Keyvan Hashtrudi-Zaad's List of Publications

K. Hashtrudi-Zaad Students' names are in bold letters. 

 

Full Length Journals (Appeared or Accepted):

  1. A. Haddadi, and K. Hashtrudi-Zaad, "Real-time identification of Hunt-Crossley dynamic models of contact environment," IEEE Trans. on Robotics, 12 pages, (accepted).

  2. J. Hashemi, E. Morin, P. Mousavi, K.C. Mountjoy, and K. Hashtrudi-Zaad, “EMG-force modeling using parallel cascade identification,” J. Electromyo. & Kinesiology, 2011(accepted)

  3. B. Khademian, J. Apkarian and K. Hashtrudi-Zaad, “Assessment of environmental effects on collaborative haptic guidance,” PRESENCE, 20(3): 191-206, 2011.

  4. B. Khademian, and K. Hashtrudi-Zaad, “Dual-user teleoperation systems: new multilateral shared control architecture and kinesthetic performance measures,” IEEE Trans. on Mechatronics, PP(99): 1-12, 2011.

  5. B. Khademian, and K. Hashtrudi-Zaad, “Shared control architectures for haptic training: performance and stability analysis,” Int. J. Rob. Research, 30(13):1627-42, 2011.

  6. K.C. Mountjoy, E. Morin, and K. Hashtrudi-Zaad, “Use of FOS method to estimate optimal joint angle for upper limb Hill-muscle models,” IEEE Trans. Biomed. Eng. (TBME), 2010.

  7. A. Haddadi, and K. Hashtrudi-Zaad, “Bounded-impedance absolute stability of bilateral teleoperation control systems,” IEEE Trans. on Haptics, 3(1), 2010  *Cover feature*

  8. C. Leung, K. Hashtrudi-Zaad, P. Foroughi and P. Abolmaesumi, “Experimental validation of an intra-subject elastic registration algorithm for dynamic 2D ultrasound images,” Ultrasound in Medicine and Biology (UMB), 2009, 35(7): 1159-76.

  9. A. Tahmasebi, P. Abolmaesumi, D. Thompson, and K. Hashtrudi-Zaad, “A framework for the design of a novel haptic-based medical diagnostic simulator,” IEEE Trans. on Information Technology in Biomedicine, 12(5): 658-666, 2008.

  10. F. Mobasser and K. Hashtrudi-Zaad, “Transparent rate mode bilateral control,” Int. Jour. of Robotics Research, 27(1): pp. 57-72, 2008.

  11. B. Taati, A. Tahmasebi and K. Hashtrudi-Zaad, “Experimental identification and analysis of the dynamics of a PHANTOMTM Premium 1.5 haptic device,” PRESENCE, 17(4): 327-343, 2008. ** Top seven downloaded article of the journal in Jaunary 2011**

  12. F. Ghassemi, S. Tafazoli, P.D. Lawrence, and K. Hashtrudi-Zaad, “Design and calibration of an integration-free accelerometer-based joint angle sensor,” IEEE Trans. on Instrumentation & Measurement, 57(1): 150-159, 2008.

  13. F. Mobasser, J. Eklund, K. Hashtrudi-Zaad, “Estimation of elbow-induced wrist force with EMG signals using fast orthogonal search,” IEEE TBME, 54(4): pp. 683-693, 2007.

  14. A. Smith, F. Mobasser and K. Hashtrudi-Zaad, “Neural network based contact force observers for haptic applications,” IEEE Trans. on Robotics, 22(6): 1163-1175, 2006.

  15. P. Foroughi, P. Abolmaesumi and K. Hashtrudi-Zaad, ‘Intra-subject elastic registration of 3D ultrasound images,’ Medical Image Analysis, Elsevier, 10(5): 713-725, 2006  ** invited **

  16. A. Smith and K. Hashtrudi-Zaad, “Smith-predictor based predictive control architectures for time-delayed teleoperation systems,” Int. J. of Rob. Research, 25(8): 797-818, 2006.

