Adaptive transparent impedance reflecting teleoperation. - Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (ICRA, 1996)

An integral manifold approach to tracking control for a class of non-minimum phase linear systems using output feedback. - Keyvan Hashtrudi-Zaad; Khashayar Khorasani (Autom., 1996)

Evaluation of Impedance and Teleoperation Control of a Hydraulic Mini-Excavator. - Septimiu E. Salcudean; Shahram Tafazoli; Keyvan Hashtrudi-Zaad; Peter D. Lawrence; Claude Reboulet (ISER, 1997)

A Virtual Excavator for Controller Development and Evaluation. - Simon P. DiMaio; Septimiu E. Salcudean; Claude Reboulet; Shahram Tafazoli; Keyvan Hashtrudi-Zaad (ICRA, 1998)

Bilateral Matched Impedance Teleoperation with Application to Excavator Control. - Septimiu E. Salcudean; Keyvan Hashtrudi-Zaad; Shahram Tafazoli; Simon P. DiMaio; Claude Reboulet (ICRA, 1998)

On the Use of Local Force Feedback for Transparent Teleoperation. - Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (ICRA, 1999)

Analysis and Evaluation of Stability and Performance Robustness for Teleoperation Control Architectures. - Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (ICRA, 2000)

Transparent Bilateral Teleoperation under Position and Rate Control. - Septimiu E. Salcudean; Ming Zhu; Wen-Hong Zhu; Keyvan Hashtrudi-Zaad (Int. J. Robotics Res., 2000)

Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators. - Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (Int. J. Robotics Res., 2001)

An Accelerometer-Based Joint Angle Sensor for Heavy-Duty Manipulators. - Farhad Ghassemi; Shahram Tafazoli; Peter D. Lawrence; Keyvan Hashtrudi-Zaad (ICRA, 2002)

Bilateral parallel force/position teleoperation control. - Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (J. Field Robotics, 2002)

Impedance control of a teleoperated excavator. - Shahram Tafazoli; Septimiu E. Salcudean; Keyvan Hashtrudi-Zaad; Peter D. Lawrence (IEEE Trans. Control. Syst. Technol., 2002)

Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation. - Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (IEEE Trans. Robotics Autom., 2002)

Transparent implementation of bilateral teleoperation controllers under rate mode. - Keyvan Hashtrudi-Zaad; Farid Mobasser; Septimiu E. Salcudean (ACC, 2003)

Impedance reflecting rate mode teleoperation. - Farid Mobasser; Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (ICRA, 2003)

A haptics-based ultrasound examination training system. - Purang Abolmaesumi; Keyvan Hashtrudi-Zaad; D. Thompson (CARS, 2004)

Optimization-based robot impedance controller design. - M. Matinfar; Keyvan Hashtrudi-Zaad (CDC, 2004)

Optimal Selection of Manipulator Impedance for Contact Tasks. - Simon P. DiMaio; Keyvan Hashtrudi-Zaad; Septimiu E. Salcudean (ICRA, 2004)

Implementation of a Rate Mode Impedance Reflecting Teleoperation Controller on a Haptic Simulation System. - Farid Mobasser; Keyvan Hashtrudi-Zaad (ICRA, 2004)

Rowing stroke force estimation with EMG signals using artificial neural networks. - Farid Mobasser; Keyvan Hashtrudi-Zaad (CCA, 2005)

Application of neural networks in inverse dynamics based contact force estimation. - Andrew C. Smith; Keyvan Hashtrudi-Zaad (CCA, 2005)

Adaptive teleoperation using neural network-based predictive control. - Andrew C. Smith; Keyvan Hashtrudi-Zaad (CCA, 2005)

Dynamic parameter identification and analysis of a PHANToM haptic device. - Amir M. Tahmasebi; Babak Taati; Farid Mobasser; Keyvan Hashtrudi-Zaad (CCA, 2005)

Hand Force Estimation using Electromyography Signals. - Farid Mobasser; Keyvan Hashtrudi-Zaad (ICRA, 2005)

Optimization-based Robot Compliance Control: Geometric and Linear Quadratic Approaches. - M. Matinfar; Keyvan Hashtrudi-Zaad (Int. J. Robotics Res., 2005)

Adaptive Bilateral Control using Operator Elbow Impedance. - Farid Mobasser; Keyvan Hashtrudi-Zaad (CCECE, 2006)

Predictive Teleoperation using Laser Rangefinder. - Farid Mobasser; Keyvan Hashtrudi-Zaad (CCECE, 2006)

