Journal papers:

  1. Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ronald Sloboda and Mahdi Tavakoli, Intraoperative Tissue Young's Modulus Identification During Needle Insertion Using a Laterally Actuated Needle, IEEE Transactions on Instrumentation and Measurement, 2017. In press.
  2. Weihua Li, Liang Ding, Haibo Gao, Mahdi Tavakoli, Haptic Tele-driving of Wheeled Mobile Robots under Nonideal Wheel Rolling, Kinematic Control, and Communication Time Delay, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2017. In press. (IEEEXplore) (Postprint)
  3. Ting Yang, Junfeng Hu, Wei Geng, Yili Fu, and Mahdi Tavakoli, FPAA-based Control of Bilateral Teleoperation Systems for Enhanced User Task Performance, PRESENCE: Teleoperators and Virtual Environments, 2017. In press.
  4. Mojtaba Sharifi, Saeed Behzadipour, Hassan Salarieh, Mahdi Tavakoli, Cooperative Modalities in Robotic Tele-Rehabilitation Using Nonlinear Bilateral Impedance Control, Control Engineering Practice (A Journal of IFAC), 2017. In press. (ScienceDirect) (Postprint)
  5. Nooshin Jafari, Kim Adams, Mahdi Tavakoli, Sandra Wiebe, Heidi Janz, Usability Testing of a Developed Assistive Robotic System with ‎Virtual Assistance for Individuals with Cerebral Palsy: A Case Study, Disability and Rehabilitation: Assistive Technology, 2017. In press. (Taylor & Francis Online) (Postprint)
  6. Isao Sakamaki, Kim Adams, Maria Fernanda Gomez Medina, Javier Leonardo Castellanos Cruz, Nooshin Jafari, Mahdi Tavakoli, Heidi Janz, Preliminary testing by adults of a haptics-assisted robot platform designed for children with physical impairments to access play, Assistive Technology (The Official Journal of RESNA ), 2017. In press. (Taylor & Francis Online) (Postprint)
  7. Mojtaba Sharifi, Hassan Salarieh, Saeed Behzadipour, Mahdi Tavakoli, Stable Nonlinear Trilateral Impedance Control for Dual-User Haptic Teleoperation Systems with Communication Delays, ASME Journal of Dynamic Systems, Measurement and Control, 2017. In press. (ASME Digital Library) (Postprint)
  8. Mojtaba Sharifi, Hassan Salarieh, Saeed Behzadipour, Mahdi Tavakoli, Tele-echography of Moving Organs Using an Impedance-controlled Telerobotic System, Mechatronics (A Journal of IFAC), 2017. In press. (Science Direct) (Postprint)
  9. Alireza Mohammadi, Horacio J. Marquez, Mahdi Tavakoli, Nonlinear Disturbance Observers: Design and applications to Euler-Lagrange systems, IEEE Control Systems Magazine, 2017. In press. (IEEEXplore) (Postprint)
  10. S. Sepehr Tabatabaei, H.A. Talebi, Mahdi Tavakoli, An Adaptive Order/State Estimator for Linear Systems with Non-integer Time-Varying Order, Automatica (A Journal of IFAC), vol. 84, pp. 1-9, 2017. (Science Direct) (Postprint)
  11. S. Sepehr Tabatabaei, H.A. Talebi, Mahdi Tavakoli, A Novel Adaptive Order/Parameter Identification Method for Variable Order Systems Application in Viscoelastic Soft Tissue Modeling, Chaos, Solitons & Fractals (Special Issue on Future Directions in Fractional Calculus), 2017. In press. (Science Direct) (Postprint)
  12. Bita Fallahi, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli, Sliding-based Image-guided 3D Needle Steering in Soft Tissue, Control Engineering Practice (A Journal of IFAC), 2017. In press. (Science Direct) (Postprint)
  13. Carlos Rossa, Mahdi Tavakoli, Issues in Closed-Loop Needle Steering, Control Engineering Practice (A Journal of IFAC), 2017. In press. (Science Direct) (Postprint)
  14. M.F. Jamaluddin, S. Ghosh, M.P. Waine, M. Tavakoli, J. Amanie, A.D. Murtha, D. Yee, N. Usmani, Intraoperative factors associated with stranded source placement accuracy in low–dose rate prostate brachytherapy, Brachytherapy, 2017. In press. (Science Direct) (Postprint)
  15. Muhammad F. Jamaluddin, Sunita Ghosh, Michael P. Waine, Ronald S. Sloboda, Mahdi Tavakoli, John Amanie, Albert D. Murtha, Don Yee, Nawaid Usmani, Quantifying 125I placement accuracy in prostate brachytherapy using postimplant transrectal ultrasound images, Brachytherapy, 2017. In press. (Science Direct) (Postprint)
  16. N. Jafari, K. Adams, M. Tavakoli, S. Weibe, Development of an Assistive Robotic System with Virtual Assistance to Enhance Play for Children with Disabilities: A Preliminary Study, Journal of Medical and Biological Engineering, 2016. In press. (SpringerLink) (SharedIt) (Postprint)
  17. S. Farokh Atashzar, Mahya Shahbazi, Mahdi Tavakoli, Rajni V. Patel, A Grasp-based Passivity Signature for Haptics-enabled Human-Robot Interaction: Application to Design of a New Safety Mechanism for Robotic Rehabilitation, International Journal of Robotics Research, 2017. In press. (SAGE journals) (Postprint)
  18. Ala Shariati, Mahdi Tavakoli, A Descriptor Approach to Robust Leader-Following Output Consensus of Uncertain Multi-Agent Systems with Delay, IEEE Transactions on Automatic Control, 2016. In press. (IEEEXplore) (Postprint)
  19. Carlos Rossa, Thomas Lehmann, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, A Data-Driven Soft Sensor for Needle Deflection in Heterogeneous Tissue using Just-in-Time Modelling, Medical & Biological Engineering & Computing, 2016. In press. (SpringerLink) (SharedIt) (Postprint)