  17. M. Matinfar, and K. Hashtrudi-Zaad, “Optimal robot impedance control: geometric and linear quadratic approaches,” Int. J. of Robotics Research, 14(8): 645-656, 2005.[IF=1.127]

  18. P. Osborne, R. McLellan, N. McEvoy, and K. Hashtrudi-Zaad, “A force-feedback joystick for control and robotics education,” IEEE Control Systems Magazine, 24(5): 74-77, 2004. [IF=1.640]

  19. S. Tafazoli S., S.E. Salcudean, K. Hashtrudi-Zaad, and P.D. Lawrence, “Impedance control of a teleoperated excavator,” IEEE Transactions on Control Systems Technology, 10(3): 355-367, 2002. [IF=1.027]

  20. K. Hashtrudi-Zaad and S.E. Salcudean, “Bilateral parallel force/position teleoperation control,” Journal of Robotic Systems, 19(4): 155-168, 2002. [IF = 0.317]

  21. K. Hashtrudi-Zaad and S.E. Salcudean, “Transparency of time-delayed systems and the effect of local force feedback in transparent teleoperation,” IEEE Transactions on Robotics and Automation, 18(1): 108-114, 2002. [IF = 2.126

  22. K. Hashtrudi-Zaad and S.E. Salcudean, “Analysis of control architectures for teleoperation systems with impedance/admittance master and slave manipulators,” International Journal of Robotics Research, 20(6): 419-445, 2001. [IF=1.127]

  23. S.E. Salcudean, M. Zhu, W.-H. Zhu and K. Hashtrudi-Zaad, “Transparent bilateral teleoperation under position and rate control,” International Journal Robotics Research, 19(12): 1185-1202, 2000. [IF=1.127]

  24. S.E. Salcudean, K. Hashtrudi-Zaad, S. Tafazoli, S.P. DiMaio and C. Reboulet, “Bilateral matched-impedance teleoperation with application to excavator control,” IEEE Control Systems Magazine, 19(6): 29-37, 1999. [IF=1.640]

  25. K. Hashtrudi-Zaad and K. Khorasani, “An integral manifold approach to tracking control for a class of non-minimum phase linear systems using output feedback,” Automatica, Elsevier Science, 38(11): 1533-1552, 1996. [IF=1.693]

  26. K. Hashtrudi-Zaad and K. Khorasani, “Control of non-minimum phase singularly perturbed systems with applications to flexible-link manipulators,” International Journal of Control, 63(4): 679-701, 1996. [IF=0.989]

Full Length Refereed Conference Papers (Appeared or Accepted):

  1. J. Hashemi, K. Hashtrudi-Zaad, P. Mousavi, and E. Morin, “Joint angle-Based EMG amplitude calibration,’’ Proc. of Int. Conf. of the IEEE Eng. in Medicine & Biology Soc. (EMBC), 2011.

  2. A. Haddadi, and K. Hashtrudi-Zaad, “Development of a dynamic model for bevel-tip flexible needle Insertion into soft tissues,’’ Proc. of IEEE EMBC, 2011.

  3. C. Sutherland, K. Hashtrudi-Zaad, P. Abolmaesumi, and P. Mousavi, “Towards an augmented ultrasound guided spinal needle insertion system,’’Proc. of  IEEE EMBC, 2011.

  4. A. Haddadi. O. Goksel, S.E. Salcudean, and K. Hashtrudi-Zaad, “Controllability issue in feedback control of needle insertion in soft tissue,” Proc. of IEEE EMBC, 2010.

  5. J. Hashemi, P. Mousavi, E. Morin, and K. Hashtrudi-Zaad, “Elbow-induced wrist force estimation using parallel cascade method,” Proc. of IEEE EMBC, 2010.

  6. A. Haddadi and K. Hashtrudi-Zaad, “Stability analysis of haptic interfaces for different types of sampled signals and virtual environment implementations,”Proc. of  IEEE Haptic Symp., 2010.

  7. B. Khademian and K. Hashtrudi-Zaad, “Robust stability analysis of shared control architectures for dual-user teleoperation control systems,” Proc. of IEEE Haptic Symp., 2010   *Nom. for best paper award*

  8. B. Khademian and K. Hashtrudi-Zaad, “Experimental performance evaluation of a haptic training simulation system,”Proc. of  IEEE/RSJ Int. Conf. on Intel. Robots and Systems (IROS), 2009.