Adaptive Teleoperation Control using Online Estimate of Operator's Arm Damping. - Farid Mobasser; Keyvan Hashtrudi-Zaad (CDC, 2006)

Towards Real-time Registration of 4D Ultrasound Images. - Pezhman Foroughi; Purang Abolmaesumi; Keyvan Hashtrudi-Zaad (EMBC, 2006)

A Method for Online Estimation of Human Arm Dynamics. - Farid Mobasser; Keyvan Hashtrudi-Zaad (EMBC, 2006)

Smith Predictor Type Control Architectures for Time Delayed Teleoperation. - Andrew C. Smith; Keyvan Hashtrudi-Zaad (Int. J. Robotics Res., 2006)

Intra-subject elastic registration of 3D ultrasound images. - Pezhman Foroughi; Purang Abolmaesumi; Keyvan Hashtrudi-Zaad (Medical Image Anal., 2006)

Neural-Network-Based Contact Force Observers for Haptic Applications. - Andrew C. Smith; Farid Mobasser; Keyvan Hashtrudi-Zaad (IEEE Trans. Robotics, 2006)

Performance Issues in Collaborative Haptic Training. - Behzad Khademian; Keyvan Hashtrudi-Zaad (ICRA, 2007)

A Haptic-based Ultrasound Training/Examination System (HUTES). - Amir M. Tahmasebi; Purang Abolmaesumi; Keyvan Hashtrudi-Zaad (ICRA, 2007)

A four-channel multilateral shared control architecture for dual-user teleoperation systems. - Behzad Khademian; Keyvan Hashtrudi-Zaad (IROS, 2007)

Stable impedance reflecting teleoperation with online collision prediction. - Farid Mobasser; Keyvan Hashtrudi-Zaad (IROS, 2007)

Kinesthetic performance analysis of dual-user teleoperation systems. - Behzad Khademian; Keyvan Hashtrudi-Zaad (SMC, 2007)

Estimation of Elbow-Induced Wrist Force With EMG Signals Using Fast Orthogonal Search. - Farid Mobasser; J. Mikael Eklund; Keyvan Hashtrudi-Zaad (IEEE Trans. Biomed. Eng., 2007)

A New Fast Online Identification Method for Linear Time-Varying Systems. - Amir Haddadi; Keyvan Hashtrudi-Zaad (ACC, 2008)

A new robust stability analysis and design tool for bilateral teleoperation control systems. - Amir Haddadi; Keyvan Hashtrudi-Zaad (ICRA, 2008)

Delay-robust transparent bilateral teleoperation control design. - Amir Haddadi; Keyvan Hashtrudi-Zaad (IROS, 2008)

Online contact impedance identification for robotic systems. - Amir Haddadi; Keyvan Hashtrudi-Zaad (IROS, 2008)

A new method for online parameter estimation of Hunt-Crossley environment dynamic models. - Amir Haddadi; Keyvan Hashtrudi-Zaad (IROS, 2008)

Transparent Rate Mode Bilateral Teleoperation Control. - Farid Mobasser; Keyvan Hashtrudi-Zaad (Int. J. Robotics Res., 2008)

Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device. - Babak Taati; Amir M. Tahmasebi; Keyvan Hashtrudi-Zaad (Presence Teleoperators Virtual Environ., 2008)

Design and Calibration of an Integration-Free Accelerometer-Based Joint-Angle Sensor. - Farhad Ghassemi; Shahram Tafazoli; Peter D. Lawrence; Keyvan Hashtrudi-Zaad (IEEE Trans. Instrum. Meas., 2008)

A Framework for the Design of a Novel Haptic-Based Medical Training Simulator. - Amir M. Tahmasebi; Keyvan Hashtrudi-Zaad; D. Thompson; Purang Abolmaesumi (IEEE Trans. Inf. Technol. Biomed., 2008)

Least conservative robust stability condition for linear bilateral teleoperation control systems. - Amir Haddadi; Keyvan Hashtrudi-Zaad (WHC, 2009)

Novel shared control architectures for enhanced users' interaction in haptic training simulation systems. - Behzad Khademian; Keyvan Hashtrudi-Zaad (IROS, 2009)

Experimental performance evaluation of a haptic training simulation system. - Behzad Khademian; Keyvan Hashtrudi-Zaad (IROS, 2009)