  20. Mohammad Najafi, Mojtaba Sharifi, Kim Adams, Mahdi Tavakoli, Robotic Assistance for Children With Cerebral Palsy Based on Learning From Tele-cooperative Demonstration, International Journal of Intelligent Robotics and Applications, 2016. In press. (SpringerLink) (SharedIt) (Postprint)
  21. M. Khadem, C. Rossa, R. Sloboda, N. Usmani, M. Tavakoli, Semi-automated needle steering in biological tissue using an ultrasound-based deflection predictor, Annals of Biomedical Engineering, 2016. In Press. (SpringerLink) (Postprint)
  22. Weihua Li, Liang Ding, Zhen Liu, Weidong Wang, Haibo Gao, Mahdi Tavakoli, Kinematic Bilateral Tele-driving of Wheeled Mobile Robots Coupled with Slippage, IEEE Transactions on Industrial Electronics, vol. 64, no. 3, pp. 2147-2157, 2017. (IEEEXplore) (Postprint)
  23. Farzad Hashemzadeh, Mojtaba Sharifi, Mahdi Tavakoli, Nonlinear Trilateral Teleoperation Stability Analysis subjected to Time-varying Delays, Control Engineering Practice, vol. 56, pp. 123-135, 2016. (ScienceDirect) (Postprint)
  24. Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, A Real-Time Estimator for Needle Deflection During Insertion Into Soft Tissue Based on Adaptive Modeling of Needle-Tissue Interactions, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 6, pp. 2601-2612, 2016. (IEEEXplore) (Postprint)
  25. Nooshin Jafari, Kim D. Adams, Mahdi Tavakoli, Haptics to improve task performance in people with disabilities: A review of previous studies and a guide to future research with children with disabilities, Rehabilitation and Assistive Technologies Engineering, 2016. In press. (SAGE journals) (Postprint)
  26. S. Farokh Atashzar, Mahya Shahbazi, Mahdi Tavakoli, Rajni V. Patel, A Passivity-based approach for Stable Patient-Robot Interaction in Haptics-enabled Rehabilitation Systems: Modulated Time-domain Passivity Control (M-TDPC), IEEE Transactions on Control Systems Technology, 2016. In press. (IEEEXplore) (Postprint)
  27. Weihua Li, Zhen Liu, Haibo Gao, Xuefeng Zhang, Mahdi Tavakoli, Stable Kinematic Teleoperation of Wheeled Mobile Robots with Slippage using Time-Domain Passivity Control, Mechatronics (A Journal of IFAC), vol. 39, pp. 196-203, 2016. (ScienceDirect) (Postprint)
  28. Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli, A Hand-Held Assistant for Semi-Automated Percutaneous Needle Steering, IEEE Transactions on Biomedical Engineering, 2016. In press. (IEEEXplore) (Postprint) (Video)
  29. S. Farokh Atashzar, Nooshin Jafari, Mahya Shahbazi, Heidi Janz, Mahdi Tavakoli, Rajni V. Patel, Kim Adams, Telerobotics-assisted Platform for Enhancing Interaction with Physical Environments for People Living with Cerebral Palsy, Journal of Medical Robotics Research, vol. 2, no. 2, 2017. (World Scientific) (Postprint)
  30. Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli, A Two-body Rigid/Flexible Model of Needle Steering Dynamics in Soft Tissue, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2352-2364, 2016. (IEEEXplore) (Postprint) (Video)
  31. Mahya Shahbazi, S. Farokh Atashzar, Mahdi Tavakoli, Rajni V. Patel, Robotics-Assisted Mirror Rehabilitation Therapy: A Therapist-in-the-Loop Assist-as-Needed Architecture, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 4, pp. 1954-1965, 2016. (IEEEXplore) (Postprint)
  32. S. Farokh Atashzar, Mahya Shahbazi, Olivia Samotus, Mahdi Tavakoli, Mandar Jog, Rajni V. Patel, Characterization of Upper-limb Involuntary Movements in Pathological Tremor Patients: Application to Design of an Augmented Haptic Rehabilitation System, IEEE Journal on Selected Topics in Signal Processing (Special Issue on Person-Centered Signal Processing for Assistive, Rehabilitative and Wearable Health Technologies), vol. 10, no. 5, pp. 888-903, 2016. (IEEEXplore) (Postprint)
  33. Mahdi Maaref, Alireza Rezazadeh, Kimia Shamaei, Mahdi Tavakoli, A Gaussian Mixture Framework for Cooperative Rehabilitation Therapy in Assistive Impedance-based Tasks, IEEE Journal on Selected Topics in Signal Processing (Special Issue on Person-Centered Signal Processing for Assistive, Rehabilitative and Wearable Health Technologies), vol. 10, no. 5, pp. 904-913, 2016. (IEEEXplore) (Postprint)
  34. Carlos Rossa, Jason Fong, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, Multi-Actuator Haptic Feedback on the Wrist for Needle Steering Guidance in Brachytherapy, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 852-859, 2016. Also, selected for presentation at the IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. (IEEEXplore) (Postprint) (Video)
  35. Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Adaptive Quasi-static Modelling of Needle Deflection During Steering in Soft Tissue, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 916-923, 2016. (IEEEXplore) (Postprint)
  36. Bita Fallahi, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Sliding-based Switching Control for Image-guided Needle Steering in Soft Tissue, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 860-867, 2016. (IEEEXplore) (Postprint)
  37. Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Mechanics of Tissue Cutting During Needle Insertion in Biological Tissue, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 800-807, 2016. (IEEEXplore) (Postprint)
