Rahim Mutlu

Overview

Rahim Mutlu received his BSc in Mechanical Engineering from Uludag University and Business Administration at Anadolu University in 2007, MEng in Mechatronics (2009) and PhD on Modelling Soft Robotic Actuators (2013) from University of Wollongong. After his postdoc on Soft Robotics in medical applications in the ARC Centre of Excellence for Electromaterials Science (ACES) at Intelligent Polymer Research Institute (IPRI), he is committed as a lecturer in Biomedical Engineering at School of Mechanical, Materials, Mechatronic and Biomedical Engineering (MMMB) at University of Wollongong.

His research interests include soft robotic actuators and manipulators, soft sensors, artificial muscles, bio-inspired robotics, soft haptics and their contributions to wearable robotics, development of these systems and their optimization by utilizing innovative manufacturing technologies including additive manufacturing (aka 3D printing), and their use in biomedical applications, wearable robotics, prosthetics, orthotics and rehabilitation robotics.

Dr Mutlu is an editorial board member of the Soft Robotics (SoRo) - Mary Ann Liebert, Inc. and Associate Investigator in the ACES.

Research Areas

Research Overview

1. Wearable Robotics
Soft Prosthetics and Orthotics
  Exoskeletons for Rehabilitation and Assistive
  Soft Haptics
Soft Actuators
  Soft Sensing Technologies

2. Innovative Manufacturing
Rapid Prototyping
Additive Manufacturing
Compliant / Monolithic Mechanisms Design and Manufacturing

3. Finite Element Analysis
  Structural Modelling
  Mechanism Analysis
  Optimization

Available as Research Supervisor

Available for Collaborative Projects

Member Of

Selected Publications

Journal Article

Year	Title
2020	A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators Published In Robotica Volume 38 Pages 15 - 28 Altmetric
2020	A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities Published In PLoS One Volume 15 Pages e0232766-1 - e0232766-23 ISSN 1932-6203 Altmetric
2019	Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space Published In Journal of Dynamic Systems Measurement and Control: Transactions of the ASME Volume 141 Pages 061013-1 - 061013-7 ISSN 0022-0434 Altmetric
2019	Ultra-stretchable MWCNT–Ecoflex piezoresistive sensors for human motion detection applications Published In Composites Science and Technology Volume 173 Pages 118 - 124 ISSN 0266-3538 Altmetric
2018	A Disturbance Observer-Based Robust Controller Design for Systems with Right Half Plane Zeros and Poles Published In European Journal of Control Volume 41 Pages 53 - 62 ISSN 0947-3580 Altmetric
2018	A Review of Non-Invasive Sensory Feedback Methods for Transradial Prosthetic Hands Published In IEEE Access Volume 6 Pages 6878 - 6899 Altmetric
2018	A structural optimisation method for a soft pneumatic actuator Published In Robotics Volume 7 Pages 7020024-1 - 7020024-16 Altmetric
2018	Modeling and Experimental Evaluation of Bending Behavior of Soft Pneumatic Actuators Made of Discrete Actuation Chambers Published In Soft Robotics Volume 5 Pages 24 - 35 Altmetric
2018	Reusable Flexible Concentric Electrodes Coated With a Conductive Graphene Ink for Electrotactile Stimulation Published In Frontiers in Bioengineering and Biotechnology Volume 6 Pages 179-1 - 179-9 ISSN 2296-4185 Altmetric
2017	Large area and ultra-thin compliant strain sensors for prosthetic devices Published In Sensors and Actuators A: Physical Volume 266 Pages 56 - 64 ISSN 0924-4247 Altmetric
2017	Three-Dimensional Kinematic Modeling of Helix-Forming Lamina-Emergent Soft Smart Actuators Based on Electroactive Polymers Published In IEEE Transactions On Systems, Man, and Cybernetics: Systems Volume 47 Pages 2562 - 2573 Altmetric
2016	3D printed flexure hinges for soft monolithic prosthetic fingers Published In Soft Robotics Volume 3 Pages 120 - 133 Altmetric
2016	A Soft mechatronic microstage mechanism based on electroactive polymer actuators Published In IEEE-ASME Transactions on Mechatronics Volume 21 Pages 1467 - 1478 ISSN 1083-4435 Altmetric
2016	An inverted micro-mixer based on a magnetically-actuated cilium made of Fe doped PDMS Published In Smart Materials and Structures Volume 25 Pages 095049-1 - 095049-7 ISSN 0964-1726 Altmetric
2016	Fabrication and characterisation of highly stretchable elastomeric strain sensors for prosthetic hand applications Published In Sensors and Actuators A: Physical Volume 247 Pages 514 - 521 ISSN 0924-4247 Altmetric
2014	A compliant translational mechanism based on dielectric elastomer actuators Published In Journal of Mechanical Design Volume 136 Pages 061009-1 - 061009-9 ISSN 1050-0472 Altmetric
2014	Control of conducting polymer actuators without physical feedback: Simulated feedback control approach with particle swarm optimization Published In Smart Materials and Structures Volume 23 Pages 035014-1 - 035014-12 ISSN 0964-1726 Altmetric
2014	Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators Published In Mechatronics Volume 24 Pages 241 - 251 ISSN 0957-4158 Altmetric
2014	How the type of input function affects the dynamic response of conducting polymer actuators Published In Smart Materials and Structures Volume 23 Pages 105008-1 - 105008-11 ISSN 0964-1726 Altmetric
2013	An effective methodology to solve inverse kinematics of electroactive polymer actuators modelled as active and soft robotic structures Published In Mechanism and Machine Theory Volume 67 Pages 94 - 110 ISSN 0094-114X Altmetric
2010	A multistable linear actuation mechanism based on artificial muscles Published In Journal of Mechanical Design Volume 132 Pages 1 - 8 ISSN 1050-0472 Altmetric
2010	Artificial muscles with adjustable stiffness Published In Smart Materials and Structures Volume 19 Pages 1 - 10 ISSN 0964-1726 Altmetric

