.3390/automation3010001 

2021:

• Masood, M.U.; Haghshenas-Jaryani, M. "A Study on the Feasibility of Robotic Harvesting for Chile Pepper". Robotics 2021, 10(3), 94. https://doi.org/10.3390/robotics10030094 

• A. Western, R. Cervantes, C. Dunning, M. Haghshenas-Jaryani, and M. Hassanalian. "Bioinspired Robot with Walking, Rolling, and Jumping Capabilities for Planetary Exploration," AIAA 2021-2784. AIAA AVIATION 2021 FORUM. August 2021.

• M. Lopez and M. Haghshenas-Jaryani, “A Muscle-driven Mechanism for Locomotion of Snake-Robots: Kinematics, Design, and Prototyping”,  34th Florida Conference on Recent Advances in Robotics (FCRAR), May 13-14, 2021, Melbourne, FL, USA, accepted.

2020:

• M. Haghshenas-Jaryani, R. Patterson, N. Bugnariu, and M.B.J. Wijesundara, “Design and Control of Soft Robotic Hand Exoskeleton for Rehabilitation”, Journal of Hand Therapy,  Journal of Hand Therapy, 33 (2020) 198-208.

• M. Haghshenas-Jaryani and H.E. Sevil, “Autonomous Navigation and Obstacle Avoidance of a Snake Robot with Combined Velocity-Heading Control”, IEEE International Conference on Intelligent (IROS), October 25-29, 2020, Las Vegas, USA, accepted.

• M. Haghshenas-Jaryani, H.E. Sevil, and L. Sun, “Navigation and Obstacle Avoidance of Snake-Robot Guided by a Co-Robot UAV Visual Servoing”, ASME Dynamic Systems and Control Conference (DSCC), October 7-10, 2020, Pittsburgh, USA, accepted.

• M. Haghshenas-Jaryani, "Quasi-Static Model-based Control of Physical Human-Wearable Soft Robot Interaction for Assisted Hand Motion", Proc. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) November 29-December 2, 2020, New York, USA, accepted.

• L. Fina, H.E. Sevil, and M. Haghshenas-Jaryani “Anomaly Detection in Joint Angle Sensor of a Snake Robot”, 33rd Florida Conference on Recent Advances in Robotics (FCRAR), May 14-16, 2020, Melbourne, FL, USA, accepted.

2019:

• A. Bowling, V. Joshi, and M. Haghshenas-Jaryani, “Integration of Modeling and Experimentation to Explore the Underdamped Motion of Beads in Optical Tweezers”, Proceedings Volume 11083, Optical Trapping and Optical Micromanipulation XVI; 110831S (2019) https://doi.org/10.1117/12.2530017. SPIE Nanoscience + Engineering, 2019, San Diego, CA.