Stability analysis of haptic interfaces for different types of sampled signals and virtual environment implementations. - Amir Haddadi; Keyvan Hashtrudi-Zaad (HAPTICS, 2010)

Unconditional stability analysis of dual-user teleoperation systems. - Behzad Khademian; Keyvan Hashtrudi-Zaad (HAPTICS, 2010)

Use of the Fast Orthogonal Search Method to Estimate Optimal Joint Angle For Upper Limb Hill-Muscle Models. - Katherine Mountjoy; Evelyn Morin; Keyvan Hashtrudi-Zaad (IEEE Trans. Biomed. Eng., 2010)

Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems. - Amir Haddadi; Keyvan Hashtrudi-Zaad (IEEE Trans. Haptics, 2010)

Development of a dynamic model for bevel-tip flexible needle insertion into soft tissues. - Amir Haddadi; Keyvan Hashtrudi-Zaad (EMBC, 2011)

Joint angle-based EMG amplitude calibration. - Javad Hashemi; Evelyn Morin; Parvin Mousavi; Keyvan Hashtrudi-Zaad (EMBC, 2011)

Towards an augmented ultrasound guided spinal needle insertion system. - Colin J. Sutherland; Keyvan Hashtrudi-Zaad; Purang Abolmaesumi; Parvin Mousavi (EMBC, 2011)

Shared control architectures for haptic training: Performance and coupled stability analysis. - Behzad Khademian; Keyvan Hashtrudi-Zaad (Int. J. Robotics Res., 2011)

Assessment of Environmental Effects on Collaborative Haptic Guidance. - Behzad Khademian; Jacob Apkarian; Keyvan Hashtrudi-Zaad (Presence Teleoperators Virtual Environ., 2011)

Extension of Zeheb-Walach absolute stability criteria for robot-human interactions. - Kamran Razi; Keyvan Hashtrudi-Zaad (CDC, 2012)

Enhanced multi-site EMG-force estimation using contact pressure. - Javad Hashemi; Evelyn Morin; Parvin Mousavi; Keyvan Hashtrudi-Zaad (EMBC, 2012)

Needle deflection estimation using fusion of electromagnetic trackers. - Hossein Sadjadi; Keyvan Hashtrudi-Zaad; Gabor Fichtinger (EMBC, 2012)

Real-Time Identification of Hunt-Crossley Dynamic Models of Contact Environments. - Amir Haddadi; Keyvan Hashtrudi-Zaad (IEEE Trans. Robotics, 2012)

Experimental assessment of error in an electromagnetically-tracked ultrasound-guided needle navigation system. - Irene Ayukawa; Tamas Ungi; Keyvan Hashtrudi-Zaad; Gabor Fichtinger; Parvin Mousavi (Image-Guided Procedures, 2013)

Fusion of Electromagnetic Trackers to Improve Needle Deflection Estimation: Simulation Study. - Hossein Sadjadi; Keyvan Hashtrudi-Zaad; Gabor Fichtinger (IEEE Trans. Biomed. Eng., 2013)

An Augmented Reality Haptic Training Simulator for Spinal Needle Procedures. - Colin J. Sutherland; Keyvan Hashtrudi-Zaad; Richard W. Sellens; Purang Abolmaesumi; Parvin Mousavi (IEEE Trans. Biomed. Eng., 2013)

Robust Stability of Teleoperation Systems with Time Delay: A New Approach. - Amir Haddadi; Keyvan Hashtrudi-Zaad (IEEE Trans. Haptics, 2013)

A Framework for Unconditional Stability Analysis of Multimaster/Multislave Teleoperation Systems. - Behzad Khademian; Keyvan Hashtrudi-Zaad (IEEE Trans. Robotics, 2013)

Electromagnetic tracking performance analysis and optimization. - Yu Qi; Hossein Sadjadi; Caitlin T. Yeo; Keyvan Hashtrudi-Zaad; Gabor Fichtinger (EMBC, 2014)

Möbius transformation and application to coupled stability analysis of cascaded master and slave networks. - Kamran Razi; Keyvan Hashtrudi-Zaad (HAPTICS, 2014)

Uncoupled stability analysis of haptic simulation systems for various kinematic sampled data and discretization methods. - Siyuan Yin; Ajay Koti; Amir Haddadi; Keyvan Hashtrudi-Zaad (HAPTICS, 2014)

Needle deflection estimation: prostate brachytherapy phantom experiments. - Hossein Sadjadi; Keyvan Hashtrudi-Zaad; Gabor Fichtinger (Int. J. Comput. Assist. Radiol. Surg., 2014)