Conference Paper

Year	Title
2019	A 3D printed soft robotic monolithic unit for haptic feedback devices Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 388 - 393 Altmetric
2019	A Decentralized Force Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators Published In Proceedings: 2019 IEEE International Conference on Mechatronics (ICM) Pages 661 - 666 Altmetric
2019	Fully 3D printed monolithic soft gripper with high conformal grasping capability Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 1139 - 1144 Altmetric
2018	A robust position controller synthesis for compliant mechanical systems via Disturbance Observer in state space Published In 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC) Pages 619 - 624 Altmetric
2018	Applying Mechanical Pressure and Skin Stretch Simultaneously for Sensory Feedback in Prosthetic Hands Published In 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pages 230 - 235 Altmetric
2018	Design of a multi-stage stiffness enhancing unit for a soft robotic finger and its robust motion control Published In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society Pages 5074 - 5079 Altmetric
2018	Position control of a soft prosthetic finger with limited feedback information Published In Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 700 - 705 Altmetric
2018	Using Vibration Motors to Create Tactile Apparent Movement for Transradial Prosthetic Sensory Feedback Published In IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pages 213 - 218 Altmetric
2017	3D Printing of a Thin-Wall Soft and Monolithic Gripper Using Fused Filament Fabrication Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 442 - 447 Altmetric
2017	A 3D printed monolithic soft gripper with adjustable stiffness Published In IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society Pages 6235 - 6240 Altmetric
2016	Mechanical stiffness augmentation of a 3D printed soft prosthetic finger Published In Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on Pages 7 - 12 Altmetric
2016	Performance quantification of strain sensors for flexible manipulators Published In Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on Pages 584 - 589 Altmetric
2015	Effect of flexure hinge type on a 3D printed fully compliant prosthetic finger Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics Pages 790 - 795 Altmetric
2014	An active-compliant micro-stage based on EAP artificial muscles Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 611 - 616 Altmetric
2014	Modeling a soft robotic mechanism articulated with dielectric elastomer actuators Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 599 - 604 Altmetric
2013	Electroactive polymers as soft robotic actuators: electromechanical modeling and identification Published In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 1096 - 1101 Altmetric
2012	Kinematic analysis of electroactive polymer actuators as soft and smart structures with more DoF than inputs Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 484 - 489 Altmetric
2011	Kinematic modeling for artificial flagellum of a robotic bacterium based on electroactive polymer actuators Published In 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 Pages 440 - 445 Altmetric
2010	A continuously-stable linear actuation based on bending type artificial muscles Published In International Conference on Advanced Intelligent Mechatronics Pages 732 - 737 Altmetric
2010	A stiffness enhancement methodology for artificial muscles Published In International Conference on Advanced Intelligent Mechatronics Pages 151 - 156 Altmetric

Other Research Activities

Passive Wearable Assistive Robotic Device (WeARoP): Body Posture Support and Mobility Enhancement 2019 -
Smart Limb Rehab: Enhancing Recovery and Rehabilitation Project Leader 2018 -

Available as Research Supervisor

Advisees

Graduate Advising Relationship

Degree	Research Title	Advisee
Doctor of Philosophy	Establishment of Novel Soft Pneumatic Actuators for Robotic Prosthetic Hands	Drury, Ryan

Education And Training

Ph.D. in Mechatronics 2009 - 2013
M.Eng. in Mechatronics 2008 - 2009
B.B.A. in Business Administration, Anadolu University 2003 - 2007
B.Sc. in Mechanical Engineering, Uludag University 2003 - 2007

