Publications

Please also see our video collection for additional project-specific information on our research and follow our Google Scholar and ResearchGate feeds to be notified about our new publications.

All of the author's postprints are released with a Creative Commons Attribution Non-Commercial No-Derivatives License.

Journal papers

  1. Yafei Ou, Mahdi Tavakoli, Autonomous Soft-Tissue Needle Steering Using Reinforcement Learning Guided by Human Input, Journal of Medical Robotics Research, 2024.
  2. Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli, Stability and Intervehicle Distance Analysis of Vehicular Platoons: Highlighting the Impact of Bidirectional Communication Topologies, IEEE Transactions on Control Systems Technology, 2024. (IEEEXplore) (Postprint) (Video)
  3. Elizabeth Mirekuwaa Darko, Manal Kleib, Gillian Lemermeyer, Mahdi Tavakoli, Robotics in Nursing: Protocol for a Scoping Review, JMIR Research Protocols, vol. 12, 2023. (Journal)
  4. Yao Zhang, Olyvia Wang, Yanqing Wang, Mahdi Tavakoli, Bin Zheng, Enhancing Skill Learning with Dual-User Haptic Feedback: Insights from a Task-Specific Approach, Frontiers in Robotics and AI (section Haptics), 2023. (Frontiers)
  5. Yafei Ou, Sadra Zargarzadeh, Mahdi Tavakoli, Robot Learning Incorporating Human Interventions in the Real World for Autonomous Surgical Endoscopic Camera Control, Journal of Medical Robotics Research, 2023. (World Scientific) (Postprint) (Video)
  6. Paniz Sedighi, Xingyu Li, Mahdi Tavakoli, EMG-Based Intention Detection Using Deep Learning for Shared Control in Upper-Limb Assistive Exoskeletons, IEEE Robotics and Automation Letters, 2023. (IEEEXplore) (Postprint) (Video)
  7. Mojtaba Akbari, Javad K. Mehr, Lei Ma, Mahdi Tavakoli, Uncertainty-aware Safe Adaptable Motion Planning of Lower-limb Exoskeletons Using Random Forest Regression, Mechatronics (A Journal of IFAC), 2023. (ScienceDirect) (Postprint)
  8. Teng Li, Armin Badre, Farshid Alambeigi, and Mahdi Tavakoli, Robotic Systems and Navigation Techniques in Orthopedics: A Historical Review, Applied Sciences (section Robotics and Automation) special issue Surgical Robotics Design and Clinical Applications, vol. 13, no. 17, 2023. (Journal) (Postprint)
  9. Ali Golabchi, Negar Riahi, Mackenzie Fix, Linda Miller, Hossein Rouhani, Mahdi Tavakoli, A framework for evaluation and adoption of industrial exoskeletons, Applied Ergonomics, Vol. 113, 2023. (ScienceDirect) (Postprint)
  10. Teng Li, Hongjun Xing, Ehsan Hashemi, Hamid D. Taghirad, Mahdi Tavakoli, A Brief Survey of Observers for Disturbance Estimation and Compensation, Robotica, 2023. (Journal) (Postprint) (Video)
  11. Farzad Aghazadeh, Bin Zheng, Mahdi Tavakoli, Hossein Rouhani, Surgical Tooltip Motion Metrics Assessment Using Virtual Marker: An Objective Approach to Skill Assessment for Minimally Invasive Surgery, International Journal of Computer Assisted Radiology and Surgery, 2023.
  12. Mehrnoosh Afshar, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli, Registration of Deformed Tissue: A GNN-VAE Approach with Data Assimilation for Sim-to-Real Transfer, IEEE/ASME Transactions on Mechatronics, 2023. Also, selected for presentation at the 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Seattle, USA. (IEEEXplore) (Postprint)
  13. Xun Wang, Karla Beltran Martinez, Ali Golabchi, Mahdi Tavakoli, Hossein Rouhani, A Dynamic Procedure to Detect Maximum Voluntary Contraction in Low Back, Sensors, 2023. (Journal)
  14. Katelyn Brehon, Jay Carriere, Katie Churchill, Adalberto Loyola-Sanchez, Elizabeth Papathanassoglou, Rob MacIsaac, Mahdi Tavakoli, Chester Ho, Kiran Pohar Manhas, Evaluating Efficiency of a Provincial Telerehabilitation Service in Improving Access to Care During the COVID-19 Pandemic, International Journal of Telerehabilitation, vol. 15, no. 1, 2023. (Journal) (Postprint)
  15. Ali Golabchi, Niromand Jasimi Zindashti, Linda Miller, Hossein Rouhani, Mahdi Tavakoli, Performance and effectiveness of a passive back-support exoskeleton in manual material handling tasks in the construction industry, Construction Robotics, 2023. (SpringerLink) (SharedIt) (Postprint)
  16. Farzad Aghazadeh, Bin Zheng, Mahdi Tavakoli, Hossein Rouhani, Motion Smoothness-Based Assessment of Surgical Expertise: The Importance of Selecting Proper Metrics, Sensors (section Wearables) special issue Sensors and Signal Processing for Biomedical Application, 2023. (Journal)
  17. Yafei Ou, Mahdi Tavakoli, Sim-to-Real Surgical Robot Learning and Autonomous Planning for Internal Tissue Points Manipulation using Reinforcement Learning, IEEE Robotics and Automation Letters, 2023. (IEEEXplore) (Postprint) (Video)
  18. Hongjun Xing, Zhaopei Gong, Liang Ding, Ali Torabi, Jinbao Chen, Haibo Gao, Mahdi Tavakoli, An Adaptive Multi-objective Motion Distribution Framework for Wheeled Mobile Manipulators via Null-space Exploration, Mechatronics (A Journal of IFAC), 2023. (Science Direct) (Postprint)
  19. Haibo Cui, Kaizhe Hou, Jiarui Zhang, Siqi Yan, Mudasser Seraj, Yingke Wang, Tony Z. Qiu, Mahdi Tavakoli, Vision-Based Work Zone Safety Alert System in a Connected-Vehicle Environment, Transportation Research Record, 2023.
