Publications


Selected Journal Papers by Category

ROBOTICS, HAPTICS & TELEOPERATION: MINIMALLY INVASIVE INTERVENTIONS

  1. F. Anooshahpour, P. Yadmellat, I.G. Polushin and R.V. Patel. A Motion Transmission Model for a Class of Tendon-Based Mechanisms with Application to Position Tracking of the da Vinci Instrument. IEEE/ASME Transactions on Mechatronics; vol. 24, no. 2, pp. 538-548, April 2019.
  2. M. Shahbazi, S.F. Atashzar, C. Ward, H.A. Talebi, and R.V. Patel. Multimodal Sensorimotor Integration for Expert-in-the-Loop Telerobotic Surgical Training. IEEE Transactions on Robotics, vol. 34, no. 6, pp. 1549-1564, 2018.
  3. M. Shahbazi, S.F. Atashzar, and R.V. Patel, A Systematic Review of Multilateral Teleoperation Systems. IEEE Transactions on Haptics, vol. 11, no. 3, pp. 338-356, 2018.
  4. P.S. Zarrin, A. Escoto, R. Xu, R.V. Patel, M.D. Naish, and A.L. Trejos. Development of a 2-DOF sensorized surgical grasper for grasping and axial force measurements. IEEE Sensors. Vol. 18, no. 7, pp.  2816-2826, 2018.
  5. B. Poursartip, M.E. LeBel*, R.V. Patel, M.D. Naish and A.L. Trejos. Energy-based metrics for laparoscopic skills assessment. IEEE Transactions on Biomedical Engineering, vol. 65, no. 7, pp. 1532-1542, 2018.
  6. B. Poursartip, M.E. LeBel*, L.C. McCracken, A. Escoto, R.V. Patel, M.D. Naish and A.L. Trejos. Energy-based metrics for arthroscopic skills assessment. Sensors: Special Issue on ‘Force and Pressure Based Sensing Medical Applications; 2017, vol. 17, no. 8, pp. 1-16, 1808.
  7. K. Siroen, C.D.W. Ward, A. Escoto, M.D. Naish, Y. Bureau, R.V. Patel, C.M. Schlachta*, S.M. Cristancho, and A.L. Trejos. Mastery learning—does method of learning make a difference in skill acquisition for robotic surgery? International Journal of Medical Robotics and Computer Assisted Surgery, vol. 13, no. 4, pp. 1-10, Dec. 2017.
  8. A.L. Trejos, A. Escoto, M.D. Naish, and R.V. Patel. Design and evaluation of a sterilizable force-sensing instrument for laparoscopic surgery. IEEE Sensors Journal, vol. 17, no. 13, pp. 3983–3993, July 2017.
  9. M. Khoshnam and R.V. Patel. Robotics-Assisted Control of Steerable Ablation Catheters Based on the Analysis of Tendon-Sheath Transmission Mechanisms. IEEE/ASME Transactions on Mechatronics, vol. 22, no. 3, pp. 1473-1484, June 2017.
  10. A. Naidu, M.D. Naish and R.V. Patel. A Breakthrough in Tumor Localization: Combining Tactile Sensing and Ultrasound to Improve Tumor Localization in Robotics-Assisted Minimally Invasive Surgery. IEEE Robotics and Automation Magazine, vol 24, no. 2, pp. 54-62, June 2017; received the “Best Innovation Prize”, Surgical Robot Challenge, 2015 Hamlyn Symposium on Medical Robotics, London, UK, June 2015.
  11. G-Z Yang, J. Cambias, K. Cleary, E. Daimler, J. Drake, P.E. Dupont, N. Hata, P. Kazanzides, S. Martel, R.V. Patel, V.J. Santos, and R.H. Taylor. Medical robotics—Regulatory, ethical, and legal considerations for increasing levels of autonomy. Editorial in Science Robotics, vol. 2, no. 4, March 2017. 
  12. M.E. Currie*, A. Talasaz, R. Rayman, M.W.A. Chu, B. Kiaii*, T. Peters, A.L. Trejos, and R.V. Patel. The Role of Visual and Direct Force Feedback in Robotics-Assisted Mitral Valve Annuloplasty. The Int. J. of Medical Robotics and Computer Assisted Surgery, vol. 13, no. 3, pp. 1-12, 2017.
  13. A. Naidu, R.V. Patel and M.D. Naish. Low-Cost Disposable Tactile Sensors for Palpation in Minimally Invasive Surgery. IEEE/ASME Transactions on Mechatronics. vol. 22, no. 1, pp, 127-137, Feb. 2017.
  14. A. Talasaz, A.L. Trejos, and R.V. Patel. The Role of Direct and Visual Force Feedback in Suturing using a 7-DOF Dual-Arm Teleoperated System. IEEE Transactions on Haptics, vol. 10, no. 2, pp. 276-287, 2017.
  15. N. Najmaei, A. Asadian, M.R. Kermani, and R.V. Patel. Design and Performance Evaluation of a Prototype MRF-based Haptic Interface for Medical Applications. IEEE/ASME Transactions on Mechatronics, vol. 21, no. 1, pp. 110-121, Feb. 2016.
  16. R. Xu, A. Yurkewich, and R.V. Patel. Curvature, torsion, and force sensing in continuum robots using helically wrapped FBG sensors. IEEE Robotics and Automation Letters, vol. 1, no. 2, pp. 1052–1059, 2016.
  17. M.E. Currie*, A.J. McLeod, J.T. Moore, M.W. Chu, R.V. Patel, B. Kiaii*, and T.M. Peters. Augmented Reality System for Ultrasound Guidance of Transcatheter Aortic Valve Implantation. Innovations-Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 11, no. 1, pp. 31-39, 2016.
  18. M. Khoshnam, A. Skanes, and R.V. Patel. Modeling and Estimation of Tip Contact Force for Steerable Ablation Catheters. IEEE Transactions on Biomedical Engineering; vol. 62, no. 5, pp. 1404-1415, 2015.
  19. M. Shahbazi, S.F. Atashzar, H.A. Talebi, and R.V. Patel. Novel Cooperative Teleoperation Framework: Multi-Master/Single-Slave System. IEEE/ASME Transactions on Mechatronics, vol. 20, no. 4, pp. pp. 1668-1679, 2015.
  20. A. Takhmar, I.G. Polushin, A. Talasaz, and R.V. Patel. Cooperative Teleoperation with Projection-Based Force Reflection for MIS. IEEE Transactions on Control Systems Technology, vol. 23, no. 4, pp. 1411-1426, July 2015.
  21. A. Azimian, M.D. Naish, B. Kiaii*, and R.V. Patel. A Chance Constrained Programming Approach to Preoperatve Planning of Robotic Cardiac Surgery Under Task-Level Uncertainty. IEEE Journal of Biomedical and Health Informatics, vol. 19, no. 2, pp. 612-622, March 2015.
  22. A.L. Trejos, K. Siroen, C.D.W. Ward, S. Hossain, M.D. Naish, and R.V. Patel, C.M. Schlachta*. Randomized control trial for evaluation of a hands-free pointer for surgical instruction during laparoscopic cholecystectomy”, Surgical Endoscopy, vol. 29, no.12, pp. 3655-3665, 2015.  
  23. A. Talasaz, A.L. Trejos, S. Perrault (visiting PhD student), H. Bassan, and R.V. Patel. A Dual-Arm 7-DOF Haptics-Enabled Teleoperation Test Bed for Minimally Invasive Surgery. ASME Journal of Medical Devices, vol. 8, no. 4, pp. 041004-1–041002-15, Dec. 2014; received the 2014 Best Paper Award from the ASME Journal of Medical Devices.
  24. A. Escoto, A.L. Trejos, R.V. Patel, A. Goela*, and B. Kiaii*. Anatomy-based Eligibility Measure for Robotics-assisted Bypass Surgery. Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery; vol. 9, no. 5, pp. 349–353, Sep–Oct. 2014.