  9. B. Khademian and K. Hashtrudi-Zaad, “Novel shared control architectures for enhanced users' interaction in haptic training simulation systems,” IProc. of EEE/RSJ IROS, 2009.

  10. K.C. Mountjoy, E.L. Morin, and K. Hashtrudi-Zaad, “Contraction-based variations in upper limb EMG-force models under isometric conditions,” Proc. of IEEE EMBC, 2009.

  11. A. Haddadi, and K. Hashtrudi-Zaad, “Least conservative robust stability condition for linear bilateral teleoperation control systems,” Proc. of IEEE World Haptics Conf., 2009.

  12. K.C. Mountjoy, K. Hashtrudi-Zaad, and E.L. Morin, “Fast orthogonal search to estimate upper-arm Hill-based model physiological parameters,” IProc. of EEE EMBC, 2008.

  13. C. Leung, K. Hashtrudi-Zaad, P. Foroughi and P. Abolmaesumi, “Experimental validation of 4D elastic registration algorithm,” Proc. of IEEE EMBC, 2008.

  14. A. Haddadi, and K. Hashtrudi-Zaad, “Online contact impedance identification for robotic systems,” Proc. of IEEE/RSJ IROS, 2008.

  15. A. Haddadi, and K. Hashtrudi-Zaad, “A new method for online parameter estimation of Hunt-Crossley environment dynamic models,” Proc. of IEEE/RSJ IROS, 2008.

  16. A. Haddadi, and K. Hashtrudi-Zaad, “Delay-Robust Transparent bilateral teleoperation control design,” Proc. of IEEE/RSJ IROS, 2008.

  17. K.C. Mountjoy, E.L. Morin, M. Moradi, and K. Hashtrudi-Zaad, “Use of Hill-type muscle models in the fast orthogonal search algorithm for wrist force estimation,” Proc. of Congress of the International Society of Electrophysiology and Kinesiology (ISEK), 2008.

  18. A. Haddadi, and K. Hashtrudi-Zaad, “A new robust stability analysis and design tool for bilateral teleoperation control systems,” Proc. of IEEE Int. Conf. Rob. & Auto. (ICRA), 2008.

  19. A. Haddadi, and K. Hashtrudi-Zaad, “A new fast online identification method for linear time-varying systems,” Proc. of American Control Conference (ACC), 2008.

  20. B. Khademian and K. Hashtrudi-Zaad, “A robust multilateral shared controller for dual-user teleoperation systems,” Proc. of Cont. & Rob. Symp., IEEE CCECE, 2008.

  21. M. Moradi, K. Hashtrudi-Zaad, K.C. Mountjoy, E.L. Morin, “An EMG-based force control system for prosthetic arms,” Proc. of Biomed. Eng. Symp., IEEE CCECE, 2008.

  22. B. Khademian and K. Hashtrudi-Zaad, “A four-channel multilateral shared control architecture for dual-user teleoperation systems,” Proc. of IEEE/RSJ IROS, 2007.

  23. F. Mobasser and K. Hashtrudi-Zaad, “Stable impedance reflecting teleoperation with online collision prediction,” Proc. of IEEE/RSJ IROS, 2007.

  24. B. Khademian, and K. Hashtrudi-Zaad, “Kinesthetic performance analysis of dual-user teleoperation systems,” Proc. of IEEE Int. Conf. Syst., Man & Cyber, 2007.

  25. B. Khademian, and K. Hashtrudi-Zaad, “Performance issues in collaborative haptic training,” Proc. of IEEE ICRA, 2007.

  26. F. Mobasser, and K. Hashtrudi-Zaad, “Adaptive teleoperation control using online estimate of operator’s arm damping,” Proc. of IEEE Int. Conf. Dec. & Cont., 2006.

  27. F. Mobasser and K. Hashtrudi-Zaad, “A method for online estimation of human arm dynamics,” Proc. of IEEE EMBC, 2006.

  28. P. Foroughi, P. Abolmaesumi, and K. Hashtrudi-Zaad, “Towards real-time registration of 4D ultrasound images,” IEEE EMBC, 2006.