  20. Javad K. Mehr, Mojtaba Akbari, Pouria Faridi, Hongjun Xing, Vivian K. Mushahwar, Mahdi Tavakoli, Artificial-Intelligence-Powered Lower-limb Assistive Devices: Future of Homecare Technologies, Advanced Intelligent Systems, 2023. (Wiley Online Library) (Postprint)
  21. Mehrnoosh Afshar, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli, A Model-Based Multi-Point Tissue Manipulation Approach for Enhancing Breast Brachytherapy, IEEE Transactions on Medical Robotics and Bionics, 2022. (IEEEXplore) (Postprint)
  22. Isao Sakamaki, Mahdi Tavakoli, Sandra Wiebe, Kim Adams, Examination of effectiveness of kinaesthetic haptic feedback for motor imagery-based brain-computer interface training, Brain-Computer Interfaces, 2022. (Taylor & Francis Online) (Postprint)
  23. Ru Sun, Ting Yang, Liang Zhang, Yili Fu, Mahdi Tavakoli, Haptic Virtual Surgery Simulation System under Field Programmable Analogue Array-Based Hybrid Control, Scientific Reports, 2022. (Nature) (Postprint)
  24. Rajni V. Patel, S. Farokh Atashzar, Mahdi Tavakoli, Haptic Feedback and Force-Based Teleoperation in Surgical Robotics, Proceedings of the IEEE, vol. 110, no. 7, pp. 1012-1027, 2022. (IEEEXplore) (Postprint)
  25. Abed Soleymani, Xingyu Li, Mahdi Tavakoli, A Domain-Adapted Machine Learning Approach for Visual Evaluation and Interpretation of Robot-Assisted Surgery Skills, IEEE Robotics and Automation Letters, 2022. Also, selected for presentation at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan. (IEEEXplore) (Postprint) (Video) (Presentation Video)
  26. Mehrnoosh Afshar, Jay Carriere, Hossein Rouhani, Tyler Meyer, Ronald Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli, Accurate Tissue Deformation Modelling Using a Kalman Filter and ADMM-based Projective Dynamics, IEEE/ASME Transactions on Mechatronics, 2022. Also, selected for presentation at the 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Hokkaido, Japan. (IEEEXplore) (Postprint)
  27. Katelyn Brehon, Jay Carriere, Katie Churchill, Adalberto Loyola-Sanchez, Petra O’Connell, Elisavet Papathanassoglou, Rob MacIsaac, Mahdi Tavakoli, Chester Ho, Kiran Pohar Manhas, Evaluating the impact of a novel telerehabilitation service to address neurological, musculoskeletal, or coronavirus disease 2019 rehabilitation concerns during the coronavirus disease 2019 pandemic, Digital Health, 2022. (Journal)
  28. Teng Li, Xiao Meng, Mahdi Tavakoli, Dual Mode pHRI-teleHRI Control System with a Hybrid Admittance-Force Controller for Ultrasound Imaging, Sensors, vol. 22, no. 11, 2022. (Journal) (Postprint) (Video)
  29. Liang Ding, Hongjun Xing, Ali Torabi, Javad K. Mehr, Mojtaba Sharifi, Haibo Gao, Vivian K. Mushahwar, Mahdi Tavakoli, Intelligent Assistance for Older Adults via an Admittance-Controlled Wheeled Mobile Manipulator with Task-Dependent End-Effectors, Mechatronics special issue Physical Human-Robot Interaction and Co-Manipulation: Mechatronics Approaches, 2022. (Science Direct) (Postprint) (Video)
  30. Ana Luisa Trejos, S. Farokh Atashzar, Simon DiMaio, Patrick M Pilarski, Mahdi Tavakoli, Editorial: Robotics, Autonomous Systems and AI for Nonurgent/Nonemergent Healthcare Delivery During and After the COVID-19 Pandemic, Frontiers in Robotics and AI, section Biomedical Robotics, 2022. (Frontiers) (Postprint)
  31. Yuhan Xiong, Di-Hua Zhai, Mahdi Tavakoli, Yuanqing Xia, Discrete-time Control Barrier Function: High-order Case and Adaptive Case, IEEE Transactions on Cybernetics, 2022. (IEEEXplore) (Postprint)
  32. Abed Soleymani, Xingyu Li, Mahdi Tavakoli, Surgical Procedure Understanding, Evaluation, and Interpretation: A Dictionary Factorization Approach, IEEE Transactions on Medical Robotics and Bionics, 2022. (IEEEXplore) (Postprint)
  33. Liang Ding, Hongjun Xing, Haibo Gao, Ali Torabi, Weihua Li, Mahdi Tavakoli, VDC-Based Admittance Control of Multi-DOF Manipulators Considering Joint Flexibility via Hierarchical Control Framework, Control Engineering Practice (A Journal of IFAC), 2022. (Science Direct) (Postprint) (Video)
  34. Ali Golabchi, Andrew Chao, Mahdi Tavakoli, A Systematic Review of Industrial Exoskeletons for Injury Prevention: Efficacy Evaluation Metrics, Target Tasks, and Supported Body Postures, Sensors, vol. 22, no. 7, 2022. (Journal) (Postprint)
  35. Javier L. Castellanos-Cruz, María F. Gómez-Medina, Mahdi Tavakoli, Patrick Pilarski, Kim D Adams, Preliminary testing of eye gaze interfaces for controlling a haptic system intended to support play in children with physical impairments: Attentive versus explicit interfaces, Journal of Rehabilitation and Assistive Technologies Engineering, 2022. (SAGE Journals) (Postprint)
  36. Jay Carriere, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli, Autonomous Prostate Segmentation in 2D B-Mode Ultrasound Images, Applied Sciences special issue Innovations in Ultrasound Imaging for Medical Diagnosis, 2022. (Journal)
  37. Hongjun Xing, Liang Ding, Haibo Gao, Weihua Li, and Mahdi Tavakoli, Dual-User Haptic Teleoperation of Complementary Motions of a Redundant Wheeled Mobile Manipulator Considering Task Priority, IEEE Transactions on Systems, Man and Cybernetics: Systems, 2022. (IEEEXplore) (Postprint) (Video)
  38. Mojtaba Sharifi, Javad Khodaei Mehr, Vivian K. Mushahwar, Mahdi Tavakoli, Autonomous Locomotion Trajectory Shaping and Nonlinear Control for Lower-Limb Exoskeletons, IEEE/ASME Transactions on Mechatronics, 2022. (IEEEXplore) (Postprint) (Video)
  39. Mojtaba Sharifi, Javad Khodaei Mehr, Vivian K. Mushahwar, Mahdi Tavakoli, Adaptive CPG-based Gait Planning with Learning-based Torque Estimation and Control for Lower-limb Exoskeletons, IEEE Robotics and Automation Letters, 2021. (IEEEXplore) (Postprint) (Video)
  40. S. Sepehr Tabatabaei, Mahdi Tavakoli, Heidar Ali Talebi, A Finite-Time Adaptive Order Estimation Approach for Non-integer Order Nonlinear Systems, ISA Transactions, 2021. (ScienceDirect) (Postprint)
  41. Thomas Lehmann, Dylan Rose, Ehsan Ranjbar, Morteza Ghasri-Khouzani, Mahdi Tavakoli, Hani Henein, Tonya Wolfe, Ahmed Jawad Qureshi, Large-scale Metal Additive Manufacturing: A Holistic Review of the State of the Art and Challenges, International Materials Reviews, 2021. (Taylor & Francis Online)
  42. Hongjun Xing, Ali Torabi, Liang Ding, Haibo Gao, Weihua Li, Mahdi Tavakoli, Enhancing Kinematic Accuracy of Redundant Wheeled Mobile Manipulators via Adaptive Motion Planning, Mechatronics (A Journal of IFAC), 2021. (ScienceDirect) (Postprint) (Video)
  43. Mojtaba Sharifi, Vahid Azimi, Vivian Mushahwar, Mahdi Tavakoli, Impedance Learning-based Adaptive Control for Human-Robot Interaction, IEEE Transactions on Control Systems Technology, 2021. (IEEEXplore) (Postprint) (Video)
  44. Javad Khodaei-Mehr, Mojtaba Sharifi, Vivian K. Mushahwar, Mahdi Tavakoli, Intelligent Locomotion Planning with Enhanced Postural Stability for Lower-Limb Exoskeletons, IEEE Robotics and Automation Letters, 2021. Also, selected for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. (IEEEXplore) (Postprint) (Presentation Video)
  45. Katelyn Brehon, Jay Carriere, Katie Churchill, Adalberto Loyola-Sanchez, Petra O'Connell, Elisavet Papathanasoglou, Rob MacIsaac, Mahdi Tavakoli, Chester Ho, Kiran Pohar Manhas, Evaluating Community-Facing Virtual Modalities to Support Complex Neurological Populations During the COVID-19 Pandemic: Protocol for a Mixed Methods Study, JMIR Research Protocols, 2021. (Journal)
  46. Ali Torabi, Ali A. Nazari, Everly Conrad-Baldwin, Kourosh Zareinia, Mahdi Tavakoli, Kinematic Design of Linkage-based Haptic Interfaces for Medical Applications: A Review, Progress in Biomedical Engineering, 2021. (IOPScience) (Postprint)
  47. Wanyu Liu, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Zhiyong Yang, Mahdi Tavakoli, Intraoperative optimization of seed implantation plan in breast brachytherapy, International Journal of Computer Assisted Radiology and Surgery, 2021. (SpringerLink) (SharedIt) (Postprint)