Research Areas

Research Overview

1. Wearable Robotics
Soft Prosthetics and Orthotics
  Exoskeletons for Rehabilitation and Assistive
  Soft Haptics
Soft Actuators
  Soft Sensing Technologies

2. Innovative Manufacturing
Rapid Prototyping
Additive Manufacturing
Compliant / Monolithic Mechanisms Design and Manufacturing

3. Finite Element Analysis
  Structural Modelling
  Mechanism Analysis
  Optimization

Member Of

Selected Publications

Journal Article

Year	Title
2020	A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators Published In Robotica Volume 38 Pages 15 - 28 Altmetric
2020	A practical 3D-printed soft robotic prosthetic hand with multi-articulating capabilities Published In PLoS One Volume 15 Pages e0232766-1 - e0232766-23 ISSN 1932-6203 Altmetric
2019	Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space Published In Journal of Dynamic Systems Measurement and Control: Transactions of the ASME Volume 141 Pages 061013-1 - 061013-7 ISSN 0022-0434 Altmetric
2019	Ultra-stretchable MWCNT–Ecoflex piezoresistive sensors for human motion detection applications Published In Composites Science and Technology Volume 173 Pages 118 - 124 ISSN 0266-3538 Altmetric
2018	A Disturbance Observer-Based Robust Controller Design for Systems with Right Half Plane Zeros and Poles Published In European Journal of Control Volume 41 Pages 53 - 62 ISSN 0947-3580 Altmetric
2018	A Review of Non-Invasive Sensory Feedback Methods for Transradial Prosthetic Hands Published In IEEE Access Volume 6 Pages 6878 - 6899 Altmetric
2018	A structural optimisation method for a soft pneumatic actuator Published In Robotics Volume 7 Pages 7020024-1 - 7020024-16 Altmetric
2018	Modeling and Experimental Evaluation of Bending Behavior of Soft Pneumatic Actuators Made of Discrete Actuation Chambers Published In Soft Robotics Volume 5 Pages 24 - 35 Altmetric
2018	Reusable Flexible Concentric Electrodes Coated With a Conductive Graphene Ink for Electrotactile Stimulation Published In Frontiers in Bioengineering and Biotechnology Volume 6 Pages 179-1 - 179-9 ISSN 2296-4185 Altmetric
2017	Large area and ultra-thin compliant strain sensors for prosthetic devices Published In Sensors and Actuators A: Physical Volume 266 Pages 56 - 64 ISSN 0924-4247 Altmetric
2017	Three-Dimensional Kinematic Modeling of Helix-Forming Lamina-Emergent Soft Smart Actuators Based on Electroactive Polymers Published In IEEE Transactions On Systems, Man, and Cybernetics: Systems Volume 47 Pages 2562 - 2573 Altmetric
2016	3D printed flexure hinges for soft monolithic prosthetic fingers Published In Soft Robotics Volume 3 Pages 120 - 133 Altmetric
2016	A Soft mechatronic microstage mechanism based on electroactive polymer actuators Published In IEEE-ASME Transactions on Mechatronics Volume 21 Pages 1467 - 1478 ISSN 1083-4435 Altmetric
2016	An inverted micro-mixer based on a magnetically-actuated cilium made of Fe doped PDMS Published In Smart Materials and Structures Volume 25 Pages 095049-1 - 095049-7 ISSN 0964-1726 Altmetric
2016	Fabrication and characterisation of highly stretchable elastomeric strain sensors for prosthetic hand applications Published In Sensors and Actuators A: Physical Volume 247 Pages 514 - 521 ISSN 0924-4247 Altmetric
2014	A compliant translational mechanism based on dielectric elastomer actuators Published In Journal of Mechanical Design Volume 136 Pages 061009-1 - 061009-9 ISSN 1050-0472 Altmetric
2014	Control of conducting polymer actuators without physical feedback: Simulated feedback control approach with particle swarm optimization Published In Smart Materials and Structures Volume 23 Pages 035014-1 - 035014-12 ISSN 0964-1726 Altmetric
2014	Electro-mechanical modelling and identification of electroactive polymer actuators as smart robotic manipulators Published In Mechatronics Volume 24 Pages 241 - 251 ISSN 0957-4158 Altmetric
2014	How the type of input function affects the dynamic response of conducting polymer actuators Published In Smart Materials and Structures Volume 23 Pages 105008-1 - 105008-11 ISSN 0964-1726 Altmetric
2013	An effective methodology to solve inverse kinematics of electroactive polymer actuators modelled as active and soft robotic structures Published In Mechanism and Machine Theory Volume 67 Pages 94 - 110 ISSN 0094-114X Altmetric
2010	A multistable linear actuation mechanism based on artificial muscles Published In Journal of Mechanical Design Volume 132 Pages 1 - 8 ISSN 1050-0472 Altmetric
2010	Artificial muscles with adjustable stiffness Published In Smart Materials and Structures Volume 19 Pages 1 - 10 ISSN 0964-1726 Altmetric