  38. Mahdi Maaref, Alireza Rezazadeh, Kimia Shamaei, Renz Ocampo, Mahdi Tavakoli, A Bicycle Cranking Model for Assist-as-needed Robotic Rehabilitation Therapy Using Learning from Demonstration, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 653-660, 2016. (IEEEXplore) (Postprint)
  39. Meaghan Bowthorpe, Mahdi Tavakoli, Generalized Predictive Control of a Surgical Robot for Beating-heart Surgery Under Delayed and Slowly-sampled Ultrasound Image Data, IEEE Robotics and Automation Letters, 2016. In press. Also, selected for presentation at the IEEE International Conference on Robotics and Automation, Stockholm, Sweden, vol. 1, no. 2, pp. 892-899, 2016. (IEEEXplore) (Postprint)
  40. Weihua Li, Haibo Gao, Liang Ding, Mahdi Tavakoli, Trilateral Predictor-mediated Teleoperation of a Wheeled Mobile Robot with Slippage, IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 738-745, 2016. (IEEEXplore) (Postprint)
  41. Mohsen Khadem, Carlos Rossa, Ron S. Sloboda, Nawaid Usmani, Mahdi Tavakoli, Ultrasound-guided Model Predictive Control of Needle Steering in Biological Tissue, Journal of Medical Robotics Research, vol. 1, no. 1, 2016. (World Scientific) (Postprint)
  42. Meaghan Bowthorpe, Mahdi Tavakoli, Ultrasound-based Image Guidance and Motion Compensation Control for Robot-assisted Beating-heart Surgery, Journal of Medical Robotics Research, vol. 1, no. 1, 2016. (World Scientific) (Postprint)
  43. Michael Waine, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli, Needle Tracking and Deflection Prediction for Robot-Assisted Needle Insertion using 2D Ultrasound Images, Journal of Medical Robotics Research, vol. 1, no. 1, 2016. (World Scientific) (Postprint)
  44. Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli, Estimating needle tip deflection in biological tissue from a single transverse ultrasound image: application to brachytherapy, International Journal of Computer Assisted Radiology and Surgery, vol. 11, no. 7, pp. 1347-1359, 2016. (SpringerLink) (Postprint)
  45. Weihua Li, Haibo Gao, Liang Ding, Mahdi Tavakoli, Kinematic Bilateral Teleoperation of Wheeled Mobile Robots Subject to Longitudinal Slippage, IET Control Theory & Applications, vol. 10, no. 2, pp. 111-118, 2016. (IET Digital Library) (Postprint)
  46. Meaghan Bowthorpe, Mahdi Tavakoli, Physiological Organ Motion Prediction and Compensation Based on Multi-rate, Delayed, and Unregistered Measurements in Robot-assisted Surgery and Therapy, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 2, pp. 900-911, 2016. (IEEEXplore) (Postprint) (Video)
  47. Michael Waine, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, 3D Needle Shape Estimation in TRUS-Guided Prostate Brachytherapy Using 2D Ultrasound Images, IEEE Journal of Biomedical and Health Informatics, vol. 20, no. 6, pp. 1621-1631, 2016. (IEEEXplore) (Postprint)
  48. Ali Jazayeri, Mahdi Tavakoli, Bilateral Teleoperation System Stability with Non-passive and Strictly-Passive Operator or Environment, Control Engineering Practice (A Journal of IFAC), vol. 40, pp. 45-60, 2015. (ScienceDirect) (Postprint)
  49. Ting Yang, Yili Fu, Mahdi Tavakoli, Digital versus Analog Control of Bilateral Teleoperation Systems: A Task Performance Comparison, Control Engineering Practice (A Journal of IFAC), vol. 38, pp. 46-56, 2015. (ScienceDirect) (Postprint)
  50. Jian Li, Mahdi Tavakoli, Victor Mendez, Qi Huang, Passivity and Absolute Stability Analyses of Trilateral Haptic Collaborative Systems, Journal of Intelligent and Robotic Systems, vol. 78, no. 1, pp. 3-20, 2015. (SpringerLink) (Postprint)
  51. Sean Hodgson, Mahdi Tavakoli, Minh Tu Pham, Arnaud Leleve, Nonlinear Discontinuous Dynamics Averaging and PWM Based Sliding Control of Solenoid-Valve Pneumatic Actuators, IEEE/ASME Transactions on Mechatronics, vol. 20, no. 2, pp. 876-888, 2015. (IEEEXplore) (Postprint)
  52. Ran Tao, Mahdi Tavakoli, Ron Sloboda, Nawaid Usmani, A comparison of US versus MR based 3D prostate shapes using radial basis function interpolation and statistical shape models, IEEE Journal of Biomedical and Health Informatics, vol. 19, no. 2, pp. 623-634, 2015. (IEEEXplore) (PubMed) (Postprint)
  53. Noushin Miandashti, Mahdi Tavakoli, Stability of Sampled-Data, Delayed Haptic Interaction under Passive or Active Operator, IET Control Theory & Applications, vol. 8, no. 17, pp. 1769-1780, 2014. (IET Digital Library) (Postprint)
  54. 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, vol. 1, no. 3, pp. 168-181, 2014. (Journal) (Pdf)
  55. Meaghan Bowthorpe, Vincent Castonguay-Siu, Mahdi Tavakoli, Development of a Robotic System to Enable Beating-heart Surgery, Journal of the Robotics Society of Japan, invited paper, vol. 32, no. 4, pp. 339-346, 2014. (Journal) (Postprint)
  56. Jian Li, Mahdi Tavakoli, Qi Huang, Stability of Cooperative Teleoperation Using Haptic Devices with Complementary Degrees of Freedom, IET Control Theory & Applications, vol. 8, no. 12, pp. 1062-1070, 2014. (IET Digital Library) (Postprint)
  57. Victor Mendez, Mahdi Tavakoli, Jian Li, A Method for Passivity Analysis of Multilateral Haptic Systems, Advanced Robotics, vol. 28, no. 18, pp. 1205-1219, 2014. (Taylor & Francis Online) (Postprint).