  48. Mojtaba Akbari, Jay Carriere, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli, Robotic Ultrasound Scanning with Real-Time Image-based Force Adjustment: Quick Response for Enabling Physical Distancing During the COVID-19 Pandemic, Frontiers in Robotics and AI (section Biomedical Robotics) special issue Applying Robotics and AI in Pandemics (COVID-19): Detection, Diagnosis and Delivery, 2021. (Frontiers) (Postprint)
  49. Amir Zakerimanesh, Mojtaba Sharifi, Farzad Hashemzadeh, Mahdi Tavakoli, Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems with Synchronization Enhancement, IEEE Robotics and Automation Letters, 2021. Also, selected for presentation at the IEEE International Conference on Robotics and Automation, Xi'an, China, 2021. (IEEEXplore) (Postprint) (Presentation Video)
  50. S. Farokh Atashzar, Jay Carriere, Mahdi Tavakoli, Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults with Neuro-Musculoskeletal Conditions?, Frontiers in Robotics and AI (section Biomedical Robotics), special issue Robotics, Autonomous Systems and AI for Nonurgent/Nonemergent Healthcare Delivery During and After the COVID-19 Pandemic, 2021. (Frontiers) (Postprint)
  51. Navid Feizi, Mahdi Tavakoli, Rajnikant Patel, S. Farokh Atashzar, Robotics and AI for Teleoperation, Tele-assessment, and Tele-training for Surgery in the Era of COVID-19: Existing Challenges, and Future Vision, Frontiers in Artificial Intelligence (section Biomedical Robotics), special issue Robotics, Autonomous Systems and AI for Nonurgent/Nonemergent Healthcare Delivery During and After the COVID-19 Pandemic, 2021. (Frontiers) (Postprint)
  52. Hongjun Xing, Ali Torabi, Liang Ding, Haibo Gao, Zongquan Deng, Vivian K. Mushahwar, Mahdi Tavakoli, An Admittance-Controlled Wheeled Mobile Manipulator for Mobility Assistance: Human-Robot Interaction Estimation and Redundancy Resolution for Enhanced Force Exertion Ability, Mechatronics (A Journal of IFAC), 2021. (ScienceDirect) (Postprint) (Video)
  53. Lingbo Cheng, Mahdi Tavakoli, Neural Network-Based Physiological Organ Motion Prediction and Robot Impedance Control for Teleoperated Beating-Heart Surgery, Biomedical Signal Processing and Control, 2021. (ScienceDirect) (Postprint)
  54. Jay Carriere, Hareem Shafi, Katelyn Brehon, Kiran Pohar Manhas, Katie Churchill, Chester Ho, Mahdi Tavakoli, Case Report: Utilizing AI and NLP to Assist With Healthcare and Rehabilitation during the COVID-19 Pandemic, Frontiers in Artificial Intelligence (section Medicine and Public Health), special issue Robotics, Autonomous Systems and AI for Nonurgent/Nonemergent Healthcare Delivery During and After the COVID-19 Pandemic, 2021. (Frontiers) (Postprint)
  55. S. Farokh Atashzar, Mahdi Tavakoli, Dario Farina, Rajni V. Patel, Editorial: Autonomy and Intelligence in Neurorehabilitation Robotic and Prosthetic Technologies, Journal of Medical Robotics Research, vol. 05, no. 01n02, 2020. (World Scientific)
  56. Fangshi Lu, Betty Wang, Paola Sanchez, Ahmad I. Kathrada, Mahdi Tavakoli, Bin Zheng, Periodic Kinesthetic Guidance Cannot Expedite Learning Surgical Skills, Surgical Innovation, 2020. (SAGE Journals) (Postprint)
  57. Lingbo Cheng, Maryam Kalvandi, Sheri McKinstry, Ali Maddahi, Ambika Chaudhary, Yaser Maddahi, Mahdi Tavakoli, Application of DenTeach in Remote Dentistry Teaching and Learning during the COVID-19 Pandemic: A Case Study, Frontiers in Robotics and AI (section Biomedical Robotics), special issue Robotics, Autonomous Systems and AI for Nonurgent/Nonemergent Healthcare Delivery During and After the COVID-19 Pandemic, 2020. (Frontiers) (Postprint)
  58. Carlos Rossa, Mohammad Najafi, Mahdi Tavakoli, Kim Adams, Robotic rehabilitation and assistance for individuals with movement disorders based on a kinematic model of the upper limb, IEEE Transactions on Medical Robotics and Bionics, 2021. (IEEEXplore) (Postprint)
  59. Mojtaba Sharifi, Amir Zakerimanesh, Javad Khodaei-Mehr, Ali Torabi, Vivian Mushahwar, Mahdi Tavakoli, Impedance Variation and Learning Strategies in Human-Robot Interaction, IEEE Transactions on Cybernetics, 2021. (IEEEXplore) (Postprint)
  60. Lingbo Cheng, Jay Carriere, Jakub Piwowarczyk, Daniel Aalto, Nabil Zemiti, Marie de Boutray, Mahdi Tavakoli, Admittance-Controlled Robotic Assistant for Fibula Osteotomies in Mandible Reconstruction Surgery, Advanced Intelligent Systems, 2020. (Wiley Online Library) (Postprint) (Video)
  61. Lingbo Cheng, Mahdi Tavakoli, COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation, Frontiers in Robotics and AI (section Biomedical Robotics), special issue Applying Robotics and AI in Pandemics (COVID-19): Detection, Diagnosis and Delivery, 2020. (Frontiers) (Postprint)
  62. Iman Sharifi, Ali Talebi, Rajni Patel, Mahdi Tavakoli, Multi-lateral Teleoperation Based on Multi-agent Framework: Application to Simultaneous Training and Therapy in Telerehabilitation, Frontiers in Robotics and AI (section Human-Robot Interaction) special issue Legacy Disruptors in Applied Telerobotics, 2020. (Frontiers) (Postprint)
  63. Hongjun Xing, Ali Torabi, Liang Ding, Haibo Gao, Zongquan Deng, Mahdi Tavakoli, Enhancement of Force Exertion Capability of a Mobile Manipulator by Kinematic Reconfiguration, IEEE Robotics and Automation Letters, 2020. Also, selected for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, 2020. (IEEEXplore) (Postprint) (Video)
  64. Mojtaba Sharifi, Saeed Behzadipour, Hassan Salarieh, Mahdi Tavakoli, Assist-as-needed Policy for Movement Therapy Using Telerobotics-mediated Therapist Supervision, Control Engineering Practice (A Journal of IFAC), 2020. (Science Direct) (Postprint) (Video)
  65. Mahdi Tavakoli, Jay Carriere, Ali Torabi, Robotics, Smart Wearable Technologies, and Autonomous Intelligent Systems for Healthcare During the COVID‐19 Pandemic: An Analysis of the State of the Art and Future Vision, Advanced Intelligent Systems, 2020. (Wiley Online Library) (Postprint)
  66. David Asgar-Deen, Jay Carriere, Ericka Wiebe, Lashan Peiris, Aalo Duha, Mahdi Tavakoli, Augmented Reality Guided Needle Biopsy of Soft Tissue: A Pilot Study, Frontiers in Robotics and AI, 2020. (Frontiers) (Postprint)
  67. Ali Torabi, Kourosh Zareinia, Garnette Sutherland, Mahdi Tavakoli, Dynamic Reconfiguration of Redundant Haptic Interfaces for Rendering Soft and Hard Contacts, IEEE Transactions on Haptics, 2020. (IEEEXplore) (Postprint)
  68. Ali Torabi, Mohsen Khadem, Koroush Zareinia, Garnette Roy Sutherland, Mahdi Tavakoli, Using a Redundant User Interface in Teleoperated Surgical Systems for Task Performance Enhancement, Robotica, 2020. (Journal) (Postprint)
  69. Jakub Piwowarczyk, Jay Carriere, Kim Adams, Mahdi Tavakoli, An Admittance-Controlled Force-Scaling Dexterous Assistive Robotic System, Journal of Medical Robotics Research, 2020. (World Scientific) (Postprint)
  70. Jason Fong, Renz Ocampo, Douglas P. Gross, Mahdi Tavakoli, Intelligent Robotics Incorporating Machine Learning Algorithms for Improving Functional Capacity Evaluation and Occupational Rehabilitation, Journal of Occupational Rehabilitation, 2020. (SpringerLink) (SharedIt) (Postprint)
  71. Mohammad Najafi, Carlos Rossa, Kim Adams, Mahdi Tavakoli, Using Potential Field Function with a Velocity Field Controller to Learn and Reproduce the Therapist’s Assistance in Robot-Assisted Rehabilitation, IEEE/ASME Transactions on Mechatronics, 2020. (IEEEXplore) (Postprint)
  72. Ran Tao, Renz Ocampo, Jason Fong, Abed Soleymani, Mahdi Tavakoli, Modeling and Emulating a Physiotherapist’s Role in Robot-Assisted Rehabilitation, Advanced Intelligent Systems, 2020. (Wiley Online Library) (Postprint) (Video)
  73. Isao Sakamaki, Kim Adams, Mahdi Tavakoli, Sandra Wiebe, Effect of Feedback and Target Size on Eye Gaze Accuracy in an Off-screen Task, Disability and Rehabilitation: Assistive Technology, 2020. (Taylor & Francis Online) (Postprint)