  25. A.L. Trejos, R.V. Patel, R.A. Malthaner*, and C.M. Schlachta*. Development of force-based metrics for skills assessment in minimally invasive surgery. Surgical Endoscopy, vol. 28, no. 7, pp. 2106-2119, 2014.
  26. A. Asadian, R.V. Patel, and M.R. Kermani. Dynamics of Translational Friction in Needle-Tissue Interaction During Needle Insertion. Annals of Biomedical Engineering, vol. 42, no.1, pp. 72-85, 2014.
  27. A. Talasaz and R.V. Patel. Integration of Force Reflection with Tactile Sensing for Minimally Invasive Robotics-Assisted Tumor Localization. IEEE Trans. on Haptics; vol. 6, no. 2, pp. 217-228, Apr. 2013.
  28. A. Azimian, R.V. Patel, M.D. Naish and B. Kiaii*. A Semi-Infinite Programming Approach to Preoperative Planning of Robotic Cardiac Surgery Under Geometric Uncertainty. IEEE Transactions on Information Technology in BioMedicine, vol. 17, no. 1, pp. 172-182, Jan. 2013.
  29. M.E. Currie*, A.L. Trejos, R. Rayman*, M.W.A. Chu*, R.V. Patel, T.M. Peters, and B. Kiaii*. Is 3D better? Evaluating the effect of three-dimensional visualization on force application and performance time during robotics-assisted Mitral valve repair. Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 8, no. 3, pp.199-205, May/June, 2013.
  30. C.D.W. Ward, A.L. Trejos, M.D. Naish, R.V. Patel, and C.M. Schlachta*. The WHaSP: A Wireless Hands-Free Surgical Pointer for Minimally Invasive Surgery. IEEE/ASME Transactions on Mechatronics – Focused Section on Wireless Mechatronics, vol. 17, no. 3, pp.434-442, June 2012.
  31. A. Asadian, M.R. Kermani, and R.V. Patel. A Novel Force Modeling Scheme for Needle Insertion Using Multiple Kalman Filters. IEEE Transactions on Instrumentation and Measurement, vol. 61, no. 2, pp. 429-438, 2012.
  32. A. Sadeghi Naini, R.V. Patel and A. Samani. Measurement of Lung Hyperelastic Properties Using Inverse Finite Element Approach. IEEE Transactions on Biomedical Engineering, vol. 58, pp. 2852-2859, 2011.
  33. J. Jayender, R.V. Patel, G. F. Michaud, and N. Hata. Optimal transseptal puncture location for robot-assisted left atrial catheter ablation. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 7, no 2, pp. 193-201, 2011.
  34. E. Yu*, C. Lewis, A.L. Trejos, R.V. Patel, and R.A. Malthaner*. Lung cancer brachytherapy: robotics-assisted minimally invasive approach. Curr Respir Med Rev. vol. 7, no. 5, pp. 340–353, Oct. 2011.
  35. A. Sadeghi Naini, G. Pierce, T.Y. Lee, R.V. Patel, and A. Samani. CT image construction of a totally deflated lung using deformable model extrapolation. Medical Physics, vol. 38, pp. 872-883, 2011.
  36. A. Sadeghi Naini, T.Y. Lee, R.V. Patel, and A. Samani. Estimation of lung’s air volume and its variations throughout respiratory CT image sequences. IEEE Transactions on Biomedical Engineering, vol. 58, pp. 152-158, 2011.
  37. M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner*. Initial Evaluation of a Tactile/Kinesthetic Force Feedback System for Minimally Invasive Tumor Localization. IEEE/ASME Transactions in Mechatronics, vol. 15, no. 6, pp. 923-931, Dec. 2010.
  38. B.F. Yousef, R.V. Patel and M. Moallem. A manipulator for medical applications: design and control. ASME Journal of Medical Devices, vol.4, pp. 041991 (10 pages), 2010.
  39. S. Jayaraman, A.L. Trejos, M.D. Naish, A. Lyle, R.V. Patel, and C.M. Schlachta*. Toward construct validity for a novel sensorized instrument-based minimally invasive surgery (SIMIS) simulation system. Surgical Endoscopy, vol. 25, no. 5, pp. 1439-1445, Oct. 2011.
  40. A.L. Trejos, S. Jayaraman, R.V. Patel, M.D. Naish, and C.M. Schlachta*. Force sensing in natural orifice transluminal endoscopic surgery. Surgical Endoscopy, vol. 25, no. 1, pp. 186-192, Jan. 2011.
  41. A.L. Trejos, I. Ross, C. Scalesse, R.V. Patel, M.D. Naish and B. Kiaii*. Preoperative evaluation of patient anatomy to increase the success of robotics-assisted bypass surgery. Innovations: Technology and Techniques in Cardiothoracic and Vascular Surgery, vol. 5, no. 5, pp. 335-340, 2010.
  42. A. Asadian, M.R. Kermani and R.V. Patel. Robot-Assisted Needle Steering Using a Control Theoretic Approach. Journal of Intelligent and Robotic Systems, vol. 62, pp. 397-418, 2011.
  43. A. Sadeghi Naini, R.V. Patel and A. Samani. CT Enhanced Ultrasound Image of a Totally Deflated Lung for Image-guided Minimally Invasive Tumor Ablative Procedures. IEEE Transactions on Biomedical Engineering, vol. 57, pp. 2627-2630, 2010.
  44. M.T. Perri, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner*. New Tactile Sensing System for Minimally Invasive Tumor Localization” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 6, pp. 211–220, 2010.
  45. A.L. Trejos, R.V. Patel and M.D. Naish. Force Sensing and its Applications in Minimally Invasive Surgery and Therapy: A Survey. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Special Issue on ‘Robots and Devices in Surgery, vol. 224, no. 7, pp 1435–1453, Jul. 2010. 
  46. H. Bassan, R.V. Patel and M. Moallem. A novel manipulator for percutaneous needle insertion: Design and experimentation. IEEE/ASME Transactions on Mechatronics, vol. 14, pp. 746-761, 2009.
  47. A.L. Trejos, R.V. Patel, M.D. Naish, and C.M. Schlachta*. A sensorized instrument for skills assessment and training in minimally invasive surgery. ASME Journal of Medical Devices, vol. 3, pp. 041002-1–041002-12, Dec. 2009; (based on PhD thesis research of Trejos supervised by Patel).
  48. J. Jayender, R.V. Patel, and S. Nikumb. Robot-assisted active catheter insertion: algorithms and experiments. International Journal of Robotics Research, — Special Issue on Medical Robotics, vol. 28, no. 9, pp. 1101-1117, 2009; (based on PhD thesis research of Jayender supervised by Patel).
  49. A.L. Trejos, J. Jayender, M. Perri, M.D. Naish, R.V. Patel, and R.A. Malthaner*. Robot-assisted tactile sensing for minimally invasive tumor localization. International Journal of Robotics Research — Special Issue on Medical Robotics, vol. 28, no. 9, pp. 1118-1133, Sep. 2009.
  50. S. Jayaraman, I. Apriasz, A.L. Trejos, H. Bassan, R.V. Patel and C.M. Schlachta*. Novel hands-free pointer improves instruction efficiency in laparoscopic surgery. Surgical Innovation, vol. 16, no. 1, pp. 73–77, Mar. 2009. 
  51. N. Abolhassani and R.V. Patel. Teleoperated master-slave needle insertion. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 5, pp. 398-405, 2009; (based on PhD thesis research of Abolhassani supervised by Patel).
  52. C. Nguan*, B. Miller, R.V. Patel, P. Luke*, and C.M. Schlachta*. Pre-clinical remote telesurgery trial of a da Vinci telesurgery prototype. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, no. 4, pp. 304-309, 2008.
  53. J. Jayender, M. Azizian, and R.V. Patel. Autonomous Image-Guided Robot-Assisted Active Catheter Insertion. IEEE Transactions on Robotics, vol. 24, no. 4, pp. 858-871, August 2008.
  54. B. Yousef, R.V. Patel, and M. Moallem. An Ultrasound Probe Holder for Image-Guided Robot-Assisted Prostate Brachytherapy. ASME Journal of Medical Devices, vol. 2, no. 2,021002 (7 pages), 2008.
