Endovascular navigation of a ferromagnetic microrobot using MRI-based predictive control. - Karim Belharet; David Folio; Antoine Ferreira (IROS, 2010)

Three-Dimensional Controlled Motion of a Microrobot using Magnetic Gradients. - Karim Belharet; David Folio; Antoine Ferreira (Adv. Robotics, 2011)

Control of a magnetic microrobot navigating in microfluidic arterial bifurcations through pulsatile and viscous flow. - Karim Belharet; David Folio; Antoine Ferreira (IROS, 2012)

Simulation and Planning of a Magnetically Actuated Microrobot Navigating in the Arteries. - Karim Belharet; David Folio; Antoine Ferreira (IEEE Trans. Biomed. Eng., 2013)

Vision-based force sensing of a magnetic microrobot in a viscous flow. - Karim Belharet; David Folio; Antoine Ferreira (ICRA, 2014)

Study on rotational and unclogging motions of magnetic chain-like microrobot. - Karim Belharet; David Folio; Antoine Ferreira (IROS, 2014)

Magnetic microbot design framework for antiangiogenic tumor therapy. - Lyès Mellal; David Folio; Karim Belharet; Antoine Ferreira (IROS, 2015)

Optimal control of multiple magnetic microbeads navigating in microfluidic channels. - Lyès Mellal; David Folio; Karim Belharet; Antoine Ferreira (ICRA, 2016)

Forward kinematics of serial manipulator based on permanent magnets for micro-bead propulsion. - Walid Amokrane; Karim Belharet; Mouna Souissi; Antoine Ferreira (ICARSC, 2017)

Design and prototyping of a magnetic actuator based permanent magnets for microbead navigation in viscous environment. - Walid Amokrane; Karim Belharet; Mouna Souissi; Alexis Bozorg Grayeli; Antoine Ferreira (IROS, 2017)

Calibration of magnetic platform prototype for vision-based drugs delivery inside human cochlea. - Azaddien Zarrouk; Karim Belharet; Omar Tahri (IROS, 2017)

A Novel Remote-Center-of-Motion Serial Manipulator for Inner Ear Drug Delivery. - Manel Abbes; Mouna Souissi; Karim Belharet; Hassen Mekki; Gérard Poisson (AIM, 2018)

Open-Loop Drug Delivery Strategy to the Cochlea Using a Permanent Magnetic Actuator. - Walid Amokrane; Karim Belharet; Mouna Souissi; Alexis Bozorg Grayeli; Antoine Ferreira (ICRA, 2018)

Macro-micromanipulation platform for inner ear drug delivery. - Walid Amokrane; Karim Belharet; Mouna Souissi; Alexis Bozorg Grayeli; Antoine Ferreira (Robotics Auton. Syst., 2018)

A Four-magnet System for 2D Wireless Open-Loop Control of Microrobots. - Azaddien Zarrouk; Karim Belharet; Omar Tahri; Antoine Ferreira (ICRA, 2019)

Permanent Magnets based Actuator for Microrobots Navigation. - Manel Abbes; Karim Belharet; Hassen Mekki; Gérard Poisson (IROS, 2019)

Vision-based magnetic platform for actuator positioning and wireless control of microrobots. - Azaddien Zarrouk; Karim Belharet; Omar Tahri (IROS, 2019)

Tracking Control for Wheeled Mobile Robot Based on Delayed Sensor Measurements. - El-Hadi Guechi; Karim Belharet; Saso Blazic (Sensors, 2019)

A New Electromagnetic Actuation System with a Highly Accessible Workspace for Microrobot Manipulation. - Ahmed Chah; Tarik Kroubi; Karim Belharet (AIM, 2020)

LQR Feedback Linearization Method to Control the Motions of a Spherical Serial Mechanism. - Meziane Larbi; Karim Belharet; El-Hadi Guechi (AIM, 2020)

Fuzzy Distributed Control of the Forced Burgers-Fisher Equation under Periodic Boundary Conditions. - Sadia Raab; Hacene Habbi; Ahmed Maidi; Karim Belharet (ICCAD, 2020)

Tracking Strategy Based on Magnetic Sensors for Microrobot Navigation in the Cochlea. - Tarik Kroubi; Karim Belharet; Kamal Bennamane (IROS, 2020)

Vision-based magnetic actuator positioning for wireless control of microrobots. - Azaddien Zarrouk; Karim Belharet; Omar Tahri (Robotics Auton. Syst., 2020)

Modeling and Characterization of Deformable Soft Magnetic Microrobot for Targeted Therapy. - Lyès Mellal; David Folio; Karim Belharet; Antoine Ferreira (IEEE Robotics Autom. Lett., 2021)

Soft ferromagnetic microrobot navigation in the cochlea using haptic assistance. - Ahmed Chah; Hanaâ Elfakir; Meziane Larbi; Karim Belharet (AIM, 2022)

Towards a Robust Steerability Magnetic Catheter with Haptic Force Feedback and Virtual Reality. - Hanaâ Elfakir; Nabil Amari; Masil Attou; Karim Belharet (AIM, 2022)

Magnetic Catheter Optimized for Navigation in a Complex Vascular Network. - Hanaâ Elfakir; Nabil Amari; Ahmed Chah; Karim Belharet (ICARM, 2022)

Strategy for haptic-based guidance of soft magnetic particles in the cochlea. - Ahmed Chah; Hanaâ Elfakir; Meziane Larbi; Karim Belharet (AIM, 2023)

Observer-based 2D tracking control for a vascular microrobot based on the T-S fuzzy model. - Meziane Larbi; El-Hadi Guechi; Ahmed Maidi; Djamel Ounnas; Karim Belharet (Int. J. Autom. Control., 2023)

CochleRob: Parallel-Serial Robot to Position a Magnetic Actuator around a Patient's Head for Intracochlear Microrobot Navigation. - Housseyne Nadour; Alexis Bozorg Grayeli; Gérard Poisson; Karim Belharet (Sensors, 2023)

Nonlinear Magnetic Field Modeling for Electromagnetic Actuation of Miniaturized Medical Robots. - Billel Belalit; Meziane Larbi; Karim Belharet (AIM, 2024)

Extended State Observer Based-Optimal Control of a Microrobot Navigation Along a Trajectory Generated by a Joystick Device. - Meziane Larbi; Ahmed Maidi; El-Hadi Guechi; Karim Belharet (IEEE Trans Autom. Sci. Eng., 2025)