  74. Javier L. Castellanos-Cruz, Maria F. Gomez-Medina, Mahdi Tavakoli, Patrick M. Pilarski, Kim Adams, Comparison of Attentive and Explicit Eye Gaze Interfaces for Controlling Haptic Guidance of a Robotic Controller, Journal of Medical Robotics Research, 2020. (World Scientific) (Postprint)
  75. Isao Sakamaki, Kim Adams, Mahdi Tavakoli, Sandra Wiebe, A Feasibility Study of Eye Gaze with Biofeedback in a Human-Robot Interface, Assistive Technology, 2020. (Taylor & Francis Online) (Postprint)
  76. Bita Fallahi, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Image-Guided Observer-Based Control for Needle Steering, IEEE Transactions on Control Systems Technology, 2019. (IEEEXplore) (Postprint)
  77. Amir Zakerimanesh, Farzad Hashemzadeh, Ali Torabi, Mahdi Tavakoli, A cooperative paradigm for task-space control of multilateral nonlinear teleoperation with bounded inputs and time-varying delays, Mechatronics (A Journal of IFAC), 2019. (ScienceDirect) (Postprint) (Video)
  78. Bita Fallahi, Michael Waine, Carlos Rossa, Ron Sloboda, Nawaid Usmani, Mahdi Tavakoli, An Integrator-Backstepping Control Approach for 3D Needle Steering, IEEE/ASME Transactions on Mechatronics, 2019. (IEEEXplore) (Postprint)
  79. Lingbo Cheng, Mahdi Tavakoli, A Multilateral Impedance-Controlled System for Haptics-Enabled Surgical Training and Cooperation in Beating-Heart Surgery, International Journal of Intelligent Robotics and Applications, 2019. (SpringerLink) (SharedIt) (Postprint) (Video)
  80. Amir Zakerimanesh, Farzad Hashemzadeh, Ali Torabi, Mahdi Tavakoli, Controlled synchronization of nonlinear teleoperation in task-space with time-varying delays, International Journal of Control, Automation and Systems, 2019. (SpringerLink) (SharedIt) (Postprint) (Video)
  81. Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Sutherland, Mahdi Tavakoli, Application of a Redundant Haptic Interface in Enhancing Soft-Tissue Stiffness Discrimination, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1037-1044, April 2019. Also, selected for publication at the IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019. (IEEEXplore) (Postprint)
  82. Renz Ocampo, Mahdi Tavakoli, Improving User Performance in Haptics-Based Rehabilitation Exercises by Colocation of User's Visual and Motor Axes via a 3D Augmented-Reality Display, IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 438-444, April 2019. (IEEEXplore) (Postprint) (Video)
  83. Jason Fong, Hossein Rouhani, Mahdi Tavakoli, A Therapist-taught Robotic System for Assistance During Gait Therapy Targeting Foot Drop, IEEE Robotics and Automation Letters (Special Issue on Intelligent Human-Robot Interaction for Rehabilitation and Physical Assistance), vol. 4, no. 2, pp. 407-413, April 2019. (IEEEXplore) (Postprint) (Video)
  84. Carlos Martínez, Mahdi Tavakoli, Learning and Reproduction of Therapist’s Semi-Periodic Motions during Robotic Rehabilitation, Robotica, 2019. (Journal) (Postprint) (Video)
  85. Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron Sloboda, Mahdi Tavakoli, Geometric Control of 3D Needle Steering in Soft-Tissue, Automatica (A Journal of IFAC), vol. 101, pp. 36-43, 2019. (ScienceDirect) (Postprint) (Video)
  86. Lingbo Cheng, Mahdi Tavakoli, Ultrasound image guidance and robot impedance control for beating-heart surgery, Control Engineering Practice (A Journal of IFAC), vol. 81, pp. 9-17, 2018. (ScienceDirect) (Postprint) (Video)
  87. Amir Zakerimanesh, Farzad Hashemzadeh, Mahdi Tavakoli, Task-Space Synchronization of Nonlinear Teleoperation with Time-Varying Delays and Actuator Saturation, International Journal of Control, 2018. (Taylor & Francis Online) (Postprint)
  88. Thomas Lehmann, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Model-based Needle Steering in Soft Tissue via Lateral Needle Actuation, IEEE Robotics and Automation Letters, 2018. Also, selected for presentation at the IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 2018. (IEEEXplore) (Postprint)
  89. Xia Liu, Mahdi Tavakoli, Bilateral Adaptive Control of Nonlinear Teleoperation Systems with Uncertain Dynamics and Dead-zone, Journal of Dynamic Systems, Measurement and Control, 2018. (ASME Digital Collection) (Postprint)
  90. Mojtaba Sharifi, Hassan Salarieh, Saeed Behzadipour, Mahdi Tavakoli, Beating-Heart Robotic Surgery Using Bilateral Impedance Control: Theory and Experiments, Biomedical Signal Processing and Control, vol. 45, pp. 256-266, 2018. (ScienceDirect) (Postprint) (Video)
  91. Ting Yang, Junfeng Hu, Wei Geng, Yili Fu, Mahdi Tavakoli, Hybrid Analog/Digital Control of Bilateral Teleoperation Systems, Journal of Dynamic Systems, Measurement and Control, 2018. (ASME Digital Collection) (Postprint)
  92. Mojtaba Sharifi, Saeed Behzadipour, Hassan Salarieh, Mahdi Tavakoli, Impedance Control of Nonlinear Multi-DOF Teleoperation Systems with Time Delay: Absolute Stability, IET Control Theory & Applications, vol. 12, pp. 1722-1729, 2018. (IEEEXplore) (Postprint) (Video)
  93. Mojtaba Sharifi, Hassan Salarieh, Saeed Behzadipour, Mahdi Tavakoli, Patient-Robot-Therapist Collaboration Using Resistive Impedance Controlled Tele-robotic Systems Subjected to Time Delays, ASME Journal of Mechanisms and Robotics, vol. 10, pp. 061003 (17 pages), 2018. (ASME Digital Collection) (Postprint) (Video)
  94. Seyed Farokh Atashzar, Mahya Shahbazi, Mahdi Tavakoli, Rajni V. Patel, A Computational Model based Study of Supervised Haptics-enabled Therapist-in-the-Loop Training for Upper-Limb Post-Stroke Robotic Rehabilitation, IEEE/ASME Transactions on Mechatronics, 2018. (IEEEXplore) (Postprint)
  95. Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, Event-triggered 3D Needle Control Using a Reduced-order Computationally Efficient Bicycle Model in a Constrained Optimization Framework, Journal of Medical Robotics Research, 2018. (World Scientific) (Postprint)
  96. Lingbo Cheng, Mahdi Tavakoli, Switched-Impedance Control of Surgical Robots in Teleoperated Beating-Heart Surgery, Journal of Medical Robotics Research, 2018. (World Scientific) (Postprint) (Video)
  97. Bita Fallahi, Ron S. Sloboda, and Mahdi Tavakoli, Applications of Observers in Medical Robotics, at - Automatisierungstechnik, Methoden und Anwendungen der Steuerungs-, Regelungs- und Informationstechnik (AT - Automation Technology: Methods and Applications of Control, Regulation, and Information Technology), 2018. (DE GRUYTER) (Postprint)
  98. Bita Fallahi, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Model Averaging and Input Transformation for 3D Needle Steering, Journal of Medical Robotics Research, 2018. (World Scientific) (Postprint)
  99. Mahya Shahbazi, Seyed Farokh Atashzar, Mahdi Tavakoli, Rajni Patel, Position-Force Domain Passivity of Human Arm in Telerobotics Systems, IEEE/ASME Transactions on Mechatronics, 2018. (IEEEXplore) (Postprint)
  100. Lingbo Cheng, Mojtaba Sharifi, Mahdi Tavakoli, Towards Robot-Assisted Anchor Deployment in Beating-Heart Mitral Valve Surgery, The International Journal of Medical Robotics and Computer Assisted Surgery, vol. 14, pp. e1900(10 pages), 2018. (Wiley Online Library) (Postprint) (Video)
  101. Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ron S. Sloboda, Mahdi Tavakoli, Robotics-assisted Needle Steering around Anatomical Obstacles using Notched Steerable Needles, IEEE Journal of Biomedical and Health Informatics, 2017. (IEEEXplore) (Postprint)
  102. Thomas Lehmann, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, Deflection Modeling for a Needle Actuated by Lateral Force and Axial Rotation During Insertion in Soft Phantom Tissue, Mechatronics (A Journal of IFAC), vol. 48, no. Supplement C, pp. 42–53, 2017. (Science Direct) (Postprint)
  103. Thomas Lehmann, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, Human-machine Collaboration Modalities for Semi-automated Needle Insertion Into Soft Tissue, IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 477–483, Jan. 2018. (IEEEXplore) (Postprint)