  55. A. Lin, A.L. Trejos, S. Mohan, H. Bassan, A. Kashigar, R.V. Patel, and R.A. Malthaner*. Electromagnetic navigation improves minimally invasive robot-assisted lung brachytherapy. Computer Aided Surgery, vol.13, no. 2, pp. 114-123, Mar. 2008.
  56. J. Ren (jointly supervised by Peters and Patel), R.V. Patel, K. McIsaac, G. Guiraudon, and T. Peters. Dynamic 3D virtual fixtures for minimally invasive beating heart procedures. IEEE Transactions on Medical Imaging; vol. 27, no. 8, pp. 1061-1070, 2008. 
  57. G. McCreery, A.L. Trejos, M.D. Naish, R.V. Patel, and R.A. Malthaner* “Feasibility of Locating Tumours in Lung via Kinesthetic Feedback. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 4, no. 1, pp. 58-68, Mar. 2008.
  58. J. Jayender, R.V. Patel, and S. Nikumb. Modeling and control of Shape Memory Alloy actuators. IEEE Transactions on Control Systems Technology, vol. 16, no. 2, pp. 279-287, 2008.
  59. A.L. Trejos, R.V. Patel, I. Ross, and B. Kiaii*. Optimizing Port Placement for Robot-Assisted Minimally Invasive Cardiac Surgery. International Journal of Medical Robotics & Computer Assisted Surgery. vol. 3, no. 4, pp. 355–364, Dec. 2007.
  60. M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem. High-fidelity bilateral teleoperation systems and the effect of multimodal haptics. IEEE Transactions on Systems, Man and Cybernetics – Part B, vol. 37, pp. 1512-1528, Dec. 2007.
  61. N. Abolhassani, R.V. Patel, and F. Ayazi. Minimization of needle deflection in robot-assisted percutaneous therapy. International Journal of Medical Robotics and Computer Assisted Surgery; vol. 3, pp. 140-148, 2007.
  62. A.L. Trejos, A.W. Lin, M. Pytel, R.V. Patel and R.A. Malthaner*. Robot-assisted minimally invasive lung brachytherapy. International Journal of Medical Robotics and Computer Assisted Surgery, vol. 3, no. 1, pp. 41–51, 2007.
  63. R. Rayman*, K. Croome*, N. Galbraith, R. McClure*, R. Morady, S. Peterson, S. Smith, V. Subotic, A. Van Wynsberghe, R.V. Patel, and S. Primak. Robotic telesurgery: A real-world comparison of ground- and satellite-based internet performance. Int. J. of Medical Robotics & Comp. Assisted Surgery, vol. 3, pp. 111-116, 2007.
  64. N. Abolhassani, R.V. Patel, and M. Moallem. Needle insertion in soft tissue: A survey. Medical Engineering and Physics, Journal of the Institute of Physics and Engineering in Medicine (IPEM), vol. 29, no. 4,  pp. 413-431, May 2007.
  65. M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem. Modalities and mechanisms for contact feedback in a robot-assisted minimally invasive environment. Surgical Endoscopy, vol. 20, no. 10, pp. 1570-1579, 2006. 
  66. N. Abolhassani, R.V. Patel, M. Moallem. Control of soft tissue deformation during robotic needle insertion", Minimally Invasive Therapy and Allied Technology, vol. 15, no. 3, pp. 165-176, 2006.
  67. M. Tavakoli, R.V. Patel, and M. Moallem. A haptic interface for computer-integrated endoscopic surgery and training. Virtual Reality (special issue on Haptic Interfaces and Applications), vol. 9, no. 2-3, pp. 160-176, 2006. 
  68. M. Tavakoli, R.V. Patel, and M. Moallem, “Haptic interaction in robot-assisted endoscopic surgery: A sensorized end effector,” International Journal of Medical Robotics and Computer Assisted Surgery, vol. 1, no. 2, pp. 53-63, 2005. 


ROBOTICS, HAPTICS & AI: NEUROLOGICAL MOVEMENT DISORDERS

  1. M. Khosravi, S.F. Atashzar, G. Gilmore, M.S. Jog* and R.V. Patel. “Intraoperative Localization of STN During DBS Surgery Using a Data-Driven Model,” IEEE Journal of Translational Engineering in Health and Medicine, vol. 8, pp. 1-9, 2020, Art no. 2500309, doi: 10.1109/JTEHM.2020.2969152.
  2. S. Shahtalebi, S.F. Atashzar, O. Samotus, R.V. Patel, M. Jog* and A. Mohammadi.PHTNet: Characterization and Deep Mining of Involuntary Pathological Hand Tremor using Recurrent Neural Network Models. Nature: Scientific Reports. (2020) 10:2195; 19 pages.
  3. M. Bernardinis, S.F. Atashzar, M. Jog*, and R.V. Patel. Differential Temporal Perception Abilities in Parkinson’s Disease Patients Based on Timing Magnitude. Nature: Scientific Reports, 2019; 9:19638; 15 pages; (based on MESc thesis research of Bernardinis jointly supervised by Patel and Jog*).
  4. S. Shahtalebi, S.F. Atashzar, R.V. Patel, and A. Mohammadi. HMFP-DBRNN: Real-time Hand Motion Filtering and Prediction via Deep Bidirectional RNN.IEEE Robotics and Automation Letters, vol. 4, no. 2, 2019.
  5. S. Shahtalebi, S.F. Atashzar, R.V. Patel, and A. Mohammadi. WAKE: Wavelet decomposition coupled with adaptive Kalman filtering for pathological tremor extraction. Biomedical Signal Processing and Control, vol. 48, pp. 179-188, Feb, 2019.
  6. S.F. Atashzar, M. Shahbazi, and R.V. Patel. Haptics-enabled Interactive Neuro-Rehabilitation Mechatronics: Functionality, Challenges and Ongoing Research. Mechatronics, vol. 57, pp. 1-19, 2019.
  7. S.F. Atashzar, M. Shahbazi, M. Tavakoli, and R.V. Patel, A Computational Model based Study of Supervised Haptics-enabled Therapist-in-the-Loop Training for Upper-Limb Post-Stroke Robotic Rehabilitation. IEEE/ASME Transactions on Mechatronics, vol. 23, no. 2, pp. 563-574, 2018.
  8. S.F. Atashzar, M. Shahbazi, M. Tavakoli, and R.V. Patel. A Grasp-based Passivity Signature for Haptics-enabled Human-Robot Interaction: Application to Design of a New Safety Mechanism for Robotic Rehabilitation. International Journal of Robotics Research:  Special Issue on Human-Robot Interaction, vol. 36, no. 5-7, pp. 778-799, June 2017.
  9. S.F. Atashzar, M. Shahbazi, M. Tavakoli, and R.V. Patel. A Passivity-based approach for Stable Patient-Robot Interaction in Haptics-enabled Rehabilitation Systems: Modulated Time-domain Passivity Control (M-TDPC). IEEE Transactions on Control Systems Technology, vol. 25, no. 3, pp. 991-1006, May 2017.
  10. S.F. Atashzar, I.G. Polushin, and R.V. Patel. A Small-Gain Approach for Non-Passive Bilateral Telerobotic Rehabilitation: Stability Analysis and Controller Synthesis. IEEE Transactions on Robotics, vol. 33, no. 1, pp. 49-66, Feb. 2017.
  11. S.F. Atashzar, N. Jafari, M. Shahbazi, H. Janz, M. Tavakoli, R.V. Patel, and K. Adams. Telerobotics-assisted Platform for Enhancing Interaction with Physical Environments for People Living with Cerebral Palsy. Journal of Medical Robotics Research, vol. 02, 1740001 (2017) [15 pages].
  12. M. Jackman, M. Delrobaei, F. Rahimi, S.F. Atashzar, M. Shahbazi, R.V. Patel, and M. Jog*. Predicting Improvement in Writer’s Cramp Symptoms Following Botulinum Neurotoxin Injection Therapy. Tremor and Other Hyperkinetic Movements, vol. 6, 2016. 