  29. F. Mobasser and K. Hashtrudi-Zaad, “Adaptive teleoperation using operator elbow impedance,” Proc. of IEEE CCECE, 2006.

  30. F. Mobasser and K. Hashtrudi-Zaad, “Predictive teleoperation using laser rangefinder,” Proc. of IEEE CCECE, 2006.

  31. A. Tahmasebi, P. Abolmaesumi, and K. Hashtrudi-Zaad, “A haptic-based ultrasound examination/ training system,” Proc. of Med Image Computing & Comp. Assisted Intervention, 2005.

  32. A. Tahmasebi, P. Abolmaesumi, and K. Hashtrudi-Zaad, “Software structure design for a haptic-based medical examination system,” Proc. of IEEE Int. Workshop on Haptic, Audio, Visual Environments and Their Applications, 2005.

  33. F. Mobasser, and K. Hashtrudi-Zaad, “Rowing stroke force estimation with EMG signals using artificial neural networks,” Proc. of IEEE Int. Conf. Cont. Applic. (CCA), 2005.

  34. A. Tahmasebi, B. Taati, F. Mobasser, and K. Hashtrudi-Zaad, “Dynamic parameter identification and analysis of a phantom haptic device,” Proc. of IEEE CCA, 2005.** Invited Paper **

  35. A. Smith, and K. Hashtrudi-Zaad, “Application of neural networks in inverse dynamics based contact force estimation,” Proc. of IEEE CCA, 2005

  36. A. Smith, and K. Hashtrudi-Zaad, “Adaptive teleoperation using neural network based predictive control,” Proc. of IEEE CCA, 2005. ** Invited Paper **

  37. F. Mobasser, and K. Hashtrudi-Zaad, “A model-independent force observer for teleoperation systems,” Proc. of IEEE Int. Conf. on Mechatronics and Automation (ICMA), 2005. ** Nominated for best student paper **

  38. A Smith, and K. Hashtrudi-Zaad, “Neural network-based teleoperation using smith predictors,” IEEE ICMA, 2005.

  39. F. Mobasser, and K. Hashtrudi-Zaad, “Hand force estimation using electromyography signals,” IEEE ICRA, 2005.

  40. M. Matinfar and K. Hashtrudi-Zaad, “Optimization-based robot impedance controller design,” Proc. of IEEE Conf. on Control and Decision, Dec. 2004, pp. 1246-1251.

  41. P. Abolmaesumi, K. Hashtrudi-Zaad, D. Thompson, and A. Tahmasebi, “A haptic-based system for medical image examination,” Proc. of IEEE Int. Conf. of the Engineering in Medicine and Biology Society, 2004, pp. 1853-1856.

  42. J.M. Eklund, F. Mobasser, and K. Hashtrudi-Zaad, “Hand force estimation using fast orthogonal search,” Proc. of IEEE Int. Conf. of the Engineering in Medicine and Biology Society, Sept. 2004, pp. 696-698.

  43. F. Mobasser, and K. Hashtrudi-Zaad, “Implementation of a rate mode impedance reflecting teleoperation controller on a haptic simulation system,” Proc. of IEEE Int. Conf.  on Robotics and Automation, Apr. 2004, pp. 1974-1979. 

  44. S.P. DiMaio, K. Hashtrudi-Zaad, and S.E. Salcudean, “Optimal selection of manipulator impedance for contact tasks,” Proc. of IEEE Int. Conf.  on Robotics and Automation, Apr. 2004, pp. 4795-480.

  45. F. Mobasser, K. Hashtrudi-Zaad, and S.E. Salcudean, “Impedance reflecting rate mode teleoperation,” Proc. of IEEE Int. Conf. on Robotics and Automation, Sept. 2003, pp. 3296-3302.

  46. K. Hashtrudi-Zaad, F. Mobasser and S.E. Salcudean, “Transparent Implementation of Bilateral Teleoperation Controllers under Rate Mode,” Proc. American Control Conference, June 2003, pp. 161-167.