  104. Jay Carriere, Mohsen Khadem, Carlos Rossa, Nawaid Usmani, Ronald Sloboda, Mahdi Tavakoli, Surgeon-in-the-loop 3D Needle Steering Through Ultrasound-guided Feedback Control, IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 469-476, Jan. 2018. (IEEEXplore) (Postprint)
  105. 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. (IEEEXplore) (Postprint)
  106. 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, vol. 50, no. 1, pp. 336-347, 2020. (IEEEXplore) (Postprint)
  107. 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, vol. 26, no. 2., pp. 210-227, 2017. (IEEEXplore) (Postprint)
  108. 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), vol. 67, pp. 52-63, 2017. (ScienceDirect) (Postprint) (Video)
  109. 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. (Taylor & Francis Online) (Postprint)
  110. 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. (Taylor & Francis Online) (Postprint)
  111. 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, vol. 139, pp. 121012 (13 pages), 2017. (ASME Digital Library) (Postprint) (Video)
  112. Mojtaba Sharifi, Hassan Salarieh, Saeed Behzadipour, Mahdi Tavakoli, Tele-echography of Moving Organs Using an Impedance-controlled Telerobotic System, Mechatronics (A Journal of IFAC), vol. 45, pp. 60-70, 2017. (Science Direct) (Postprint) (Video)
  113. Alireza Mohammadi, Horacio J. Marquez, Mahdi Tavakoli, Nonlinear Disturbance Observers: Design and applications to Euler-Lagrange systems, IEEE Control Systems Magazine, 2017. (IEEEXplore) (Postprint)
  114. 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)
  115. 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. (Science Direct) (Postprint)
  116. 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), vol. 63, pp. 34-43, 2017. (Science Direct) (Postprint)
  117. Carlos Rossa, Mahdi Tavakoli, Issues in Closed-Loop Needle Steering, Control Engineering Practice (A Journal of IFAC), 2017. (Science Direct) (Postprint)
  118. 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. (Science Direct) (Postprint)
  119. 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. (Science Direct) (Postprint)
  120. 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. (SpringerLink) (SharedIt) (Postprint)
  121. 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. (SAGE journals) (Postprint)
  122. 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. (IEEEXplore) (Postprint)
  123. 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. (SpringerLink) (SharedIt) (Postprint)
  124. 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, vol. 1, pp. 43-54, 2017. (SpringerLink) (SharedIt) (Postprint)
  125. 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. (SpringerLink) (Postprint)
  126. 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)
  127. 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)
  128. 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)
  129. 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. (SAGE journals) (Postprint)
  130. 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. (IEEEXplore) (Postprint) (Video)
  131. 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)
  132. 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. (IEEEXplore) (Postprint) (Video)
  133. 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)
  134. 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)
  135. 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)
  136. 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)
  137. 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)
  138. 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)
  139. 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)
  140. 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)
  141. 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)
  142. 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) (Video)
  143. 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. 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) (Video)
  144. 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)
  145. 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)
  146. 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)
  147. 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)
  148. 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)
  149. 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)
  150. 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)
  151. 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) (Video)
  152. 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)
  153. 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)
  154. 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)
  155. 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)
  156. 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)
  157. 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)
  158. 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)
  159. 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)
  160. 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)
  161. 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).
  162. 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)
  163. Farzad Hashemzadeh, Mahdi Tavakoli, Position and Force Tracking in Nonlinear Teleoperation Systems under Varying Delays, Robotica, 2014. (Journal) (Postprint)
  164. 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)
  165. 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)
  166. 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)
  167. 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)
  168. 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)
  169. 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)
  170. 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)
  171. 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)
  172. 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)
  173. 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)
  174. 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)
  175. 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)
  176. 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)
  177. 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)
  178. 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)
  179. 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)
  180. 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)
  181. 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)
  182. 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)
  183. 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)
  184. 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)
  185. 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)
  186. 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)
  187. 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)
  188. 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. (pdf)
  189. 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)
  190. 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)
  191. 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)
  192. 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)
  193. 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. Mehrnoosh Afshar, "The Development of an Autonomous Robotic Surgical Framework for Breast Brachytherapy," PhD thesis, August 2023. (Dissertations database) (Pdf)
  2. Mojtaba Akbari, "Motion Planning of Robotic Systems in Diagnostic and Therapy Applications Using Control and AI," MSc thesis, August 2023. (Dissertations database) (Pdf)
  3. Yeon Kyu Kwak, "Sensor-Based In-situ Process Control of Robotic Wire Arc Additive Manufacturing Integrated with Machine Learning," MSc thesis, 2023.
  4. Haibo Cui, "Vision-Based Road Conditions Alert Systems in Connected Vehicle Environment for Accident-Prone Roads," MSc thesis, 2023.
  5. Mojtaba Esfandiari, "A multi-purpose continuum robot for minimally invasive surgery," MSc thesis, 2023. (University of Calgary's dissertations database).