  13. M. Shahbazi, S.F. Atashzar, M. Tavakoli and R.V. Patel. Robotics-Assisted Mirror Rehabilitation Therapy: A Therapist-in-the-Loop Assist-as-Needed Architecture. IEEE/ASME Transactions on Mechatronics, vol. 21, no. 4, pp. 1954 - 1965, 2016.
  14. S.F. Atashzar, M. Shahbazi, C.D.W. Ward, O. Samotus, M. Delrobaei, F. Rahimi, J. Lee, M. Jackman, M. Jog*, and R.V. Patel. Haptic Feedback Manipulation During Botulinium Toxin Injection Therapy for Focal Hand Dystonia Patients:  A Possible New Assistive Strategy.IEEE Transactions on Haptics: Special Issue on Haptics in Neuroscience, 2016, vol. 9, no. 4, pp. 523-535, 2016.
  15. M. Delrobaei, F. Rahimi, M. Jackman, S.F. Atashzar, M. Shahbazi, R.V. Patel, and M, Jog*. Kinematic and Kinetic Assessment of Upper Limb Movements in Patients with Writer's Cramp. Journal of NeuroEngineering and Rehabilitation, vol. 13, no.15, pp. 1-10, Feb. 2016.
  16. S.F. Atashzar, M. Shahbazi, O. Samotus, M. Tavakoli, M. Jog*, and R.V. Patel. Characterization of Upper-limb Pathological Tremors: Application to Design of an Augmented Haptic Rehabilitation System. IEEE Journal of Selected Topics in Signal Processing: Special Issue on Person-Centered Signal Processing for Assistive, Rehabilitative and Wearable Technologies. vol. 10. no. 5, pp. 888-903, Jan. 2016.


ROBOTICS & HAPTICS: DESIGN, SENSING AND CONTROL

  1. A. Usova, I.G. Polushin, and R.V. Patel. Scattering-Based Stabilization of Non-Planar Conic Systems. Automatica, Vol. 93, pp. 1-11, 2018.
  2. P. Yadmellat and R.V. Patel. Frequency response analysis of magneto-rheological clutch designsJournal of Intelligent Material Systems and Structures, vol. 29, no. 5, pp. 905-923, 2017.
  3. N. Najmaei, M.R. Kermani, and R.V. Patel. Suitability of Small-Scale Magneto-Rheological Fluid Based Clutches in Haptic Interfaces for Improved Performance. IEEE/ASME Transactions on Mechatronics, vol. 20, no. 4, pp. 1863-1974, 2015.
  4. I.G. Polushin, A. Takhmar, and R.V. Patel. Projection-Based Force Reflection Algorithms with Frequency Separation for Bilateral Teleoperation. IEEE/ASME Transactions on Mechatronics, vol. 20, no. 1, pp. 143-154, 2015.
  5. I.G. Polushin, S.N. Dashkovskiy, A. Takhmar, and R.V. Patel. A Small Gain Framework for Networked Cooperative Force-Reflecting Teleoperation. Automatica, vol 49, no, 2, pp. 338-348, 2013.
  6. M. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem. Discrete-Time Bilateral Teleoperation: Modeling and Stability Analysis. IET Control Theory & Applications, vol. 2, no. 6, pp. 496-512, 2008.
  7. A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem. Stability and performance in delayed bilateral teleoperation: Theory and experiments. IFAC Journal on Control Engineering Practice, vol. 16, no.11, pp. 1329-1343, 2008.
  8. A. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem. Transparent time-delayed bilateral teleoperation using wave variables. IEEE Transactions on Control Systems, Technology; vol. 16, no. 3, pp. 548-555, 2008.
  9. J. Ren, K. McIsaac, and R.V. Patel. Modified Newton's Method Applied to Potential Field Based Navigation for Nonholonomic Robots in Dynamic Environments. Robotica, vol. 26, no.1, pp. 117-127, 2008.
  10. M.R. Kermani, R.V. Patel, and M. Moallem. Friction identification and compensation in robotic manipulators. IEEE Transactions on Instrumentation and Measurement; vol. 56, no. 6, pp. 2346-2353, 2007.
  11. J. Ren, R.V. Patel, K. McIsaac, and T. Peters. A potential field model using generalized sigmoid functions. IEEE Transactions on Systems, Man, and Cybernetics – Part B, vol. 37, no. 2, pp. 477-484, April 2007.
  12. X, Yang, R.V. Patel, and M, Moallem. A fuzzy Braitenberg navigation strategy for differential-drive mobile robots. Journal of Intelligent and Robotic Systems, vol. 47, no. 1, 2006.
  13. J. Ren, K. McIsaac, and R.V. Patel. Modified Newton’s method applied to potential field based navigation for mobile robots. IEEE Transactions on Robotics, vol. 22, no. 2, pp. 384-391, 2006.
  14. X. Yang, M. Moallem, and R.V. Patel. A sensor-based navigation algorithm for a mobile robot using fuzzy logic. International Journal of Robotics & Automation (Special Issue on ‘Agents Meet Robots’), vol. 21, no. 2, 2006. 
  15. J. Ren, K. McIsaac, and R.V. Patel. "A framework for agent-based nonholonomic robot team navigation and coordination. International Journal of Robotics & Automation (Special Issue on ‘Agents Meet Robots’), vol. 21, no. 2, 2006. 
  16. X. Yang, M. Moallem, and R.V. Patel. A layered goal-oriented fuzzy motion planning strategy for mobile robot navigation. IEEE Transactions on Systems, Man, & Cybernetics, Part B, vol. 35, no. 6, 1214-1224, 2005. 
  17. P. Yuan, M. Moallem, and R.V. Patel, “Real-time scheduling of distributed multi-robot systems”, Transactions of the Canadian Society for Mechanical Engineering (Special Issue on Industrial Control and Automation), vol. 29, pp. 179-194, 2005. 
  18. J. Pan and R.V. Patel, “Reconfigurable distributed real-time processing for multi-robot control: Design, implementation and experimentation,” Robotica, vol 22, pp. 661-679, 2004. 
  19. X-G. Wang, M. Moallem, and R.V. Patel, “An internet-based distributed multiple-telerobot system”, IEEE Transactions on Systems, Man, & Cybernetics, Part A, vol. 33, pp. 627-633, 2003. 
  20. R.V. Dantu, N.J. Dimopoulos, R.V. Patel, and A. J. Al-Khalili, “Depth perception using blurring and its application in VLSI wafer probing,” Machine Vision and Applications, vol. 5, pp. 35–45, 1992. 
  21. R.V. Dantu, N.J. Dimopoulos, R.V. Patel, and A.J. Al-Khalili, “Micro-manipulator vision for wafer probing,” IEEE Transactions on Semiconductor Manufacturing, vol. SM-2, pp. 114–117, 1989. 
  22. C.A. Balafoutis and R.V. Patel, “Linearized robot models in joint and Cartesian spaces,” Transactions of the Canadian Society of Mechanical Engineering, vol. 13, pp. 103–112, 1989. 
  23. C.A. Balafoutis and R.V. Patel, “Efficient computation of manipulator inertia matrices and the direct dynamics problem,” IEEE Transactions on Systems, Man and Cybernetics, vol. SMC-19, pp. 1313–1321, 1989. 
  24. C.A. Balafoutis, R.V. Patel, and P. Misra, “Efficient modeling and computation of manipulator dynamics using orthogonal Cartesian tensors,” IEEE Journal of Robotics & Automation, vol. RA-4, pp. 665–676, 1988. 
  25. S.E. Thompson and R.V. Patel, “Formulation of joint trajectories for industrial robots using B-splines,” IEEE Transactions on Industrial Electronics, vol. IE-34, pp. 192–199, 1987.
  26. C.A. Balafoutis, P. Misra, and R.V. Patel, “Recursive evaluation of linearized dynamic robot models,” IEEE Journal of Robotics and Automation, vol. RA-2, pp. 146–155, 1986.


