Improved passivity criterion in haptic rendering: influence of Coulomb and viscous friction. - Ahmad Mashayekhi; Ramin B. Boozarjomehry; Ali Nahvi; Ali Meghdari 001; Pouya Asgari (Adv. Robotics, 2014)

VirSense: a novel haptic device with fixed-base motors and a gravity compensation system. - Ahmad Mashayekhi; Ali Nahvi; Mojtaba Yazdani; Majid Mohammadi Moghaddam; Mohamadreza Arbabtafti; Mohsen Norouzi (Ind. Robot, 2014)

Influence of human operator on stability of haptic rendering: a closed-form equation. - Ahmad Mashayekhi; Saeed Behbahani; Fanny Ficuciello; Bruno Siciliano (Int. J. Intell. Robotics Appl., 2020)

Delay-Dependent Stability Analysis in Haptic Rendering. - Ahmad Mashayekhi; Saeed Behbahani; Fanny Ficuciello; Bruno Siciliano (J. Intell. Robotic Syst., 2020)

A new haptic interaction with a visual tracker: implementation and stability analysis. - Ahmad Mashayekhi; Ali Nahvi; Ali Meghdari 001; Hamed Mohtasham Shad (Int. J. Intell. Robotics Appl., 2021)

Analytical describing function of LuGre friction model. - Ahmad Mashayekhi; Saeed Behbahani; Ali Nahvi; Mehdi Keshmiri; Mehdi Shakeri (Int. J. Intell. Robotics Appl., 2022)

A New Approach for Simplifying Multi-Degree of Freedom Haptic Device Dynamics Model. - Ahmad Mashayekhi; Abbas Karami; Bruno Siciliano (J. Intell. Robotic Syst., 2023)

Stability Analysis of a Dual-Rate Haptic System: A New Closed-Form Solution. - Ahmad Mashayekhi; Oumaima Akhif; Amin Khorasani; Tom Verstraten (IEEE Robotics Autom. Lett., 2025)