  6. Ali Torabiparizi, "Design and Optimization of Haptic Interfaces for Robot-Assisted Neurosurgery," PhD thesis, August 2020. (Dissertations database) (Pdf)
  7. Lingbo Cheng, "Control of Teleoperation Systems for Beating-Heart Surgery," PhD thesis, August 2019. (Dissertations database) (Pdf)
  8. Jason Fong, "Intelligent Robotic Systems for Learning and Reproducing Therapeutic Interventions in Rehabilitation Medicine," MSc thesis, April 2019. (Dissertations database) (Pdf)
  9. Renz Ocampo, "Improving User Performance in Rehabilitation Exercises," MSc thesis, March 2019. (Dissertations database) (Pdf)
  10. Jay Carriere, "Ultrasound-guided robotic assistance for prostate brachytherapy," PhD thesis, January 2019. (Dissertations database) (Pdf)
  11. Bita Fallahi, "Modelling, Observation and Control of Needle Steering in Soft Tissue," PhD thesis, May 2018. (Dissertations database) (Pdf)
  12. Carlos Martínez, "Learning and Robotic Imitation of Therapist’s Behavior for Rehabilitation Therapy," MSc thesis, May 2018. (Dissertations database) (Pdf)
  13. Thomas Lehmann, "Novel Deflection Sensing and Actuation Methods for Needle Steering in Soft Tissue," PhD thesis, January 2018. (Dissertations database) (Pdf)
  14. Mohammad Najafi, "Learning Therapist's Intervention from Demonstration: Application to Robotic Assistance to Children with Cerebral Palsy," MSc thesis, January 2018. (Dissertations database) (Pdf)
  15. Mohsen Khadem, "Modeling and Control of Robotics-assisted Needle Steering in Soft Tissue," PhD thesis, August 2017. (Dissertations database) (Pdf)
  16. Michael Waine, "Needle Shape Visualization, Tracking and Steering Control for Permanent Prostate Brachytherapy Applications," MSc thesis, May 2016. (Dissertations database) (Pdf)
  17. Meaghan Bowthorpe, "Control for Robot-assisted Image-guided Beating-Heart Surgery," PhD thesis, Oct 2015. (Dissertations database) (Pdf)
  18. Ran Tao, "Haptic Teleoperation Based Rehabilitation Systems for Task-Oriented Therapy," MSc thesis, November 2014. (Dissertations database) (Pdf)
  19. 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)
  20. Matthew Dyck, "Measuring the Dynamic Impedance of the Human Arm," MSc thesis, August 2013. (Dissertations database) (Pdf) (Video 1) (Video 2)
  21. 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)
  22. 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)
  23. Arefeh Boroomand, "Modeling and Control of A Flexible Needle in Soft Tissue," MSc thesis, December 2012. (Dissertations database) (Pdf)
  24. Victor Mendez, "Stability of Multilateral Haptic Teleoperation Systems," MSc thesis, December 2012. (Dissertations database) (Pdf)
  25. Sean Hodgson, "Sliding-Mode Control of Pneumatic Actuators for Robots and Telerobots," MSc thesis, December 2011. (Dissertations database) (Pdf)
  26. Alireza Mohammadi, "Disturbance observer design for robotic and telerobotic systems," MSc thesis, July 2011. (Dissertations database) (Pdf)

Books

  1. Mahdi Tavakoli, S. Farokh Atashzar, Ana Luisa Trejos, Simon DiMaio, Patrick M. Pilarski (Eds.), Robotics, Autonomous Systems and AI for Nonurgent/Nonemergent Healthcare Delivery During and After the COVID-19 Pandemic, Frontiers Media SA (Lausanne), ISBN 978-2-88976-473-0, 2022. (Frontiers) (pdf)
  2. 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) (Google Books preview)

Book chapters

  1. Amanda McIntyre, Javad K. Mehr, Marcus Saikaley, Mahdi Tavakoli, Dalton L. Wolfe, and Ana Luisa Trejos, North America and Caribbean Region: Canada, In Michelle Jillian Johnson and Rochelle J. Mendonca (Ed.), Rehabilitation Robots for Neurorehabilitation in High, Low, and Middle Income Countries: Current Practice, Barriers, and Future Directions, Elsevier, 2023. ISBN 9780323919319. (Elsevier)
  2. Abed Soleymani, Xingyu Li, Mahdi Tavakoli, Artificial Intelligence in Robot-Assisted Surgery: Applications on Surgical Skills Assessment and Transfer, In Olfa Boubaker (Ed.), Medical Robots and Devices: New Developments and Advances, Elsevier, 2023. ISBN 9780443184604. (Elsevier) (pdf)
  3. Carlos Rossa, Jay Carriere, Mohsen Khadem, Ronald Sloboda, Nawaid Usmani, Mahdi Tavakoli, An Ultrasound-Guided Mechatronics-Assisted System for Semi-Automated Seed Implantation and Tracking in Prostate Brachytherapy, In Bin Wei (Ed.), Brain and Cognitive Intelligence Control in Robotics, CRC Press, ISBN 9781003050315, 2022. (Taylor & Francis) (pdf)
  4. Jay Carriere, Lingbo Cheng, Mahdi Tavakoli, Enhancing Situational Awareness and Kinesthetic Assistance for Clinicians via Augmented-Reality and Haptic Shared-Control Technologies, In Troy McDaniel and Xueliang Liu (Eds.), Multimedia for Accessible Human Computer Interfaces, Springer, ISBN 978-3-030-70716-3, 2021. (SpringerLink) (pdf)
  5. Angel R. Licona, Fei Liu, David Pinzon, Ali Torabi, Pierre Boulanger, Arnaud Lelevé, Richard Moreau, Minh Tu Pham, Mahdi Tavakoli, Applications of Haptics in Medicine, In Troy McDaniel and Sethuraman Panchanathan (Eds.), Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life, Springer, ISBN 978-3-030-34230-2, 2020. (SpringerLink)
  6. Jason Fong, Renz Ocampo, Mahdi Tavakoli, Intelligent Robotics and Immersive Displays for Enhancing Haptic Interaction in Physical Rehabilitation Environments, In Troy McDaniel and Sethuraman Panchanathan (Eds.), Haptic Interfaces for Accessibility, Health, and Enhanced Quality of Life, Springer, ISBN 978-3-030-34230-2, 2020. (SpringerLink)
  7. Bita Fallahi, Lingbo Cheng, Mahdi Tavakoli, State observation and feedback control in robotic systems for therapy and surgery, In Ahmad Taher Azar (Ed.), Control Systems Design of Bio-Robotics and Bio-Mechatronics with Advanced Applications, Academic Press, ISBN 9780128174630. (Google Books)
  8. Carlos Rossa, McNiel Inyani Keri, Mahdi Tavakoli, Brachytherapy Needle Steering Guidance Using Image Overlay. In Maki Habib (Ed.), Handbook of Research on Biomimetics and Biomedical Robotics, IGI Global, ISBN13 9781522529934, 2018. (Video) (pdf)
  9. 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. (pdf)
  10. 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. (pdf)
  11. 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. (pdf)
  12. 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. (pdf)

Conference papers

  1. Eddie Guo, Christopher Perlette, Mojtaba Sharifi, Lukas Grasse, Matthew Tata, Vivian K. Mushahwar, Mahdi Tavakoli, Speech-Based Human-Exoskeleton Interaction for Lower Limb Motion Planning, IEEE International Conference on Human-Machine Systems, Toronto, Canada, 2024.
  2. Sadra Zargarzadeh, August Sieben, Ericka Wiebe, Lashan Peiris, Mahdi Tavakoli, Augmented Reality-Based Tumor Localization and Visualization for Robot-Assisted Breast Surgeries, IEEE International Conference on Human-Machine Systems, Toronto, Canada, 2024.
  3. Yi Hu, Mahdi Tavakoli, Autonomous Ultrasound Scanning towards Standard Plane Using Interval Interaction Probabilistic Movement Primitives, IEEE/RSJ International Conference on Intelligent Robots and Systems, Detroit, USA, 2023.