ROBOTICS: FLEXIBLE, REDUNDANT AND MOBILE

  1. R.V. Patel, H.A. Talebi, J. Jayender, and F. Shadpey. A Robust Position and Force Control Strategy for 7-DOF Redundant Manipulators. IEEE/ASME Transactions on Mechatronics, vol. 14, no. 5, pp. 575-589, 2009. 
  2. J. Jayender, R.V. Patel, and S. Nikumb. Modeling and control of Shape Memory Alloy actuators. IEEE Transactions on Control Systems Technology, vol. 16, no. 2, pp. 279-287, 2008.
  3. M.R. Kermani, R.V. Patel, and M. Moallem. Multi-mode control of a large-scale robotic manipulator. IEEE Transactions on Robotics, vol. 27, no. 6, pp. 1264-1270, 2007.
  4. F. Abdollahi, H.A. Talebi, and R.V. Patel. A stable neural network-based observer with application to flexible-joint manipulators. IEEE Transactions on Neural Networks, vol. 17, no. 1, pp. 118-129, 2006.
  5. M. Kermani, M. Moallem, and R.V. Patel. Study of system parameters and control design for a flexible manipulator using piezoelectric transducers. Institute of Physics Journal of Smart Materials and Structures, vol. 14, pp. 843-849, 2005.
  6. R.V. Patel, F. Shadpey, F. Ranjbaran, and J. Angeles. A collision-avoidance scheme for redundant manipulators: Theory and experiments. Journal of Robotic Systems, vol. 22, pp. 737-757, 2005.
  7. M. Kermani, R.V. Patel, and M. Moallem. Flexture control using piezostack actuators: Design and implementation. IEEE/ASME Transactions on Mechatronics; , vol. 10, no.2, pp. 181-188, 2005. 
  8. H.A. Talebi, R.V. Patel, and K. Khorasani, “A neural network controller for a nonlinear non-minimum phase system with application to a flexible-link manipulator,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 127, no. 2, pp. 289-294, 2005.
  9. H. Bassan, H.A. Talebi, R.V. Patel, and M. Moallem, “Control of a rigid manipulator mounted on a compliant base,” Robotica, vol. 23, pp. 197-206, 2005.
  10. M. Moallem, M. Kermani, R.V. Patel, and M.Ostojic, “Flexure control of a positioning system using piezoelectric transducers,” IEEE Transactions on Control Systems Technology, vol. 12, no. 5, pp. 757-762, 2004.
  11. M. Kermani, M. Moallem, and R.V. Patel, “Parameter selection and control design for vibration suppression using piezoelectric transducers”, Control Engineering Practice, vol. 12, no. 8, pp. 1005-1015, 2004. 
  12. M. Moallem, R.V. Patel, and K. Khorasani, "Design of an actuated flexible arm for improved vibration properties”, Journal of Vibration and Control; vol. 9, pp. 1041-1056, 2003.
  13. X.P. Cheng and R.V. Patel, “Neural network based tracking control of a flexible macro-micro manipulator system”, Neural Networks, vol. 16, pp. 271-286, 2003.
  14. H.A. Talebi, K. Khorasani, and R.V. Patel, “Tracking control of a flexible-link manipulator using neural networks: Experimental results,” Robotica, vol. 20, pp. 417-427, 2002. 
  15. M. Moallem, R.V. Patel, and K. Khorasani, "Nonlinear tip-position tracking control of a flexible-link manipulator: Theory and experiments", Automatica, vol. 37, pp.1825-1834, 2001.
  16. H.A. Talebi, R.V. Patel, and H. Asmer, "Neural network based dynamic modeling of flexible-link manipulators with application to the SSRMS", Journal of Robotic Systems, vol. 17, no. 7, pp. 385-401, 2000.
  17. H.P. Xie, S. Kalaycioglu, and R.V. Patel, "Control of residual vibrations in flexible manipulators with application to the Shuttle Remote Manipulator System", International Journal of Robotics and Automation, vol. 15, no. 2, pp. 68-77, 2000.
  18. A. Yazdizadeh, K. Khorasani, and R.V. Patel, “Identification of a two-link flexible manipulator using adaptive time-delay neural networks,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 30, no. 1, pp. 165-172, Feb. 2000.
  19. Z. Lin and R.V. Patel, “Cartesian control of redundant flexible-joint manipulators,” International Journal of Robotics and Automation, vol. 13, no. 3, pp. 76-86, 1998. 
  20. H.A. Talebi, K. Khorasani, and R.V. Patel, “Neural network based control schemes for flexible-link manipulators: Simulations and experiments,” Neural Networks, Special Issue on Neural Control and Robotics: Biology and Technology, vol. 11, no. 7-8, pp. 1357-1377, October/November 1998. 
  21. M. Moallem, K. Khorasani, and R.V. Patel, “An inverse dynamics sliding control technique for flexible multi-link manipulators,” International J. Control, vol. 71, no. 3, pp. 477-490, 1998. (based on PhD thesis research of Moallem jointly supervised by Patel and Khorasani).
  22. M.J. Yazdanpanah, K. Khorasani, and R.V. Patel, “Uncertainty compensation for a flexible-link manipulator using nonlinear control,” International Journal of Control, vol. 69, no. 6, pp. 753-771, 1998. 
  23. M. Moallem, K. Khorasani, and R.V. Patel, “Optimum structure design for improving the dynamics of flexible-link manipulators,” International Journal of Robotics and Automation, vol. 13, no. 4, pp. 125-131, 1998.
  24. M. Moallem, R.V. Patel, and K. Khorasani, “An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators,” Journal of Robotic Systems, vol. 14, no. 9, pp. 649-658, September 1997. 
  25. M. Moallem  K. Khorasani, and R.V. Patel, “An integral manifold approach for tip position tracking of flexible multi-link manipulators,” IEEE Transactions on Robotics & Automation, vol. 13, no. 6, pp. 823-837, December 1997.
  26. H. Geniele, R.V. Patel, and K. Khorasani, “End-point control of a flexible-link manipulator: Theory and experiments,” IEEE Transactions on Control Systems Technology, vol. 5, no. 6, pp. 556-570, November 1997. 
  27. V. Zeman, R.V. Patel, and K. Khorasani, “Control of a flexible-joint robot using neural networks,” IEEE Transactions on Control Systems Technology, vol. 5, no. 4, pp. 453-462, July 1997.
  28. F. Ranjbaran, J. Angeles, M.A. Gonzalez-Palacios, and R.V. Patel, “The mechanical design of REDIESTRO, a seven-axes manipulator with kinematic isotropy,” Journal of Intelligent and Robotic Systems, vol. 14, pp. 21–41, 1995. 
  29. Z. Lin, R.V. Patel, and C.A. Balafoutis, “Impact reduction for redundant manipulators using augmented impedance control,” Journal of Robotic Systems, vol. 12, pp. 301–313, 1995. 
  30. R.A. Al-Ashoor, R.V. Patel, and K. Khorasani, “Robust adaptive controller design and stability analysis for flexible-joint manipulators,” IEEE Transactions on Systems, Man, and Cybernetics, vol. 23, pp. 589–602, 1993. 
  31. R.A. Al-Ashoor, K. Khorasani, R.V. Patel, and A. Al-Khalili, “Robust adaptive controller design for flexible-joint manipulators,” Journal of Robotics and Computer Integrated Manufacturing, vol. 9, pp. 101-112, 1992.


CONTROL SYSTEMS: COMPUTATIONAL ISSUES AND APPLICATIONS

  1. G. Singh, M. Zaheer-uddin, and R.V. Patel, "Adaptive control of multivariable thermal processes in HVAC systems," Energy Conversion and Management, vol. 41, pp. 1671-1685, 2000. 
  2. M.J. Yazdanpanah, K. Khorasani, and R.V. Patel, “On the estimate of the domain of validity of nonlinear control,” International Journal of Control, special issue on “Breakthroughs in the Control of Nonlinear Systems'', vol. 72, no. 12, pp. 1097-1105, August 1999. 