  58. Jian Li, Mahdi Tavakoli, Qi Huang, Absolute Stability of Multi-DOF Multilateral Haptic Systems, IEEE Transactions on Control Systems Technology, vol. 22, no. 6, pp. 2319-2328, 2014. (IEEEXplore) (Postprint)
  59. Farzad Hashemzadeh, Mahdi Tavakoli, Position and Force Tracking in Nonlinear Teleoperation Systems under Varying Delays, Robotica, 2014. (Journal) (Postprint)
  60. Sean Hodgson, Mahdi Tavakoli, Arnaud Leleve, Minh Tu Pham, High-fidelity Sliding-mode Control of a Pneumatic Haptic Teleoperation System, Advanced Robotics, vol. 28, no. 10, pp. 659-671, 2014. (Journal) (Postprint)
  61. Xia Liu, Ran Tao, Mahdi Tavakoli, Adaptive Control of Uncertain Nonlinear Teleoperation Systems, Mechatronics (A Journal of IFAC), vol. 24, no. 1, pp. 66-78, 2014. (ScienceDirect) (Postprint)
  62. Jian Li, Mahdi Tavakoli, Qi Huang, Absolute Stability of a Class of Trilateral Haptic Systems, IEEE Transactions on Haptics, vol. 7, no. 3, pp. 301-310, 2014. (IEEEXplore) (Postprint)
  63. A. Boroomand, M. Tavakoli, R. Sloboda and N. Usmani, Dynamical Modeling and Controllability Analysis of a Flexible Needle in Soft Tissue, International Journal of Modeling, Simulation, and Scientific Computing, vol. 5, no. 2, 2014. (Journal) (Pdf)
  64. Meaghan Bowthorpe, Mahdi Tavakoli, Harald Becher, Robert Howe, Smith Predictor Based Robot Control for Ultrasound-guided Teleoperated Beating-heart Surgery, IEEE Journal of Biomedical and Health Informatics, vol. 18, no. 1, pp. 157-166, 2014. (IEEEXplore) (Postprint)
  65. Farzad Hashemzadeh, Iraj Hassanzadeh, Mahdi Tavakoli, Teleoperation in the Presence of Varying Time Delays and Sandwich Linearity in Actuators, Automatica (A Journal of IFAC), vol. 49, no. 9, pp. 2813–2821, 2013. (ScienceDirect) (Postprint) (Video)
  66. Ali Jazayeri, Mahdi Tavakoli, A Passivity Criterion for Sampled-data Bilateral Teleoperation Systems, IEEE Transactions on Haptics, vol. 6, no. 3, pp. 363-369, 2013. (IEEEXplore) (Postprint)
  67. Ali Jazayeri and Mahdi Tavakoli, Absolute Stability Analysis of Sampled-Data Scaled Bilateral Teleoperation Systems, Control Engineering Practice (A Journal of IFAC), vol. 21, no. 8, pp. 1053–1064, 2013. (ScienceDirect) (Postprint)
  68. Thomas Lehmann, Mahdi Tavakoli, Nawaid Usmani, Ronald Sloboda, Force Sensor Based Estimation of Needle Tip Deflection in Brachytherapy, Journal of Sensors (Special Issue on Sensors for Robotics), 2013. (Journal) (BibTex) (Pdf)
  69. Rachael L'Orsa, Chris Macnab, Mahdi Tavakoli, Introduction to Haptics for Neurosurgeons, Neurosurgery (Virtual Reality and Robotics in Neurosurgery Supplement), invited paper, vol. 72, pp. A139–A153, 2013. (Journal) (PubMed) (BibTex) (Pdf)
  70. A. Mohammadi, M. Tavakoli, H.J. Marquez, F. Hashemzadeh, Nonlinear Disturbance Observer Design For Robotic Manipulators, Control Engineering Practice (A Journal of IFAC), vol. 21, no. 3, pp. 253-267, 2013. (ScienceDirect) (BibTex) (Postprint)
  71. Minh Quyen Le, Minh Tu Pham, Mahdi Tavakoli, Richard Moreau, Jean-Pierre Simon, Tanneguy Redarce, Bilateral Control of a Nonlinear Pneumatic Teleoperation System with Solenoid Valves, IEEE Transactions on Control Systems Technology, vol. 21, no. 4, pp. 1463-1470, 2012. (IEEEXplore) (Postprint)
  72. Farzad Hashemzadeh, Iraj Hassanzadeh, Mahdi Tavakoli, Ghasem Alizadeh, Adaptive Control for State Synchronization of Nonlinear Haptic Telerobotic Systems with Asymmetric Varying Time Delays, Journal of Intelligent and Robotic Systems, vol. 68, no. 3-4, pp. 245-259, 2012. (SpringerLink) (BibTex) (Pdf)
  73. Farzad Hashemzadeh, Iraj Hassanzadeh, Mahdi Tavakoli, Ghasem Alizadeh, A New Method for Bilateral Teleoperation Passivity under Varying Time Delays, Mathematical Problems in Engineering, 2012. (Journal) (BibTex) (Pdf)
  74. R. Moreau, M.T. Pham, M. Tavakoli, M.Q. Le, T. Redarce, Sliding-Mode Bilateral Teleoperation Control Design for Master-Slave Pneumatic Servo Systems, Control Engineering Practice (A Journal of IFAC), vol. 20, no. 6, pp. 584–597, 2012. (ScienceDirect) (BibTex) (Postprint)
  75. Sean Hodgson, Minh-Quyen Le, Mahdi Tavakoli, Minh-Tu Pham, Improved Tracking and Switching Performance of an Electro-Pneumatic Positioning System, Mechatronics (A Journal of IFAC), vol. 22, no. 1, pp. 1-12, 2012. (ScienceDirect) (BibTex) (Postprint)
  76. X. Liu and M. Tavakoli, Adaptive Control of Teleoperation Systems with Linearly and Nonlinearly Parameterized Dynamic Uncertainties, ASME Journal of Dynamic Systems, Measurement and Control, vol. 134, no. 2, 2012. (ASME Digital Library) (BibTex) (Postprint)
  77. Alireza Mohammadi, Mahdi Tavakoli, Horacio J. Marquez, Disturbance Observer-Based Control of Nonlinear Haptic Teleoperation Systems, IET Control Theory & Applications, vol. 5, no. 17, pp. 2063-2074, 2011. (IEEEXplore) (BibTex) (Postprint)
  78. Xia Liu, Mahdi Tavakoli, Adaptive Inverse Dynamics Four-Channel Control of Uncertain Nonlinear Teleoperation Systems, Advanced Robotics, vol. 25, no. 13-14, 2011. (Taylor & Francis Online) (BibTex)(Postprint)
  79. Michael C. Yip, Mahdi Tavakoli, Robert D. Howe, Performance Analysis of a Haptic Telemanipulation Task under Time Delay, Advanced Robotics (special issue on Physical Human-Robot Interaction Through Force Interface), vol. 25, no. 5, pp. 651-673, 2011. (Taylor & Francis Online) (BibTex) (Pdf)
  80. M. Tavakoli, R.D. Howe, Haptic Effects of Surgical Teleoperator Flexibility, International Journal of Robotics Research (special issue on Medical Robotics), vol. 28, no. 10, pp. 1289-1302, 2009. (Journal) (BibTex) (Postprint)
  81. M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, Discrete-Time Bilateral Teleoperation: Modeling and Stability Analysis, IET Control Theory & Applications, vol. 2, no. 6, pp. 496-512, June 2008. (IEEEXplore) (BibTex) (pdf)
  82. A. Aziminejad, M. Tavakoli, R.V. Patel, M. Moallem, Stability and Performance in Delayed Bilateral Teleoperation: Theory and Experiments, Control Engineering Practice (A Journal of IFAC), vol. 16, no. 11, pp. 1329-1343, November 2008. (ScienceDirect) (BibTex) (Pdf)
  83. A. Aziminejad, M.Tavakoli, R.V. Patel, M. Moallem, Transparent Time-Delayed Bilateral Teleoperation Using Wave Variables, IEEE Transactions on Control Systems Technology, vol. 16, no. 3, pp. 548-555, May 2008. (IEEEXplore) (BibTex) (Pdf)
  84. A. Aziminejad, M. Tavakoli, R.V. Patel, M. Moallem, Improving Transparency in Delay-free and Delayed Teleoperation: A Generalized 4-Channel Control Architecture, International Journal of Factory Automation, Robotics and Soft Computing, no. 1, pp.60-69, January 2008. (Journal)
  85. M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, High-Fidelity Bilateral Teleoperation Systems and the Effect of Multimodal Haptics, IEEE Transactions on Systems, Man, and Cybernetics - Part B, vol. 37, no. 6, pp. 1512-1528, December 2007. (IEEEXplore) (BibTex)(pdf)
  86. M. Tavakoli, R.V. Patel, M. Moallem, A Haptic Interface for Computer-Integrated Endoscopic Surgery and Training, Virtual Reality (special issue on Haptic Interfaces and Applications), vol. 9, no. 2-3, pp. 160-176, March 2006. (SpringerLink) (BibTex) (pdf)
  87. M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, Methods and Mechanisms for Contact Feedbackin a Robot-Assisted Minimally Invasive Environment, Surgical Endoscopy and Other Interventional Techniques, vol. 10, no. 20, pp. 1570-1579, October 2006. (SpringerLink) (PubMed) (pdf)
  88. M. Tavakoli, R.V. Patel, M. Moallem, Haptic Interaction in Robot-Assisted Endoscopic Surgery: A Sensorized End Effector, The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 1, no. 2, pp. 53-63, January 2005. (Wiley InterScience) (BibTex) (pdf)
  89. M. Tavakoli, H.D. Taghirad, M. Abrishamchian, Identification and Robust H Control of the Rotational/Translational Actuator System, International Journal of Control, Automation, and Systems, vol. 3, no.3, pp. 387-396, September 2005. (Journal) (pdf)

Theses:

  1. Mohsen Khadem, "Modeling and Control of Robotics-assisted Needle Steering in Soft Tissue," PhD thesis, August 2017.
  2. Michael Waine, "Needle Shape Visualization, Tracking and Steering Control for Permanent Prostate Brachytherapy Applications," MSc thesis, May 2016.
  3. Meaghan Bowthorpe, "Control for Robot-assisted Image-guided Beating-Heart Surgery," PhD thesis, Oct 2015. (Dissertations database) (Pdf)
  4. Ran Tao, "Haptic Teleoperation Based Rehabilitation Systems for Task-Oriented Therapy," MSc thesis, November 2014. (Dissertations database) (Pdf)
  5. Noushin Miandashti, "Stability of Haptic Virtual Environments and Teleoperation Systems: Effects of Sampled-data Control, Communication Delay and Active Operator," MSc thesis, August 2013. (Dissertations database) (Pdf)
  6. Matthew Dyck, "Measuring the Dynamic Impedance of the Human Arm," MSc thesis, August 2013. (Dissertations database) (Pdf)
  7. Ali Jazayeri, "Stability of Bilateral Teleoperation Systems: Effect of Sampled-data Control and Non-passivity or Strict-Passivity of Terminations," PhD thesis, June 2013. (Dissertations database) (Pdf)
  8. Thomas Lehmann, "Development of a Surgical Assistant System for Needle Adjustment in Prostate Brachytherapy," MSc thesis (joint with Hochschule Furtwangen University, Germany), May 2013. (Pdf)
  9. Arefeh Boroomand, "Modeling and Control of A Flexible Needle in Soft Tissue," MSc thesis, December 2012. (Dissertations database) (Pdf)
  10. Victor Mendez, "Stability of Multilateral Haptic Teleoperation Systems," MSc thesis, December 2012. (Dissertations database) (Pdf)
  11. Sean Hodgson, "Sliding-Mode Control of Pneumatic Actuators for Robots and Telerobots," MSc thesis, December 2011. (Dissertations database) (Pdf)
  12. Alireza Mohammadi, "Disturbance observer design for robotic and telerobotic systems," MSc thesis, July 2011. (Dissertations database) (Pdf)

Book:

  1. M. Tavakoli, R.V. Patel, M. Moallem, A. Aziminejad, Haptics for Teleoperated Surgical Robotic Systems, New Frontiers in Robotics series, World Scientific, 2008. (Order a copy)

Book chapters:

  1. Meaghan Bowthorpe, Mahdi Tavakoli, Advances Towards Beating Heart Surgery. In Frederick T. Hawthorne (Ed.), Minimally Invasive Surgery: Evolution of Operative Techniques, Safety & Effectiveness and Long-Term Clinical Outcomes, Nova Science Publishers, ISBN 978-1-62948-839-4, 2014.
  2. Mahdi Tavakoli, Hand Haptic Perception. In R. Balasubramanian and V.J. Santos (Eds.), The Human Hand as an Inspiration for Robot Hand Development, Springer Tracts in Advanced Robotics (STAR) series, vol. 95, pp. 189-200 Springer, Heidelberg, ISBN: 978-3-319-03016-6 (Print) 978-3-319-03017-3 (Online), 2014.
  3. M. Tavakoli and R.V. Patel, Haptics in Telerobotic Systems for Minimally Invasive Surgery. In S. Kumar and J. Marescaux (Eds.), Telesurgery, Springer, ISBN 978-3-540-72998-3, 2008.
  4. A. Aziminejad, M. Tavakoli, R.V. Patel, M. Moallem, Improving Transparency in Delay-free and Delayed Teleoperation: A Generalized 4-Channel Control Architecture. In S. Pennacchio (Ed.), Recent Advances in Control Systems, Robotics and Automation (2nd ed.), International Society for Advanced Research, ISBN 978-88-901928-3-8, 2008.

Conference papers:

  1. Carlos Manuel Martinez, Mahdi Tavakoli, Learning and Robotic Imitation of Therapist’s Motion and Force for Post-disability Rehabilitation, IEEE International Conference on Systems, Man, and Cybernetics, Banff, Alberta, Canada, 2017.
  2. Carlos Rossa, Mohammad Najafi, Mahdi Tavakoli, Kimberley D. Adams, Nonlinear Workspace Mapping for Telerobotic Assistance of Upper Limb in Patients with Severe Movement Disorders, IEEE International Conference on Systems, Man, and Cybernetics, Banff, Alberta, Canada, 2017.