  4. Teng Li, Armin Badre, Hamid D. Taghirad, Mahdi Tavakoli, Neural Network Learning of Robot Dynamic Uncertainties and Observer-Based External Disturbance Estimation for Impedance Control, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Seattle, USA, June 2023. (pdf) (Presentation Video)
  5. Teng Li, Armin Badre, Hamid D. Taghirad, Mahdi Tavakoli, Point-Based 3D Virtual Fixture Generating for Image-Guided and Robot-Assisted Surgery in Orthopedics, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Seattle, USA, June 2023. (pdf) (Video) (Presentation Video)
  6. Amir Zakerimanesh, Tony Z. Qiu, Mahdi Tavakoli, Stability and Intervehicle Distance Analysis of Heterogeneous Platoons in Look-Ahead Topologies, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Seattle, USA, June 2023. (Presentation Video)
  7. Yafei Ou, Mahdi Tavakoli, Towards Safe and Efficient Reinforcement Learning for Surgical Robots Using Real-time Human Supervision and Demonstration, International Symposium on Medical Robotics, Atlanta, USA, April 2023. (pdf) (Video)
  8. Javad K. Mehr, Edward Guo, Mojtaba Akbari, Vivian K. Mushahwar, Mahdi Tavakoli, Deep Reinforcement Learning based Personalized Locomotion Planning for Lower-Limb Exoskeletons, IEEE International Conference on Robotics and Automation, London, UK, 2023. (pdf) (Presentation Video)
  9. Teng Li, Armin Badre, Hamid D. Taghirad, Mahdi Tavakoli, Integrating Impedance Control and Nonlinear Disturbance Observer for Robot-Assisted Arthroscope Control in Elbow Arthroscopic Surgery, IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 2022. (pdf) (Video) (Presentation Video)
  10. Teng Li, Hongjun Xing, Hamid D. Taghirad, Mahdi Tavakoli, EMG-based Hybrid Impedance-Force Control for Human-Robot Collaboration on Ultrasound Imaging, IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 2022. (pdf) (Video) (Presentation Video)
  11. Ashkan Rashvand, Reza Heidari, Mohammad Motaharifar, Ali Hassani, Mohammad Reza Dindarloo, Mohammad Javad Ahmadi, Mahdi Tavakoli, Hamid D. Taghirad, An Observer-Based Responsive Variable Impedance Control for Dual-User Haptic Training System, IEEE/RSJ International Conference on Intelligent Robots and Systems, Kyoto, Japan, 2022. (pdf)
  12. Ali Golabchi, Linda Miller, Hossein Rouhani, Mahdi Tavakoli, Impact of Passive Back-Support Exoskeletons on Manual Material Handling Postures in Construction, 39th International Symposium on Automation and Robotics in Construction, Bogotá, Colombia, 2022. (pdf)
  13. Martin Princeton Oghogho Jr, Mojtaba Sharifi, Mia Vukadin, Connor Chin, Vivian K. Mushahwar, Mahdi Tavakoli, Deep Reinforcement Learning for EMG-Based Control of Assistance Level in Upper-Limb Exoskeletons, International Symposium on Medical Robotics, Atlanta, USA, April 2022. (pdf)
  14. Pouria Faridi, Javad K. Mehr, Don Wilson, Mojtaba Sharifi, Mahdi Tavakoli, Patrick M. Pilarski, Vivian K. Mushahwar, Machine-learned Adaptive Switching in Voluntary Lower-limb Exoskeleton Control: Preliminary Results, 17th IEEE International Conference on Rehabilitation Robotics (ICORR), Rotterdam, The Netherlands, 2022. (pdf)
  15. Yeon Kyu Kwak, Thomas Lehmann, Mahdi Tavakoli, Ahmed Qureshi, Real time Optimization of Bead Geometry in Robotic Wire Arc Additive Manufacturing Integrated with Supervised learning, 5th Holistic Innovation in Additive Manufacturing (HI-AM) Conference, Montreal, Canada, 2022. (pdf)
  16. Ashkan Rashvand, Mohammad Javad Ahmadi, Mohammad Motaharifar, Mahdi Tavakoli, Hamid D. Taghirad, Adaptive Robust Impedance Control of Haptic Systems for Skill Transfer, 9th International Conference on Robotics and Mechatronics (ICROM), Tehran, Iran, 2021. (IEEEXplore)
  17. Abed Soleymani, Ali Akbar Sadat Asl, Mojtaba Yeganejou, Scott Dick, Mahdi Tavakoli, Xingyu Li, Surgical Skill Evaluation From Robot-Assisted Surgery Recordings, International Symposium on Medical Robotics, Atlanta, USA, 2021. (pdf) (Presentation Video)
  18. Abed Soleymani, Xingyu Li, Mahdi Tavakoli, Deep Neural Skill Assessment and Transfer: Application to Robotic Surgery Training, IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. (pdf) (Presentation Video)
  19. Hongjun Xing, Ali Torabi, Liang Ding, Haibo Gao, Weihua Li, Vivian K. Mushahwar, Mahdi Tavakoli, Human-Robot Collaboration for Heavy Object Manipulation: Kinesthetic Teaching of the Role of Wheeled Mobile Manipulator, IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. (pdf) (Presentation Video) (Video)
  20. Mojtaba Akbari, Jay Carriere, Ronald Sloboda, Tyler Meyer, Nawaid Usmani, Siraj Husain, Mahdi Tavakoli, Robot-assisted Breast Ultrasound Scanning Using Geometrical Analysis of the Seroma and Image Segmentation, IEEE/RSJ International Conference on Intelligent Robots and Systems, Prague, Czech Republic, 2021. (pdf) (Presentation Video)
  21. Amir Zakerimanesh, Tony Qiu, Mahdi Tavakoli, Heterogeneous Vehicular Platooning With Stable Decentralized Linear Feedback Control, IEEE International Conference on Autonomous Systems, Montreal, Canada, 2021. Best Paper Award. (pdf) (Presentation Video)
  22. Teng Li, Ali Torabi, Hongjun Xing, Mahdi Tavakoli, Improving a User's Haptic Perceptual Sensitivity by Optimizing Effective Manipulability of a Redundant User Interface, IEEE International Conference on Autonomous Systems, Montreal, Canada, 2021. (pdf) (Presentation Video)
  23. Abed Soleymani, Ali Torabi, Mahdi Tavakoli, A Low-cost Intrinsically Safe Mechanism for Physical Distancing Between Clinicians and Patients, IEEE International Conference on Robotics and Automation, Xi'an, China, 2021. (pdf) (Video) (Presentation Video) (Short Presentation Video)
  24. Yeon Kyu Kwak, Thomas Lehmann, Mahdi Tavakoli, Ahmed Qureshi, Sensor-Based In-situ Process Control of Robotic Wire Arc Additive Manufacturing Integrated with Reinforcement Learning, 4th Holistic Innovation in Additive Manufacturing (HI-AM) Conference, Waterloo, Canada, 2021. (pdf)
  25. Mehrnoosh Afshar, Jay Carriere, Tyler Meyer, Ronald Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli, Optimal Design of a Novel Spherical Scissor Linkage Remote Center of Motion Mechanism for Medical Robotics, IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, USA, 2020. (pdf) (Presentation Video)
  26. Isao Sakamaki, Mahdi Tavakoli, Sandra Wiebe, Kim Adams, Integration of an Eye Gaze Interface and BCI with Biofeedback for Human-Robot Interaction, Human Interface Cyber Colloquium, Japan, 2020. (pdf)
  27. Luis E. Trucios, Mahdi Tavakoli, Kim Adams, Adaptive tracking control for task-based robot trajectory planning, IEEE International Conference on Systems, Man, and Cybernetics, Toronto, Canada, 2020. (pdf)
  28. Ali Torabi, Kourosh Zareinia, Garnette Sutherland, Mahdi Tavakoli, Redundant Haptic Interfaces for Enhanced Force Feedback Capability Despite Joint Torque Limits, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Boston, USA, 2020. (pdf) (Presentation Video) (Best Conference Paper Award finalist)
  29. Mehrnoosh Afshar, Jay Carriere, Tyler Meyer, Ronald Sloboda, Husain Siraj, Nawaid Usmani, Wanyu Liu, Mahdi Tavakoli, Autonomous Ultrasound Scanning to Localize Needle Tip in Breast Brachytherapy, International Symposium on Medical Robotics, Atlanta, USA, 2020. (pdf) (Presentation Video)
  30. Carlos Manuel Martinez, Jason Fong, S. Farokh Atashzar, Mahdi Tavakoli, Semi-autonomous Robot-assisted Cooperative Therapy Exercises for a Therapist's Interaction with a Patient, IEEE Global Conference on Signal and Information Processing (GlobalSIP), Ottawa, Canada, 2019. (pdf) (Video)
  31. Rinde Johansson, Iara Santelices, Daniel O'Connell, Mahdi Tavakoli, Daniel Aalto, Evaluation of the Use of Haptic Virtual Fixtures to Guide Fibula Osteotomies in Mandible Reconstruction Surgery, IEEE 15th International Conference on Automation Science and Engineering, Vancouver, Canada, 2019. (pdf) (Video)
  32. Lingbo Cheng, Mahdi Tavakoli, Neural-Network-Based Heart Motion Prediction for Ultrasound-Guided Beating-Heart Surgery, IEEE 15th International Conference on Automation Science and Engineering, Vancouver, Canada, 2019. (pdf)
  33. Lingbo Cheng, Jason Fong, Mahdi Tavakoli, Semi-Autonomous Surgical Robot Control for Beating-Heart Surgery, IEEE 15th International Conference on Automation Science and Engineering, Vancouver, Canada, 2019. (pdf) (Video)
  34. Lingbo Cheng, Mahdi Tavakoli, Control of a Mechatronics-assisted System for Surgeries Using Flexible Tools, IEEE 15th International Conference on Automation Science and Engineering, Vancouver, Canada, 2019. (pdf)
  35. Amir Zakerimanesh, Ali Torabi, Farzad Hashemzadeh, Mahdi Tavakoli, Task-Space Position and Containment Control of Redundant Manipulators with Bounded Inputs, IEEE 15th International Conference on Automation Science and Engineering, Vancouver, Canada, 2019. (pdf) (Video)
