Tele-operation control system for non-homothetic master/slave kinematics for minimally-invasive surgery. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul; M. Yousef Ibrahim 001 (IECON, 2013)

Development of a spherical parallel manipulator as a haptic device for a tele-operation system: Application to robotic surgery. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul; M. Yousef Ibrahim 001 (IECON, 2013)

Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul (IROS, 2014)

Haptic Control Implementation of a 3-RRR Spherical Parallel Manipulator for Medical Uses. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul (ISER, 2014)

Movement safety control method of a haptic device for Minimally Invasive Surgery. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul; M. Yousef Ibrahim 001 (ISIE, 2014)

Optimal design of a new spherical parallel manipulator. - Houssem Saafi; Med Amine Laribi; Marc Arsicault; Saïd Zeghloul (RAAD, 2014)

Optimal haptic control of a redundant 3-RRR Spherical Parallel Manipulator. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul (IROS, 2015)

Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul (Robotica, 2015)

A Real-Time Serial Approach for Solving the Forward Kinematic Model of Spherical Parallel Manipulators. - Margot Vulliez; Houssem Saafi; Saïd Zeghloul (RAAD, 2016)

On the development of a portable, cost effective and compact master/slave system for robot-assistec Minimally Invasive Surgery. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul; M. Yousef Ibrahim 001 (ICM, 2017)

A Novel Kinematic of a 4 d.o.fs Haptic Device Based on the Delta Robot Architecture. - Houssem Saafi; Célestin Préault; Med Amine Laribi; Saïd Zeghloul (RAAD, 2017)

Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul (Robotics Auton. Syst., 2017)

Optimal design and evaluation of a dexterous 4 DoFs haptic device based on delta architecture. - Célestin Préault; Houssem Saafi; Med Amine Laribi; Saïd Zeghloul (Robotica, 2019)

Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine. - Houssein Lamine; Lotfi Ben Romdhane 002; Houssem Saafi; Sami Bennour (Robotica, 2020)

Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use. - Houssem Saafi; Houssein Lamine (Robotica, 2020)

Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation. - Houssem Saafi; Med Amine Laribi; Saïd Zeghloul (Robotics, 2020)

Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery. - Majdi Meskini; Houssem Saafi; Abdelfattah Mlika; Marc Arsicault; Saïd Zeghloul; Med Amine Laribi (Robotica, 2023)

Optimal design of a new redundant spherical parallel manipulator with an unlimited self-rotation capability. - Chaima Lahdiri; Houssem Saafi; Abdelfattah Mlika; Med Amine Laribi (Robotica, 2025)