  3. Isao Sakamaki, Camilo Ernesto Perafan del Campo, Sandra Wiebe, Mahdi Tavakoli, Kimberley D. Adams, Assistive Technology Design and Preliminary Testing of a Robot Platform Based on Movement Intention using Low-Cost Brain Computer Interface, IEEE International Conference on Systems, Man, and Cybernetics, Banff, Alberta, Canada, 2017.
  4. Masoud Seyed Sakha, Farzad Hashemzadeh, Mahdi Tavakoli, Adaptive Control for Position and Velocity Synchronization in Bilateral Teleoperation in Presence of Stochastic Disturbances in Control Inputs, IEEE International Conference on Systems, Man, and Cybernetics, Banff, Alberta, Canada, 2017.
  5. Mohammad Najafi, Kim Adams, Mahdi Tavakoli, Robotic Learning From Demonstration of Therapist's Time-Varying Assistance to a Patient in Trajectory-Following Tasks, IEEE-RAS-EMBS International Conference on Rehabilitation Robotics, London, UK, July 2017. (pdf)
  6. Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli, Feedback-Linearization-based 3D Needle Steering in a Frenet-Serret Frame Using a Reduced Order Bicycle Model, American Control Conference, Seattle, WA, May 2017. Finalist for Best Student Paper Award. (pdf) (certificate)
  7. S. Sepehr Tabatabaei, Heidar Ali Talebi, Mahdi Tavakoli, Non-integer Variable Order Dynamic Modeling and Identification of Soft Tissue Deformation, American Control Conference, Seattle, WA, May 2017. (pdf)
  8. Thomas Lehmann, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Needle Path Control During Insertion in Soft Tissue Using a Force-Sensor-Based Deflection Estimator, IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, 2016. (pdf)
  9. Carlos Rossa, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Constrained Optimal Control of Needle Deflection for Semi-Manual Steering, IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, 2016. (pdf)
  10. Jay Carriere, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Real-time Needle Shape Prediction in Soft-Tissue based on Image Segmentation and Particle Filtering, IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, 2016. (pdf)
  11. Bita Fallahi, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Partial Estimation of Needle Tip Orientation in Generalized Coordinates in Ultrasound Image-guided Needle Insertion, IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, 2016. (pdf)
  12. Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, Introducing Notched Flexible Needles with Increased Deflection Curvature in Soft tissue, IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, 2016. (pdf)
  13. Michael Waine, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, An Integrator-Backstepping Control Approach for Out-of-Plane Needle Deflection Minimization, IEEE International Conference on Advanced Intelligent Mechatronics, Banff, Alberta, Canada, 2016. (pdf) (Video)
  14. Maëlle Agbalé, Renz Ocampo, Mahdi Tavakoli, User’s Task Performance in Two-handed Complementary-motion Teleoperation, IEEE International Conference on Robotics and Automation, Stockholm, Sweden, 2016. (pdf)
  15. Bita Fallahi, Mohsen Khadem, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Extended Bicycle Model for Needle Steering in Soft Tissue, IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015. (pdf)
  16. Seyed Farokh Atashzar, Mahya Shahbazi, Mahdi Tavakoli, Rajnikant V. Patel, A New Passivity-Based Control Technique for Safe Patient-Robot Interaction in Haptics-Enabled Rehabilitation Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, Hamburg, Germany, 2015. (pdf)
  17. Ting Yang, Yili Fu, Mahdi Tavakoli, An Analysis of Sampling Effect on Bilateral Teleoperation System Transparency, The 34th Chinese Control Conference and SICE Annual Conference, Hangzhou, China, 2015. (pdf)
  18. Ting Yang, Yili Fu, Mahdi Tavakoli, FPAA-based Control of Bilateral Teleoperation Systems, The 34th Chinese Control Conference and SICE Annual Conference, Hangzhou, China, 2015. (pdf)
  19. Mahya Shahbazi, Seyed Farokh Atashzar, Mahdi Tavakoli, Rajnikant V. Patel, Therapist-in-the-Loop Robotics-Assisted Mirror Rehabilitation Therapy: An Assist-as-Needed Framework, IEEE International Conference on Robotics and Automation, Seattle, WA, 2015. (pdf)
  20. Michael Waine, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, 3D Shape Visualization of Curved Needles in Tissue from 2D Ultrasound Images using RANSAC, IEEE International Conference on Robotics and Automation, Seattle, WA, 2015. (pdf) (Video)
  21. Jay Carriere, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, Needle Shape Estimation in Soft Tissue Based on Partial Ultrasound Image Observation, IEEE International Conference on Robotics and Automation, Seattle, WA, 2015. (pdf)
  22. Thomas D. Lehmann, Carlos Rossa, Nawaid Usmani, Ronald sloboda, Mahdi Tavakoli, A Virtual Sensor for Needle Deflection Estimation during Soft-Tissue Needle Insertion, IEEE International Conference on Robotics and Automation, Seattle, WA, 2015. (pdf) (Video)
  23. Mohsen Khadem, Bita Fallahi, Carlos Rossa, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, A Mechanics-based Model for Simulation and Control of Flexible Needle Steering in Soft Tissue, IEEE International Conference on Robotics and Automation, Seattle, WA, 2015. (pdf) (Video)
  24. Nooshin Jafari, Kim Adams, Mahdi Tavakoli, Haptic Telerobotics: Application to Assistive Technology for Children with Disabilities, Rehabilitation Engineering and Assistive Technology Society of North America Annual Conference, Denver, CO, 2015. (pdf)
  25. Meaghan Bowthorpe, Abril Álvarez García, Mahdi Tavakoli, GPC-based Teleoperation for Delay Compensation and Disturbance Rejection in Image-guided Beating-heart Surgery, IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014. (pdf) (Video)
  26. Sean Hodgson, Mahdi Tavakoli, Minh Tu Pham, Arnaud Lelevé, Dynamical Model Averaging and PWM Based Control for Pneumatic Actuators, IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014. (pdf)