Conference Paper

Year	Title
2019	A 3D printed soft robotic monolithic unit for haptic feedback devices Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 388 - 393 Altmetric
2019	A Decentralized Force Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators Published In Proceedings: 2019 IEEE International Conference on Mechatronics (ICM) Pages 661 - 666 Altmetric
2019	Fully 3D printed monolithic soft gripper with high conformal grasping capability Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 1139 - 1144 Altmetric
2018	A robust position controller synthesis for compliant mechanical systems via Disturbance Observer in state space Published In 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC) Pages 619 - 624 Altmetric
2018	Applying Mechanical Pressure and Skin Stretch Simultaneously for Sensory Feedback in Prosthetic Hands Published In 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pages 230 - 235 Altmetric
2018	Design of a multi-stage stiffness enhancing unit for a soft robotic finger and its robust motion control Published In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society Pages 5074 - 5079 Altmetric
2018	Position control of a soft prosthetic finger with limited feedback information Published In Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 700 - 705 Altmetric
2018	Using Vibration Motors to Create Tactile Apparent Movement for Transradial Prosthetic Sensory Feedback Published In IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pages 213 - 218 Altmetric
2017	3D Printing of a Thin-Wall Soft and Monolithic Gripper Using Fused Filament Fabrication Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 442 - 447 Altmetric
2017	A 3D printed monolithic soft gripper with adjustable stiffness Published In IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society Pages 6235 - 6240 Altmetric
2016	Mechanical stiffness augmentation of a 3D printed soft prosthetic finger Published In Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on Pages 7 - 12 Altmetric
2016	Performance quantification of strain sensors for flexible manipulators Published In Advanced Intelligent Mechatronics (AIM), 2016 IEEE International Conference on Pages 584 - 589 Altmetric
2015	Effect of flexure hinge type on a 3D printed fully compliant prosthetic finger Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics Pages 790 - 795 Altmetric
2014	An active-compliant micro-stage based on EAP artificial muscles Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 611 - 616 Altmetric
2014	Modeling a soft robotic mechanism articulated with dielectric elastomer actuators Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 599 - 604 Altmetric
2013	Electroactive polymers as soft robotic actuators: electromechanical modeling and identification Published In 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) Pages 1096 - 1101 Altmetric
2012	Kinematic analysis of electroactive polymer actuators as soft and smart structures with more DoF than inputs Published In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM Pages 484 - 489 Altmetric
2011	Kinematic modeling for artificial flagellum of a robotic bacterium based on electroactive polymer actuators Published In 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011 Pages 440 - 445 Altmetric
2010	A continuously-stable linear actuation based on bending type artificial muscles Published In International Conference on Advanced Intelligent Mechatronics Pages 732 - 737 Altmetric
2010	A stiffness enhancement methodology for artificial muscles Published In International Conference on Advanced Intelligent Mechatronics Pages 151 - 156 Altmetric

Other Research Activities

Passive Wearable Assistive Robotic Device (WeARoP): Body Posture Support and Mobility Enhancement 2019 -
Smart Limb Rehab: Enhancing Recovery and Rehabilitation Project Leader 2018 -

Advisees

Graduate Advising Relationship

Degree	Research Title	Advisee
Doctor of Philosophy	Establishment of Novel Soft Pneumatic Actuators for Robotic Prosthetic Hands	Drury, Ryan

Education And Training

Ph.D. in Mechatronics 2009 - 2013
M.Eng. in Mechatronics 2008 - 2009
B.B.A. in Business Administration, Anadolu University 2003 - 2007
B.Sc. in Mechanical Engineering, Uludag University 2003 - 2007

Located In Facility

Building 8, Room G08

Orcid Id

http://orcid.org/0000-0001-5576-8744 (confirmed)

Scopus Id

56025891500

Overview

Overview

Research Areas

Research Overview

Available as Research Supervisor

Affiliation

Available for Collaborative Projects

Member Of

Publications

Selected Publications

Journal Article

Conference Paper

Funding

Other Research Activities

Supervision

Available as Research Supervisor

Advisees

Graduate Advising Relationship

Background

Education And Training

Contact

Located In Facility

Identity

Orcid Id

Scopus Id

Overview

Research Areas

Research Overview

Affiliation

Member Of

Publications

Selected Publications

Journal Article

Conference Paper

Funding

Other Research Activities

Supervision

Advisees

Graduate Advising Relationship

Background

Education And Training

Contact

Located In Facility

Identity

Orcid Id

Scopus Id

Visualisations

Research Areas