  3. K.G. Narendra, K.Khorasani, V.K.Sood and R.V. Patel, "Intelligent current controller for an HVDC transmission link", IEEE Trans. on Power Systems, vol.13, no. 3, pp 1076-1083, 1998. 
  4. K.G. Narendra, V.K. Sood, K. Khorasani and R.V. Patel, "Application of radial basis function neural networks for fault diagnosis in HVDC system", IEEE Transactions on Power Systems, vol. 13, no. 1, pp 177-183, February 1998. 
  5. P. Misra, G. Gu, and R.V. Patel, “Computation of simple and group factors of multivariate polynomials,” Circuits, Systems, & Signal Processing, vol. 16, no. 4, pp. 455-473, 1997.
  6. K.G. Narendra, V.K. Sood, K. Khorasani, and R.V. Patel, “Investigation into an artificial neural network based online current controller for an HVDC transmission link,” IEEE Transactions on Power Systems, vol. 12, no. 4, pp. 1425-1431, November 1997.
  7. M. Zaheer-uddin and R.V. Patel, “Optimal tracking control of multi-zone indoor environmental spaces,” ASME Journal of Dynamic Systems, Measurement and Control, vol. 117, pp. 292–303, 1995. 
  8. M. Zaheer-uddin, S.A.K. Al-Assadi, and R.V. Patel, “Decentralized preview control for multiple disturbance rejection in HVAC systems,” IFAC Journal on Control Engineering Practice, vol. 2, pp. 989–1000, 1994. 
  9. V. Sood, N. Kandil, R.V. Patel, and K. Khorasani, “Comparative evaluation of neural network based and PI current controllers for HVDC transmission systems,” IEEE Transactions on Power Electronics, vol. 9, no. 3, pp. 288–295, May 1994. 
  10. R.V. Patel, Z. Lin, and P. Misra, “Computation of stable invariant subspaces of Hamiltonian matrices,” SIAM J. on Matrix Analysis and Applications, vol. 15, pp. 284–298, 1994. 
  11. M. Zaheer-uddin, R.V. Patel, and S.A.K. Al-Assadi, “Design of decentralized robust controllers for multi-zone space heating systems.,” IEEE Transactions on Control Systems Technology, vol. 1, pp. 246–261, 1993. 
  12. R.V. Patel, “On computing the eigenvalues of a symplectic pencil,” Linear Algebra and its Applications; Special Issue on “Numerical Linear Algebra Methods in Control, Signals and Systems”, vol. 188,189, pp. 591–611, 1993. 
  13. M. Zaheer-uddin and R.V. Patel, “The design and implementation of a sub-optimal controller for space heating,” Transactions of the ASHRAE, vol. 99, Part 1, pp. 554–564, 1993. 
  14. N. Kandil, V. Sood, K. Khorasani, and R.V. Patel, “Fault identification in an AC-DC transmission system using neural networks,” IEEE Transactions on Power Systems, vol. PS-7, pp. 812–819, 1992. 
  15. R.V. Patel and P. Misra, “Numerical computation of decentralized fixed modes,” Automatica, vol. 27, pp. 375–382, 1991. 
  16. P. Misra and R.V. Patel, “Computation of minimal order realizations of generalized state-space systems,” Circuits, Systems and Signal Processing, vol. 8, pp. 49–70, 1989. 
  17. P. Misra and R.V. Patel, “Numerical algorithms for eigenvalue assignment by constant and dynamic output feedback,” IEEE Transactions on Automatic Control, vol. AC-34, pp. 579–588, 1989. 
  18. P. Misra and R.V. Patel, “A determinant identity and its application in evaluating frequency response matrices,” SIAM Journal on Matrix Analysis and Applications, vol. 9, pp. 248–255, 1988. 
  19. P. Misra and R.V. Patel, “Computation of transfer function matrices of linear multivariable systems,” Automatica, vol. 23, pp. 635–640, 1987.
  20. R.V. Patel, “On blocking zeros in linear multivariable systems,” IEEE Transactions on Automatic Control, vol. AC-31, pp. 239–241, 1986. 
  21. R.V. Patel and P. Misra, “Numerical algorithms for eigenvalue assignment by state feedback,” Proc. IEEE, Special Section on Computer-Aided Design of Control Systems: Systems and Algorithms, vol. 72, pp. 1755–1764, 1984.
  22. R.V. Patel and M. Toda, “Bounds on performance of nonstationary continuous-time filters under modeling uncertainty,” Automatica, vol. 20, pp. 117–120, 1984. 
  23. R.V. Patel, “Computation of matrix fraction descriptions of linear time-invariant systems,” IEEE Transactions on Automatic Control, vol. AC-26, pp. 148–161, 1981. 
  24. M. Toda and R.V. Patel, “Bounds on estimation errors of discrete-time filters under modeling uncertainty,” IEEE Transactions on Automatic Control, vol. AC-25, pp. 1115–1121, 1980. 
  25. M. Toda and R.V. Patel, “Algorithms for adaptive stochastic control for a class of linear systems,” Journal of Mathematical Analysis and Applications, vol. 72, pp. 122–149, 1979. 
  26. M. Toda and R.V. Patel, “Performance bounds for continuous-time filters in the presence of modeling errors,” IEEE Transactions on Aerospace and Electronic Systems, vol. AES-14, pp. 912–919, 1978. 
  27. R.V. Patel and M. Toda, “On norm bounds for algebraic Riccati and Lyapunov equations,” IEEE Transactions on Automatic Control, vol. AC-23, pp. 87–88, 1978. 
  28. R.V. Patel, M. Toda, and B. Sridhar, “Robustness of linear quadratic state feedback designs in the presence of system uncertainty,” IEEE Transactions on Automatic Control, vol. AC-22, pp. 945–949, 1977. 
  29. R.V. Patel, V. Sinswat, and F. Fallside, “A method for computing the zeros of transfer functions in linear systems,” International Journal of Systems Science, vol. 8, pp. 241–249, 1977. 
  30. R.V. Patel, “On computing the invariant zeros of multivariable systems,” International Journal of Control, vol. 24, pp. 145–146, 1976. 
  31. R.V. Patel, “On output feedback pole assignability,” International Journal of Control, vol. 20, pp. 955–959, 1974. 
  32. R.V. Patel, “On the computation of numerators of transfer functions of linear systems,” IEEE Transactions on Automatic Control, vol. AC-18, pp. 400–401, 1973.

Selected Conference Papers by Category

ROBOTICS, HAPTICS & TELEOPERATION: MINIMALLY INVASIVE INTERVENTIONS

  1. Shahbazi, S.F. Atashzar,C.D.W. Ward, H.A. Talebi, R.V. Patel, “Multimodal Sensorimotor Integration for Expert-in-the-Loop Telerobotic Surgical Training,” IEEE International Conference on Robotics & Automation (ICRA2019), Montreal, Canada, May 20-24, 2019.
  2. Chopra, C. Nicholson-Smith, M. Shahbazi, R.A. Malthaner*, R.V. Patel, “Toward Lung Tumor Localization based on Strain Variability of Lung Surface during Video-Assisted Thoracoscopic Surgery,”. 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'18), Honolulu, USA, July 2018.
  3. Shahbazi, B. Poursartip, K. Siroen, C. Schlachta*, R.V. Patel, “Robotics-Assisted Surgical Skills Evaluation based on Electrocortical Activities,” 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Honolulu, USA, July 2018.
  4. Anooshahpour, P. Yadmellat, I.G. Polushin and R.V. Patel, “A Motion Transmission Model for Multi-DOF Tendon-Driven Mechanisms with Hysteresis and Coupling: Application to a da Vinci Instrument,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, BC, Sep. 24-28, 2017.
  5. Anooshahpour, P. Yadmellat, I.G. Polushin and R.V. Patel, “Modeling of Tendon-Pulley Transmission Systems with Application to Surgical Robots: A Preliminary Experimental Validation,” IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017), Munich Germany, July 3-7, 2017.