Development of a Guaranteed Stable Network of Telerobots with Kinesthetic Consensus. - Kamran Razi; Keyvan Hashtrudi-Zaad (IEEE Trans. Haptics, 2014)

Analysis of Coupled Stability in Multilateral Dual-User Teleoperation Systems. - Kamran Razi; Keyvan Hashtrudi-Zaad (IEEE Trans. Robotics, 2014)

The role of electromechanical delay in modelling the EMG-force relationship during quasi-dynamic contractions of the upper-limb. - Gregg Johns; Evelyn Morin; Keyvan Hashtrudi-Zaad (EMBC, 2016)

Experimental evaluation of absolute stability in teleoperation systems. - Kamran Razi; Chiedu Nnaji Mokogwu; Keyvan Hashtrudi-Zaad (HAPTICS, 2016)

Polynomial linearization for real-time identification of environment Hunt-Crossley models. - Ryan Schindeler; Keyvan Hashtrudi-Zaad (HAPTICS, 2016)

Investigation of permanent magnets in low-cost position tracking. - Ryan Anderson; Andras Lasso; Keyvan Hashtrudi-Zaad; Gabor Fichtinger (Image-Guided Procedures, 2016)

Simultaneous Electromagnetic Tracking and Calibration for Dynamic Field Distortion Compensation. - Hossein Sadjadi; Keyvan Hashtrudi-Zaad; Gabor Fichtinger (IEEE Trans. Biomed. Eng., 2016)

Offline and online synchronization of position derived signals for identification of dynamic systems. - Leonam S. D. Pecly; Marcelo L. O. Souza; Keyvan Hashtrudi-Zaad (LARS/SBR, 2017)

High-Precision Resolver-to-Velocity Converter. - Leonam Pecly; Ryan Schindeler; Daniel Cleveland; Keyvan Hashtrudi-Zaad (IEEE Trans. Instrum. Meas., 2017)

The effect of discretization techniques on uncoupled stability of haptic simulation systems. - Daniel Cleveland; Keyvan Hashtrudi-Zaad (HAPTICS, 2018)

Model-reference model-mediated control for time-delayed teleoperation systems. - Leonam S. D. Pecly; Marcelo L. O. Souza; Keyvan Hashtrudi-Zaad (HAPTICS, 2018)

Analog Haptic Control: Advantages and Challenges. - Ryan Schindeler; Keyvan Hashtrudi-Zaad (IEEE Trans. Haptics, 2018)

Online Identification of Environment Hunt-Crossley Models Using Polynomial Linearization. - Ryan Schindeler; Keyvan Hashtrudi-Zaad (IEEE Trans. Robotics, 2018)

Uncoupled Stability of a Haptic System with Position-Velocity Sampling. - Victor A. Luna Laija; Daniel Cleveland; Keyvan Hashtrudi-Zaad (WHC, 2019)

Platoon String Stability: A Passivity Perspective. - Chiedu Nnaji Mokogwu; Keyvan Hashtrudi-Zaad (CAVS, 2020)

Robotic Sanding of Wooden Bowls with Hybrid Force/Position Impedance Control. - S. Sudhagar; Brian W. Surgenor; Keyvan Hashtrudi-Zaad (CCECE, 2020)

Vehicle Platoon String Stability: Network Passivity Approach. - Chiedu Nnaji Mokogwu; Keyvan Hashtrudi-Zaad (CCTA, 2020)

Model Transformation for Enhanced Parameter Identification of Linear Dynamic Systems. - Leonam Pecly; Keyvan Hashtrudi-Zaad (CCTA, 2020)

Estimation of Energy Absorption Capability of Arm Using Force Myography for Stable Human-Machine Interaction. - Andrés Ramos; Keyvan Hashtrudi-Zaad (EMBC, 2020)

Effect of Direct Velocity Measurement on the Stability of Haptic Simulation Systems. - Victor A. Luna Laija; P. Gizem Özdil; Keyvan Hashtrudi-Zaad (HAPTICS, 2020)

Estimation of Upper-Limb Energy Absorption Capabilities for Stable Human-Robot Interactions. - Andrés Ramos; Keyvan Hashtrudi-Zaad (HAPTICS, 2020)

Force and torque feedback in endoscopic vessel harvesting. - Julia Wiercigroch; Keyvan Hashtrudi-Zaad; Tamas Ungi; Gianluigi Bisleri; Gabor Fichtinger (Image-Guided Procedures, 2020)