  27. Ran Tao, Mahdi Tavakoli, Multilateral Haptic System Stability Analysis: The Effect of Activity or Passivity of Terminations via a Series-Shunt Approach, IEEE Haptics Symposium, Houston, TX, 2014. (pdf)
  28. Noushin Miandashti, Mahdi Tavakoli, Stability of Sampled-Data, Delayed Haptic Interaction and Teleoperation, IEEE Haptics Symposium, Houston, TX, 2014. (pdf)
  29. Jian Li, Mahdi Tavakoli, Qi Huang, Absolute Stability of 3-DOF Bilateral Haptic Systems, 3rd IFAC International Conference on Intelligent Control and Automation Science, Chengdu, China, 2013. (pdf)
  30. Jian Li, Mahdi Tavakoli, Qi Huang, 3-DOF Trilateral Teleoperation Using A Pair of 1-DOF and 2-DOF Haptic Devices: Stability Analysis, 3rd IFAC International Conference on Intelligent Control and Automation Science, Chengdu, China, 2013. (pdf)
  31. Matthew Dyck, Mahdi Tavakoli, Measuring the Dynamic Impedance of the Human Arm Without a Force Sensor, 13th IEEE International Conference on Rehabilitation Robotics, Seattle, WA, 2013. (pdf)
  32. Meaghan Bowthorpe, Mahdi Tavakoli, Harald Becher, Robert D. Howe, Smith Predictor Based Control in Teleoperated Image-guided Beating-heart Surgery, IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2013. (pdf)
  33. Jian Li, Mahdi Tavakoli, Qi Huang, Stability Analysis of Trilateral Haptic Collaboration, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, Daejeon, Korea, 2013. (pdf)
  34. Jian Li, Mahdi Tavakoli, Victor Mendez, Qi Huang, Conservatism of Passivity Criteria for Stability Analysis of Trilateral Haptic Systems, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, Daejeon, Korea, 2013. (pdf)
  35. Matthew Dyck, Ali Jazayeri, Mahdi Tavakoli, Is the Human Operator in a Teleoperation System Passive?, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, Daejeon, Korea, 2013. (pdf)
  36. Farzad Hashemzadeh, Mahdi Tavakoli, Iraj Hassanzadeh, Haptic Teleoperation under Variable Delay and Actuator Saturation, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, Daejeon, Korea, 2013. (pdf)
  37. Noushin Miandashti, Mahdi Tavakoli, Stability Analysis of Delayed 4-Channel Bilateral Teleoperation Systems, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, Daejeon, Korea, 2013. (pdf)
  38. Ali Jazayeri, Matthew Dyck, Mahdi Tavakoli, Stability Analysis of Teleoperation Systems under Strictly Passive and Non-passive Operator, IEEE World Haptics Conference 2013, The 5th Joint Eurohaptics Conference and IEEE Haptics Symposium, Daejeon, Korea, 2013. (pdf)
  39. Ali Jazayeri, Mahdi Tavakoli, Revisiting Llewellyn's Absolute Stability Criterion for Bilateral Teleoperation Systems under Non-passive Operator or Environment, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012. (pdf)
  40. Alireza Mohammadi, Mahdi Tavakoli, Horacio Marquez, Control of Nonlinear Teleoperation Systems Subject to Disturbances and Variable Time Delays, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012. (pdf)
  41. Farzad Hashemzadeh, Iraj Hassanzadeh, Mahdi Tavakoli, Ghasem Alizadeh, Adaptive Control of Nonlinear Teleoperation Systems with Varying Asymmetric Time Delays, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012. (pdf)
  42. Sean Hodgson, Mahdi Tavakoli, Arnaud Lelevé, Minh Tu Pham, Control of a teleoperation system actuated by low-cost pneumatic on/off valves, IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, 2012. (pdf) (Video)
  43. A. Lelevé, M.T. Pham, M. Tavakoli, R. Moreau, Towards Delayed Teleoperation with Pneumatic Master and Slave for MRI, the ASME 11th Biennial Conference On Engineering Systems Design And Analysis, Nantes, France, 2012. (pdf)
  44. Alireza Mohammadi, Mahdi Tavakoli, Horacio J. Marquez, Control of Nonlinear Bilateral Teleoperation Systems Subject to Disturbances, 50th IEEE Conference on Decision and Control and European Control Conference, Orlando, FL, 2011. (pdf)
  45. Sean Hodgson, Minh-Quyen Le, Mahdi Tavakoli, Minh Tu Pham, Sliding-Mode Control of Nonlinear Discrete-Input Pneumatic Actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011. (pdf) (Video)
  46. Minh-Quyen Le, Minh Tu Pham, Mahdi Tavakoli, Richard Moreau, An Enhanced Sliding-Mode Control for a Pneumatic-Actuated Teleoperation System, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, 2011. (pdf)
  47. Ali Jazayeri, Mahdi Tavakoli, A passivity criterion for sampled-data bilateral teleoperation systems, World Haptics Conference, Istanbul, Turkey, 2011. (pdf) (Video)
  48. Alireza Mohammadi, Horacio J. Marquez, Mahdi Tavakoli, Disturbance Observer-based Trajectory Following Control of Nonlinear Robotic Manipulators, 23rd Canadian Congress of Applied Mechanics, Vancouver, BC, 2011. (pdf)
  49. Alireza Mohammadi, Mahdi Tavakoli, Ali Jazayeri, PHANSIM: A Simulink Toolkit For the SenSable PHANToM Haptic Devices, 23rd Canadian Congress of Applied Mechanics, Vancouver, BC, 2011. (pdf) (Video)
  50. Xia Liu, Mahdi Tavakoli, Inverse Dynamics-based Adaptive Control of Nonlinear Bilateral Teleoperation Systems, Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, 2011. (pdf)
  51. Xia Liu, Mahdi Tavakoli, Adaptive Control for Linearly and Nonlinearly Parameterized Dynamic Uncertainties in Bilateral Teleoperation Systems, Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, 2011. (pdf)
  52. Minh-Quyen Le, Minh Tu Pham, Mahdi Tavakoli, Richard Moreau Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves, Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, 2011. (pdf) (BibTex)
  53. Victor Mendez, Mahdi Tavakoli, A Passivity Criterion for N-Port Multilateral Haptic Systems, 2010 IEEE Conference on Decision and Control, Atlanta, GA, December 2010. (pdf)
  54. Ali Jazayeri, Mahdi Tavakoli, Stability Analysis of Sampled-Data Teleoperation Systems, 2010 IEEE Conference on Decision and Control, Atlanta, GA, December 2010. (pdf)
  55. Xia Liu, Mahdi Tavakoli, Qi Huang, Nonlinear Adaptive Bilateral Control of Teleoperation Systems with Uncertain Dynamics and Kinematics, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010. (pdf)