  36. Javier L. Castellanos-Cruz, María F. Gómez-Medina, Mahdi Tavakoli, Patrick M. Pilarski, Kim Adams, Predicting the toys that children and participants with cerebral palsy want to reach while controlling a haptic telerobotic system, Rehabilitation Engineering and Assistive Technology Society of North America Conference (Part of RehabWeek 2019), Toronto, Canada, 2019. (pdf) (html)
  37. Javier Leonardo Castellanos Cruz, Mahdi Tavakoli, Patrick M. Pilarski, Kim Adams, Supporting Play by Applying Haptic Guidance Along a Surface Learnt from Single Motion Trajectories, IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (Part of RehabWeek 2019), Toronto, Canada, 2019. (pdf)
  38. Jason Fong, Renz Ocampo, Douglas Gross, Mahdi Tavakoli, A Robot with an Augmented-Reality Display for Functional Capacity Evaluation and Rehabilitation of Injured Workers, IEEE-RAS-EMBS International Conference on Rehabilitation Robotics (Part of RehabWeek 2019), Toronto, Canada, 2019. (pdf) (Video)
  39. Jason Fong, Carlos Manuel Martinez, Mahdi Tavakoli, Ways to Learn a Therapist's Patient-specific Intervention: Robotics- vs Telerobotics-mediated Hands-on Teaching, IEEE International Conference on Robotics and Automation, Montreal, Canada, 2019. (pdf)
  40. Renz Ocampo, Mahdi Tavakoli, Visual-Haptic Colocation in Robotic Rehabilitation Exercises Using a 2D Augmented-Reality Display, The International Symposium on Medical Robotics, Atlanta, GA, 2019. (pdf) (Video)
  41. Jay Carriere, Jason Fong, Tyler Meyer, Ron Sloboda, Siraj Husain, Nawaid Usmani, Mahdi Tavakoli, An Admittance-Controlled Robotic Assistant for Semi-Autonomous Breast Ultrasound Scanning, The International Symposium on Medical Robotics, Atlanta, GA, 2019. (pdf) (Video)
  42. Javier L. Castellanos-Cruz, María F. Gómez-Medina, Mahdi Tavakoli, Patrick M. Pilarski, Kim Adams, Preliminary Testing of a Telerobotic Haptic System and Analysis of Visual Attention during a Playful Activity, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Enschede, Netherlands, 2018. (pdf)
  43. Jason Fong and Mahdi Tavakoli, Kinesthetic Teaching of a Therapist's Behavior to a Rehabilitation Robot, The International Symposium on Medical Robotics, Atlanta, GA, 2018. (pdf) (Video)
  44. Ali Torabi, Mohsen Khadem, Kourosh Zareinia, Garnette Sutherland and Mahdi Tavakoli, Manipulability of Teleoperated Surgical Robots with Application in Design of Master/Slave Manipulators, The International Symposium on Medical Robotics, Atlanta, GA, 2018. (pdf)
  45. I. Sharifi, H. A. Talebi, S. A. R. Mousavi, S. Shemshaki, M. Tavakoli, Haptic Tele-cooperation of Multiple Robots, The 6th International Conference on Robotics and Mechatronics, Tehran, Iran, 2017. (pdf)
  46. I. Sharifi, H. A. Talebi, M. Tavakoli, Multi-lateral Nonlinear Time-Delayed Teleoperation in a Multi-agent Systems Framework, The 6th International Conference on Robotics and Mechatronics, Tehran, Iran, 2017. (pdf)
  47. Isao Sakamaki, Mahdi Tavakoli, Kim Adams, Generating Forbidden Region Virtual Fixtures by Classification of Movement Intention based on Event-Related Desynchronization, Symposium on Advanced Bio-Signal Processing for Rehabilitation and Assistive Systems, The 5th IEEE Global Conference on Signal and Information Processing, Montreal, Quebec, Canada, 2017. (pdf)
  48. 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. (pdf)
  49. 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. (pdf)
  50. 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. (pdf)
  51. 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. (pdf)
  52. 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) (Video)
  53. 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)
  54. 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)
  55. 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)
  56. 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)
  57. 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)
  58. 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)
  59. 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)
  60. 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)
  61. 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) (Video)
  62. 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)
  63. 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)
  64. 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)
  65. 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)
  66. 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)
  67. 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)
  68. 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)
  69. 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)
  70. 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)
  71. 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)
  72. 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)
  73. 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)
  74. 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)
  75. Noushin Miandashti, Mahdi Tavakoli, Stability of Sampled-Data, Delayed Haptic Interaction and Teleoperation, IEEE Haptics Symposium, Houston, TX, 2014. (pdf)
  76. 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)
  77. 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)
  78. 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)
  79. 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)
  80. 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)
  81. 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)
  82. 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)
  83. 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)
  84. 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)
  85. 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)
  86. 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)
  87. 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)
  88. 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)
  89. 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)
  90. 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)
  91. 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)
  92. 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)
  93. 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)
  94. Ali Jazayeri, Mahdi Tavakoli, A passivity criterion for sampled-data bilateral teleoperation systems, World Haptics Conference, Istanbul, Turkey, 2011. (pdf) (Video)
  95. 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)
  96. 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)
  97. 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)
  98. 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)
  99. 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)
  100. 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)
  101. Ali Jazayeri, Mahdi Tavakoli, Stability Analysis of Sampled-Data Teleoperation Systems, 2010 IEEE Conference on Decision and Control, Atlanta, GA, December 2010. (pdf)
  102. 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)
  103. 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)
  104. 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)
  105. M. Tavakoli, Robert D. Howe, Haptic Implications of Tool Flexibility in Surgical Teleoperation, 2008 Haptics Symposium, Reno, NV, March 2008. (IEEEXplore) (pdf)
  106. 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)
  107. 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)
  108. 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)
  109. 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)
  110. 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)
  111. 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)
  112. 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)
  113. 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)
  114. 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)
  115. 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.
  116. 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)
  117. 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)
  118. 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)
  119. 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)
  120. 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)
  121. 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)
  122. 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)
  123. 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.
  124. 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 filings

  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. (Google Patents) (Pdf)
  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)