Control of Dual-User Haptic Training System With Online Authority Adjustment: An Observer-Based Adaptive Robust Scheme. - Mohammad Motaharifar; Hamid D. Taghirad; Keyvan Hashtrudi-Zaad; Seyed Farzad Mohammadi (IEEE Trans. Control. Syst. Technol., 2020)

Experimental Assessment of Absolute Stability in Bilateral Teleoperation. - Chiedu Nnaji Mokogwu; Kamran Razi; Keyvan Hashtrudi-Zaad (IEEE Trans. Haptics, 2020)

An Intent-Preserving Approach to Telerobotic Rehabilitation. - Shane Forbrigger; Keyvan Hashtrudi-Zaad (WHC, 2021)

Enhanced Haptic Passivity and Uncoupled Stability with Tustin-like General Discretization Method. - Leonam Pecly; Keyvan Hashtrudi-Zaad (WHC, 2021)

Analog Position using Sensor Fusion for Haptic Systems Control. - Leonam Pecly; Keyvan Hashtrudi-Zaad (WHC, 2021)

Uncoupled Stability Region for Analog and Discrete Implementation of Mass-Damper-Spring Virtual Environments. - Leonam Pecly; Keyvan Hashtrudi-Zaad (WHC, 2021)

Detection of Conductive Lane Markers using mm Wave FMCW Automotive Radar. - Austin Greisman; Keyvan Hashtrudi-Zaad; Joshua A. Marshall (MFI, 2021)

Energy-Based Analysis of String Stability in Heterogeneous Platoons. - Chiedu Nnaji Mokogwu; Keyvan Hashtrudi-Zaad (VTC Fall, 2021)

A hybrid position-rate teleoperation system. - Chiedu Nnaji Mokogwu; Keyvan Hashtrudi-Zaad (Robotics Auton. Syst., 2021)

Uncoupled Stability of Kinesthetic Haptic Systems Simulating Mass-Damper-Spring Environments with Complementary Filter. - Leonam Pecly; Keyvan Hashtrudi-Zaad (AIM, 2022)

Effect of Voltage Driver on Uncoupled Stability and Fidelity of Kinesthetic Haptic Systems. - Leonam Pecly; Keyvan Hashtrudi-Zaad (HAPTICS, 2022)

An Observer-Based Responsive Variable Impedance Control for Dual-User Haptic Training System. - A. Rashvand; R. Heidari; Mohammad Motaharifar; Ali Hassani 004; M. R. Dindarloo; M. J. Ahmadi; Keyvan Hashtrudi-Zaad; Mahdi Tavakoli; Hamid D. Taghirad (IROS, 2022)

Energy-Based Analysis of String Stability in Vehicle Platoons. - Chiedu Nnaji Mokogwu; Keyvan Hashtrudi-Zaad (IEEE Trans. Veh. Technol., 2022)

Towards Unsupervised Filtering of Millimetre-Wave Radar Returns for Autonomous Vehicle Road Following. - Dean Sacoransky; Joshua A. Marshall; Keyvan Hashtrudi-Zaad (ICRA, 2023)

General Discretization Method for Enhanced Kinesthetic Haptic Stability. - Leonam Pecly; Keyvan Hashtrudi-Zaad (IEEE Trans. Haptics, 2023)

Uncoupled Stability Dynamic Range for Hunt-Crossley Modeled Virtual Environments. - Seanna Oliver; Leonam Pecly; Keyvan Hashtrudi-Zaad (IEEE Robotics Autom. Lett., 2023)

Analog Position Estimation for Enhanced Stability and Fidelity of Haptic Systems. - Leonam Pecly; Keyvan Hashtrudi-Zaad (IEEE Trans. Haptics, 2024)

A Comparative Study of DC and BLDC Actuation for Kinesthetic Haptics. - Arjun Ivimey; Majid Pahlevani; Keyvan Hashtrudi-Zaad (IEEE Access, 2025)

Touching the tumor boundary: a pilot study on ultrasound-based virtual fixtures for breast-conserving surgery. - Laura Connolly; Tamas Ungi; Adnan Munawar; Anton Deguet; Chris Yeung; Russell H. Taylor; Parvin Mousavi; Gabor Fichtinger; Keyvan Hashtrudi-Zaad (Int. J. Comput. Assist. Radiol. Surg., 2025)