  47. F. Ghassemi, S. Tafazoli, P.D. Lawrence and K. Hashtrudi-Zaad, “An accelerometer-based joint angle sensor for heavy-duty manipulators,” Proc. of IEEE Int. Conf. on Robotics and Automation, May 2002, pp. 1171-1176.

  48. K. Hashtrudi-Zaad and S.E. Salcudean, “Analysis and evaluation of stability and performance robustness for teleoperation control architectures,” Proc. of IEEE Int. Conf. on Robotics and Automation, May 2000, pp. 3107-3113.

  49. K. Hashtrudi-Zaad and S.E. Salcudean, “Bilateral parallel force/position teleoperation control,” Proc. of ASME Int. Mechanical Eng. Cong. and Expo. (Symp. on Haptic Interfaces for Virtual Environments & Teleoperation), 1999, pp. 351-358.

  50. K. Hashtrudi-Zaad and S.E. Salcudean, “On the use of local force feedback in transparent teleoperation,” Proc. of IEEE Int. Conf. on Robotics and Automation, 1999, pp. 1863-1869.

  51. S.E. Salcudean, K. Hashtrudi-Zaad, S. Tafazoli, S.P. DiMaio and C. Reboulet, “Bilateral matched impedance teleoperation with application to excavator control,” Proc. of IEEE Int. Conf. on Robotics and Automation, 1998, pp. 133-139.

  52. S.P. DiMaio, S.E. Salcudean, C. Reboulet, S. Tafazoli and K. Hashtrudi-Zaad, “A virtual excavator for operator training and controller evaluation” Proc. of IEEE Int. Conf. on Robotics and Automation, 1998, pp. 52-58.

  53. S.E. Salcudean, S. Tafazoli, K. Hashtrudi-Zaad, C. Reboulet, and P.D. Lawrence, “Evaluation of impedance and teleoperation control of a hydraulic mini-excavator,” Proc. of. IEEE Int. Symposium on Experimental Robotics, Barcelona, A. Casals & A.de Almeida (Eds.), LNCIS-232, pp. 229-240, Springer-Verlag, 1998.

  54. K. Hashtrudi-Zaad and S.E. Salcudean, “Adaptive transparent impedance reflecting teleoperation,” Proc. of IEEE International Conference on Robotics and Automation, Apr. 1996, pp. 1369-1374.

  55. K. Hashtrudi-Zaad and K. Khorasani, “An integral manifold approach to tracking control for a class of non-minimum phase linear systems using output feedback,” Proc. of IEEE Int. Conf.  on Decision and Control, Dec. 1995, pp. 3217-3222.

  56. K. Hashtrudi-Zaad and K. Khorasani, “Control of non-minimum phase singularly perturbed systems with applications to flexible-link manipulators,” Proc. of Workshop on Advances in Control and its Applications, Chicago, IL, 1994, H.K. Khalil, J.H. Chow and P.A. Ioannou (Editors), LNCIS-208, pp. 234-256, Springer-Verlag, 1995.

Refereed Conference Video Presentations:

  1. Tahmasebi, P. Abolmaesumi, and K. Hashtrudi-Zaad, “A haptic-based ultrasound training/examination simulator (HUTES),” Proc. ofIEEE Int. Conf. Rob. and Auto, 2007.

  2. K. Hashtrudi-Zaad, S.P. DiMaio and S.E. Salcudean, “Force feedback teleoperation of a mini-excavator over the Internet, using a virtual master environment,” Video Proc. of IEEE Int. Conf. on Robotics and Automation, 2000, pp. 24-25.

  3. S.P. DiMaio, S.E. Salcudean, C. Reboulet, S. Tafazoli and K. Hashtrudi-Zaad, “A virtual excavator for controller development and evaluation,” Video Proc. of IEEE Int. Conf. on Robotics and Automation, 1999, pp. 23.

Technical Report:

  1. F. Mobasser, K. Davison, and K. Hashtrudi-Zaad, “Phantom open-architecture real-time solution,” Technical report to Quanser Consulting, Markham, Ontario, Feb. 2004 (14 pages).

Last Update: January 4, 2012