  56. Michael Yip, Mahdi Tavakoli, Robert D. Howe, Performance Analysis of a Manipulation Task in Time-Delayed Teleoperation, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010. (pdf)
  57. Minh-Quyen Le, Minh Tu Pham, Mahdi Tavakoli, Richard Moreau, Development of a hybrid control for a pneumatic teleoperation system using on/off solenoid valve, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010. (pdf) (BibTex)
  58. M. Tavakoli, Robert D. Howe, Haptic Implications of Tool Flexibility in Surgical Teleoperation, 2008 Haptics Symposium, Reno, NV, March 2008. (IEEEXplore) (pdf)
  59. M. Tavakoli, Robert D. Howe, Improving Teleoperation Performance in the Presence of Non-ideal Robot Dynamics, 2008 IEEE International Conference on Technologies for Practical Robot Applications, Boston, MA, November 2008. (IEEEXplore) (BibTex) (pdf)
  60. M. Tavakoli, R.D. Howe, The Effect of Joint Elasticity on Bilateral Teleoperation, 2007 International Conference on Intelligent Robots and Systems, San Diego, CA, October/November 2007. Best Paper Award Finalist. (IEEEXplore) (BibTex) (pdf)
  61. M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, Stability of Discrete-Time Bilateral Teleoperation Control, 2007 International Conference on Intelligent Robots and Systems, San Diego, CA, October/November 2007. (IEEEXplore) (BibTex) (pdf)
  62. M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, Enhanced Transparency in Haptics-Based Master-Slave Systems, In Proceedings of the 2007 American Control Conference, New York, NY, July 2007. (IEEEXplore) (BibTex) (pdf)
  63. A. Aziminejad, M. Tavakoli, R.V. Patel, M. Moallem, Wave-Based Time Delay Compensation in Bilateral Teleoperation: Two-Channel versus Four-Channel Architectures, 2007 American Control Conference, New York, NY, July 2007. (IEEEXplore) (BibTex) (pdf)
  64. A. Aziminejad, M. Tavakoli, R.V. Patel, M. Moallem, Bilateral Delayed Teleoperation: The Effects of Passivated Channel Model and Force Sensing, 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, April 2007. (IEEE Xplore) (BibTex) (pdf)
  65. M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, Multi-Sensory Force/Deformation Cues for Stiffness Characterization in Soft-Tissue Palpation, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 837-840, New York, NY, August/September 2006. (IEEE Xplore) (pdf)
  66. M. Tavakoli, A. Aziminejad, R.V. Patel, M. Moallem, Tool/Tissue Interaction Feedback Modalities in Robot-Assisted Lump Localization, 28th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 3854-3857, New York, NY, August/September 2006. (IEEE Xplore) (pdf)
  67. M. Tavakoli, R.V. Patel, M. Moallem, Bilateral Control of a Teleoperator for Soft Tissue Palpation: Design and Experiments, 2006 IEEE International Conference on Robotics and Automation, pp. 3280-3285, Orlando, FL, May 2006. (IEEE Xplore) (BibTex) (pdf)
  68. M. Tavakoli, R.V. Patel, M. Moallem, Adaptive Inverse Dynamics Control of a PHANToM Haptic Device, 2006 IEEE International Conference on Robotics and Automation, pp. 4354-4356, Orlando, FL, May 2006.
  69. M. Tavakoli, R.V. Patel, M. Moallem, Robotic Suturing Forces in the Presence of Haptic Feedback and Sensory Substitution, 2005 IEEE Conference on Control Applications, pp. 1-6, Toronto, Canada, August 2005. (IEEE Xplore) (BibTex) (pdf)
  70. R. Rayman, S. Primak, R. Patel, M. Moallem, R. Morady, M. Tavakoli, V. Subotic, N. Galbraith, A.van Wynsberghe, K. Croome, Effects of Latency on Telesurgery: An Experimental Study, 8th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI ’05), pp. 57-64, Palm Springs, CA, October 2005. (SpringerLink) (PubMed) (BibTex) (pdf)
  71. M. Tavakoli, R.V.Patel, M. Moallem, Haptic Feedback and Sensory Substitution during Telemanipulated Suturing, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoeprator Systems (World Haptics), Pisa, Italy, March 2005. (IEEE Xplore) (BibTex) (pdf)
  72. M. Tavakoli, R.V.Patel, M. Moallem, Design Issues in a Haptics-Based Master-Slave System for Minimally Invasive Surgery, 2004 IEEE International Conference on Robotics and Automation, pp. 371-376, New Orleans, LA, April 2004. (IEEE Xplore) (BibTex) (pdf)
  73. M. Tavakoli, R.V. Patel, M. Moallem, A Force Reflective Master-Slave System for Minimally Invasive Surgery, 2003 IEEE/RSJ InternationalConference on Intelligent Robots and Systems, pp. 3077-3082, Las Vegas, NV, October 2003. (IEEE Xplore) (BibTex) (pdf)
  74. M. Tavakoli, H.D. Taghirad, M. Abrishamchian, Parametric and Nonparametric Identification and Robust Control of a Rotational/Translational Actuator, Fourth International Conference on Control and Automation, pp. 765-769, Montreal, Canada, June 2003. (IEEE Xplore) (BibTex) (pdf)
  75. S. Tavakoli, M. Tavakoli, Optimal Tuning of PID Controllers for First Order PlusTime Delay Models Using Dimensional Analysis, Fourth International Conference on Control and Automation, pp. 942-946, Montreal, Canada, June 2003. (IEEE Xplore)
  76. S. Tavakoli, M. Tavakoli, Stable Optimal Order Reduction via Combined Genetic Algorithms and Simulated Annealing, 7th Iranian Conference on Electrical Engineering, pp. 69-76, Tehran, Iran, June 1999.
  77. M. Abrishamchian, H.D. Taghirad, M. Tavakoli, Identification for Control of a Rotational/Translational Actuator, 7th Iranian Conference on Electrical Engineering, pp. 81-86, Tehran, Iran, June 1999.

Patent activities:

  1. C. Rossa, R. Sloboda, N. Usmani, M. Tavakoli, "Hand-held device and computer-implemented system and method for assisted steering of a percutaneously inserted needle," May 2016. Canadian/US patent application 62/337.785.
  2. R.V. Patel, A.L. Trejos, M. Tavakoli and M.D. Naish, “Sensorized medical instrument,” Provisional patent application # 61/006,443 submitted January 14th, 2008. PCT Application # PCT/CA2009/000021, filed January 8th, 2009. (USPTO) (Google Patents) (Pdf)
  3. M. Tavakoli, R.V. Patel, M. Moallem, “Force Reflective Robotic Control System and Minimally Invasive Surgical Device”. United States Patent Application published 01/25/2007. (USPTO) (Google Patents) (Pdf)