  6. S. Zarrin, A. Escoto, R. Xu, R.V. Patel, M.D. Naish and A.L. Trejos, “Development of an optical fiber-based sensor for grasping and axial force sensing,”IEEE International Conference on Robotics and Automation (ICRA 2017), Singapore, May 29 - June 3, 2017.
  7. Poursartip, L.C. McCracken, A. Escoto, R.V. Patel, M.E. LeBel*, A.L. Trejos, and M.D. Naish, "Development and Evaluation of a Sensorized Shoulder Simulator," IEEE Canadian Conference on Electrical and Computer Engineering, Windsor, Ontario, Canada, April 30 – May 3, 2017.
  8. Poursartip, M.-E. LeBel*, R.V. Patel, M.D. Naish and A.L. Trejos, “Energy-based metrics for laparoscopic skills assessment,” International Conference of the IEEE Engineering in Medicine and Biology Society, Orlando, FL, August 16–20, 2016, pp. 2648–2651.
  9. Khoshnam, P. Yadmellat, R.V. Patel, “Black-Box Modeling and Control of Steerable Ablation Catheters”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July, 2016.
  10. Khoshnam, R.V. Patel, “Tendon-Sheath Analysis for Modeling and Control of Steerable Ablation Catheters”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July 2016.
  11. Anooshahpour, I.G. Polushin, R.V. Patel, “Classical Preisach Model of Hysteretic Behavior in a da Vinci Instrument. IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July 2016.
  12. SrivastavaA, R. Xu, A. Escoto, C.D.W. Ward, R.V. Patel, “Design of an Ultra Thin Strain Sensor Using Superelastic Nitinol for Applications in Minimally Invasive Surgery”, IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2016), Banff, Canada, July 2016.
  13. Poursartip, D. Yurkevich, M.-E. LeBel, R.V. Patel, A.L. Trejos and M.D. Naish, “Performance evaluation of a sensorized arthroscopic grasper,” ASME 2015 Dynamic Systems and Control (DSC) Conference, Columbus, OH, October 28–30, 2015, pp. V001T15A004.
  14. Khoshnam, I. Khalaji, R.V. Patel, “A Robotics-Assisted Catheter Manipulation System for Cardiac Ablation with Real-Time Force Estimation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep. 28 – Oct. 3, 2015.
  15. Khalaji, M.D. Naish and R.V. Patel, “Articulating Minimally Invasive Ultrasonic Tool for Robotics-Assisted Surgery”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.
  16. Anooshahpour, I.G. Polushin, and R.V. Patel, “Tissue compliance determination using  a da Vinci Instrument”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.
  17. Escoto, S. Bhattad, A. Shamsil, A. Sanches, A.L. Trejos, M.D. Naish, R.A. Malthaner* and R.V. Patel, “A Multi-Sensory Mechatronic Device for Localizing Tumors in Minimally Invasive Interventions”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.
  18. Khoshnam, R.V. Patel, "Estimating Contact Force for Steerable Ablation Catheters based on Shape Analysis", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.
  19. Anooshahpour, I.G. Polushin, R.V. Patel, "Quasi-Static Modeling of the da Vinci Instrument", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.
  20. Hadavand, M.D. Naish, R.V. Patel, "A Parallel Remote Center of Motion Mechanism for Needle-Based Medical Interventions", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.
  21. L. Trejos, A. Escoto, D. Hughes, M.D. Naish, R.V. Patel, "A Sterilizable Force-Sensing Instrument for Laparoscopic Surgery", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.
  22. Khoshnam, R.V. Patel, "Robotics-Assisted Catheter Manipulation for Improving Cardiac Ablation Efficiency", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.
  23. Yurkewich, A. Escoto, A.L. Trejos, M-E. LeBel*, R.V. Patel, M.D. Naish, "Low-Cost Force-Sensing Arthroscopic Tool Using Threaded Fiber Bragg Grating Sensors" IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.
  24. Shahbazi, S.F. Atashzar, A. Talebi, R.V. Patel, “Expertise-Oriented Training Approach for Robotics-Assisted Surgery,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, June 2-4, 2014.
  25. Khalaji, M. Hadavand, A. Asadian, R.V. Patel, M.D. Naish, “Analysis of Needle-Tissue Friction during Vibration-Assisted Needle Insertion,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.
  26. Talasaz, R.V. Patel, “Telerobotic Palpation for Tumor Localization with Depth Estimation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.
  27. Escoto, F. LeBer, A.L. Trejos, M.D. Naish, R.V. Patel, M.-E. LeBel*, “A Knee Arthroscopy Simulator: Design and Validation,” 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Osaka, Japan, July 3-7, 2013.
  28. F. Atashzar, I. Khalaji, M. Shahbazi, A. Talasaz, R.V. Patel, and M.D. Naish, “Robot-assisted lung motion compensation during needle insertion,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  29. Shahbazi, S.F. Atashzar, and R.V. Patel, “A Dual-User Teleoperated System with Virtual Fixtures for Robotic Surgical Training,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  30. Khoshnam, A. Yurkewich, and R.V. Patel, “Model-based force control of a steerable ablation catheter with a custom designed strain sensor,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  31. L. Trejos, R.V. Patel, M.D. Naish, R.M. Malthaner*, and C.M. Schlachta*, “Application of force sensing to skills assessment in minimally invasive surgery,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  32. Khoshnamand R.V. Patel, “Pseudo-rigid-body 3R model for a steerable ablation catheter,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  33. P. Kurowski, A.L. Trejos, M.D. Naish, R.V. Patel, R.A. Malthaner*, “Design of a Minimally Invasive Lung Tumor Localization Device,” 5th Annual Dynamic Systems and Control Conference, Ft. Lauderdale, FL, USA,October 17-19, 2012.
  34. Asadian, R.V. Patel, and M.R. Kermani, “Compensation for Relative Velocity between Needle and Soft Tissue for Friction Modeling in Needle Insertion,” 34thAnnual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), San Diego, CA, Aug. 28 - Sep. 1, 2012.
  35. Khalaji, R.V. Patel, and M.D.Naish, “Systematic Design of an Ultrasonic Horn Profile for High Displacement Amplification,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy, June 24-26, 2012.
  36. D.W. Ward, A.L.Trejos, M.D. Naish, R.V. Patel, K. Siroen, C.M. Schlachta*, “Development of a Hands-Free Pointer for Instruction during Minimally Invasive Surgery,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy, June 24-26, 2012, pp. 1211-1216.
  37. Talasaz, A.L. Trejosand R.V. Patel, “Haptic Feedback for a Robot-Assisted Suture Manipulation Task,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Rome, Italy, June 24-26, 2012, pp. 823-828.
  38. Talasaz, R.V. Patel, “Remote Palpation to Localize Tumors in Robot-Assisted Minimally Invasive Approach,” 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, MN, May14-18, 2012.
  39. Khoshnam, M. Azizian, R.V. Patel, “Modeling of a Steerable Catheter Based on Beam Theory,” 2012 IEEE International Conference on Robotics and Automation (ICRA 2012), St. Paul, MN, May14-18, 2012.
  40. Asadian, M. Kermani, and R.V. Patel, “An analytical model for deflection of flexible needles during needle insertion,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011.
  41. Zhangand R.V. Patel, “Optimization-based Dosimetry Planning for Brachytherapy,” 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), Boston, MA, Aug 30-Sep. 3, 2011.
  42. Azimian, R.V. Patel and M.D. Naish, “A Chance-Constrained Approach to Preoperative Planning of Robotics-Assisted Interventions,” 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC ’11), Boston, MA, Aug 30-Sep. 3, 2011.
  43. Asadian, R.V. Patel and M. Kermani, “A Distributed Model for Needle-Tissue Friction in Percutaneous Interventions,” IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 9-13, 2011.
  44. R. Azimian, R.V. Patel and M. Naish, “A Framework for Preoperative Planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) Under Geometric Uncertainty,” IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 9-13, 2011.
