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FACULTY -- Dr. Javad Dargahi

Department of Mechanical Engineering
Concordia University
1455 de Maisonneuve Blvd. W., CR-217
Montreal, Quebec, Canada H3G 1M8
E-mail: ???
Phone: (514) 848-7967
Fax: (514) 848-????
Office: CR-217


Dr. Dargahi received his B.Sc., M.Sc., and Ph.D. degree in Mechanical Engineering in the UK.

He was a Research Assistant at the Glasgow Caledonian University, Glasgow, UK and an Assistant Professor at the Amirkabir University of Technology, Tehran, Iran. He was a Senior Post-Doctoral Research Associate with the Micromachining/Medical Robotics Group at Simon Fraser University, Burnaby, B.C., Canada. Dr.Dargahi worked in a few companies in North America. He is currently an Assistant Professor in the Department of Mechanical Engineering, University of Concordia.


  • MECH 313 Machine drawing and design

The use of drawings and other graphical methods in the process of engineering design. Industrial standards and specifications, standard components and their use in product design. Detailed study of standard machine elements and assemblies, including various types of mechanical drives, cams, clutches, couplings, brakes, seals, fasteners, springs, and bearings; their representation and function in design and working drawings. Dimensioning and tolerance systems related to manufacturing processes, interchangeability, quality control, patent procedures. Pencil thinking and computer graphics in the design process. Computer-aided machine drawing. A student design project will be an integral part of this course.

  • ENGR 243 dynamics

Kinematics of a particle and rigid body; forces and accelerations; work and energy; impulse and momentum; dynamics of a system of particles and rigid bodies, introduction to vibrations.


  • Haptic sensors and feedback systems for minimally invasive surgery and robotics.
  • Design and fabrication of intelligent tactile sensors for robots and endoscopes.
  • Design and fabrication of sensors by micromachining.
  • Application of piezoelectric polymers in robotic and endoscopic sensors.
  • Teletaction in minimally invasive surgery.


Refereed journal publications

  • Dargahi, J., A robotic and endoscopic compliance and roughness tooth-like tactile sensor, to appear in the Journal of Mechanical Engineering Design, Septemer 2002.
  • Dargahi, J., Parameswaran, M., Payandeh, S. A micromachined piezoelectric tactile sensor for endoscopic grasper: theory, fabrication and experiments, Journal of Micro-Electromechanical Systems, Vol. 9, Number 3, pp. 329-336, September 2000.
  • Dargahi, J., A three sensing element piezoelectric tactile sensor for robotic, endoscopic and prosthetic applications, Sensors and Actuators?A Physical, Vol. 80/1, pp.23?30, March 2000.
  • Dargahi, J., Piezoelectric and pyroelectric transient signal analysis for detection of the temperature of a contact object for robotic manipulation, Sensors and Actuators? A Physical, Vol.71/1?2, pp 90?98, November 1998.

Refereed Conference publications

  • Dargahi, J. A study of the human hand as an ideal tactile sensor used in robotic and endoscopic applications, Proceedings of the CSME International Conference, Montreal, Quebec, Canada, 21-22 November 2001.
  • J.Dargahi, Determination of the piezoelectric and pyroelectric response of a single layer polyvinylidene fluoride film used in tactile sensing, Proceedings of the CSME International Conference, Montreal, Quebec, Canada, 21-22 November 2001.
  • Dargahi, J., Normandeau, M., Milne, J., Parameswaran, M., and Payandeh, S. A microstrain gauge endoscopic tactile sensor using two sensing elements, Proceedings of the SPIE International Conference on Sensor Fusion: Architectures, Algarithims and Applications, Vol. 4051, pp.349-357, Orlando, 24?28 April 2000.
  • Dargahi, J. Atkinson, A, An endoscopic microstrain gauge force, torque, moment sensor, Proceedings of the SPIE International Conference on Sensor Fusion: Architectures, Algarithims and Applications, Orlando, 24?28 April 2000.
  • Dargahi, J., Payandeh, S., and Parameswaran, M. A Micromachined piezoelectric teeth?like laparoscopic tactile sensor: theory, fabrication and experiments, Proceedings of the IEEE International Conference on Robotics and Automation, pp.299-340, Detroit, USA, 10?15 May 1999.
  • Dargahi, J., and Payandeh, S., Surface texture measurement by combining signals from two sensing elements of a piezoelectric tactile sensor, Proceedings of the SPIE International Conference on Sensor Fusion: Architectures, Algarithims and Applications, Vol. 3376, pp. 122-128, Orlando, 13?17 April 1998.
  • Dargahi, J., Parameswaran, M., and Payandeh, S., A micromachined piezoelectric tactile sensor for use in endoscopic grasper, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, B.C. Canada, pp. 1503?1508, 13?17 October 1998
  • Dargahi, J., Eastwood, A.R., Kemp, I., J., Combined force and position polyvinylidene fluoride tactile sensing system, Proceedings of the SPIE International Conference on Sensor Fusion: Architectures, Algarithims and Applications, Vol. 3067, pp. 160-170, Orlando, 20?25 April 1997.
  • Dargahi, J., Combined force and position tactile sensing system for prosthetic and robotic applications, Proceedings of the 7th International Conference on Biomedical Engineering, Sharif University, Tehran, September 1994.


Professional society memberships

  • Member of American Society of Mechanical Engineers (ASME)
  • Member of Institute of Electrical and Electronic Engineers (IEEE)


Minimally invasive surgery (MIS) is a recent technique in which surgical procedures on internal organs are performed using very small incisions. Through the incision holes, surgical mechanisms and endoscope are inserted for manipulating the tissues for viewing the surgical site. The images of the internal organs and the inserted surgical instruments are the viewed on the monitor. MIS has distinct advantages such as reduced trauma, lower risk of inflammation, reduced post operative complications, and faster recovery.

However, certain disadvantages associated with MIS, namely reduced dexterity, loss of tactile sensitively, and force feed-back. To perform MIS, surgeon should feed the tissue, sensing the presence of blood vessels and ducts during the procedure. This ability is essentially important during controlled manipulation tasks such as the grasping of internal organs, gentle load transfer during lifting, removing and suturing tissues together.

Robotized endoscopic surgery scene Endoscopic surgery scene Robotized endoscopic surgery scene Removal of internal organs
(Click to see larger image)

Endoscopic tactile sensor

Currently available commercial endoscopic graspers do not have any built-in sensors. Thus the surgeon do not have any tactile feed-back to safely manipulate tissues. The grasper’s lack of sensitivity hinders the surgeon’s efforts to manipulate the tissue safely, and laparoscopic operations remain based on remote manipulation.

Dr. Dargahi has designed, fabricated and tested various tactile sensors including piezolelectic, microstrain gauge based endoscopic tactile sensors. This tactile sensors enables the surgeon to detect the magnitude and the position of the applied force on a tissue during the endoscopic surgery. Theses sensor prototypes have a rigid tooth-like surface in other to gasp slipiary tissue, similar to the present model.

Examples of endoscopic sensor development by Dr. Dargahi

Microstrain Gauge Endoscopic Tools Sensor
(Click to see larger image)

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