  45. Azizianand R.V. Patel, "Intraoperative 3D Stereo Visualization for Image-Guided Cardiac Ablation," SPIE Medical Imaging Conference, Orlando, FL, Feb. 12-17, 2011.
  46. Azizianand R.V. Patel, "Data Fusion for Catheter Tracking using Kalman Filtering: Applications in Robot-Assisted Catheter Insertion," SPIE Medical Imaging Conference, Orlando, FL, Feb. 12-17, 2011.
  47. Perreault, A. Talasaz, A.L. Trejos, D.W. Ward, R.V. Patel, and B. Kiaii*, “A 7-DOF Haptics-enabled teleoperated robotic system: Kinematic modeling and experimental verification,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), Tokyo, Japan, September 26-29, 2010.
  48. R. Azimian, R.V. Patel, and M.D. Naish, “On constrained manipulation in robotics-assisted minimally invasive surgery,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), Tokyo, Japan, September 26-29, 2010, pp. 906-911.
  49. D. Naish, M.T. Perri, D. Bottoni*, A.L. Trejos, R.V. Patel, and R. Malthaner*, “Palpation system for minimally invasive localization of occult tumors,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), Tokyo, Japan, September 26-29, 2010, pp. 662-667.
  50. S. Cho,  C.A. Linte, E. Chen, C. Wedlake, J. Moore, J. Baron, R.V. Patel, T.M. Peters, “Predicting target vessel location for improved planning of robot-assisted CABG procedures,” 13thMedical Image Computing and Computer-Assisted Interventions (MICCAI 2010) Conference, Beijing, China. September 20-24. Proceedings Part III, LNCS 6363. Springer-Verlag Berlin Heidelberg. T Jiang et al (Eds). pp. 205-212, 2010.
  51. Asadian, M.R. Kermani and R.V. Patel, “A Compact Dynamic Force Model for Tissue-Needle Interaction,” 32ndAnnual Int. Conf. of IEEE Engineering in Medicine and Biology Society (EMBS), Buenos Aires, Argentina, Aug. 31-Sep. 4, 2010.
  52. Asadian, M.R. Kermani and R.V. Patel, “Accelerated Needle Steering Using Partitioned Value Iteration,” American Control Conf., pp. 2785-2790, Baltimore, MD, June 30 – July 2, 2010.
  53. L. Trejos, A.C. Lyle, A. Escoto, M.D. Naish, and R.V. Patel, “Force/position-based modular system for minimally invasive surgery,” IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010, pp. 3660-3665.
  54. Azimian, J. Breetzke, A.L. Trejos, R.V. Patel, M.D. Naish, T. Peters, C. Wedlake, J. Moore, and B. Kiaii*, “Preoperative planning of robotics-assisted minimally invasive coronary artery bypass grafting,” IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010, pp. 1548-1553.
  55. Talasaz, R.V. Patel, and M.D. Naish, “Haptics-enabled teleoperation for robot-assisted tumor localization,”IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010.
  56. Azizian, R.V. Patel, C. Gavrilovici, and M. Poulter, “Computer-assisted patch clamping,” IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, Alaska, May 3-8, 2010.
  57. Bassan, A. Talasaz, and R.V. Patel, “Design and Characterization of a 7-DOF Haptic Interface for a Minimally Invasive Surgery Test-bed,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’09), St. Louis, MO, Oct. 11-15, 2009.
  58. Jayender, R.V. Patel, G.F. Michaud, and N. Hata, “Optimal Transseptal Puncture Location for Robot-Assisted Left Atrial Catheter Ablation,” 12thIntl. Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI '09), London, UK, 2009.
  59. L. Trejos, J. Jayender, M.T. Perri, M.D. Naish, R.V. Patel, and R.A. Malthaner, “Experimental Evaluation of Robot-Assisted Tactile Sensing for Minimally Invasive Surgery,” 2ndIEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008, pp. 971-976.
  60. L. Trejos, R.V. Patel, M.D. Naish, and C.M. Schlachta, “Design of a sensorized instrument for skills assessment and training in minimally invasive surgery,” 2ndIEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008, pp. 965-970.
  61. R. Sadeghi Neshatand R.V. Patel, “Real-time Parametric Curved Needle Segmentation in 3D Ultrasound Images,” 2nd IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008.
  62. Jayenderand R.V. Patel, “Wave Variables based Bilateral Teleoperation of an Active Catheter,” 2nd IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008), Scottsdale, Arizona, Oct. 19–22, 2008.
  63. Trejos, A.W. Lin, S. Mohan, H. Bassan, C. Edirisinghe, R.V. Patel, C. Lewis, E. Yu, A. Fenster, and R.A. Malthaner, "MIRA V: an integrated system for minimally invasive robot-assisted lung brachytherapy," IEEE International Conference on Robotics and Automation, Pasadena, CA, May 19-23, 2008, pp. 2882-2987.
  64. Jayender, M. Azizian, R.V. Patel, “Bilateral telemanipulation of a flexible catheter in a constrained environment,” IEEE International Conference on Robotics and Automation, Pasadena, CA, 2008.
  65. Jayenderand R.V. Patel, “Master-slave control of an active catheter instrumented with Shape Memory Alloy actuators,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’07), San Diego, California, Oct. 29-Nov. 2, 2007.
  66. Jayender, M. Azizian and R.V. Patel, “Autonomous robot-assisted active catheter insertion using image guidance,” IROS’07, Oct. 29-Nov.  2, 2007.
  67. L. Trejos, S. Mohan, H. Bassan, A.W. Lin, A. Kashigar, R.V. Patel and R.A. Malthaner, “An experimental test-bed for robotics-assisted image-guided minimally invasive lung brachytherapy,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’07), San Diego, California, Oct. 29-Nov. 2, 2007, pp. 392-397.
  68. McCreery, A.L. Trejos, R.V. Patel, M.D. Naish, R.A. Malthaner, “Evaluation of force feedback requirements for minimally invasive lung tumor localization,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’07), Oct. 29-Nov.2, 2007, pp. 883-888.
  69. Abolhassani, R.V. Patel, F. Ayazi, “Needle control along desired tracks in robotic prostate brachytherapy,” IEEE Conference on Systems, Man and Cybernetics, Montreal, October 7-10, 2007; received the best student paper award.
  70. Abolhassaniand R.V. Patel, “Effects of different insertion methods on minimizing needle deflection,” 29th IEEE Engineering in Medicine and Biology Annual International Conference, Lyon, France, August 23-26, 2007.
  71. Azizian, J. Jayenderand R.V. Patel, “Image processing algorithms for real-time tracking and control of an active catheter”, European Control Conference, Kos, Greece, July 2-5, 2007.
  72. Yousef, R.V. Patel, and M. Moallem, “An ultrasound probe holder for image-guided robot-assisted prostate brachytherapy,” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.
  73. Lockeand R.V. Patel, “Optimal Remote Center-of-Motion Location for Robotics-Assisted Minimally-Invasive Surgery,” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.
  74. Bassan, T. Hayes, R.V. Patel, and M. Moallem, “A novel manipulator for 3D ultrasound-guided percutaneous Needle Insertion,” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.
  75. Yousef, R.V. Patel, M. Moallem, “A Macro-Robot Manipulator for Medical Applications,” IEEE International Conference on Systems, Man, and Cybernetics, Taipei, Taiwan, October 8-11, 2006.
  76. Bassan, R.V. Patel, and M. Moallem, “A novel manipulator for prostate brachytherapy: Design and preliminary results,” 4thInternational Federation of Automatic Control (IFAC) Symposium on Mechatronic Systems, Heidelberg, Germany, September 12-14, 2006.
  77. Abolhassaniand R.V. Patel, “Deflection of a Flexible Needle During Insertion into Soft Tissue,” 28th IEEE Engineering in Medicine and Biology Annual International Conference, New York, NY, August 30 – September 3, 2006.
  78. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem, “Multi-sensory force/deformation cues for stiffness characterization in soft-tissue palpation,” 28th IEEE Engineering in Medicine and Biology Annual International Conference, New York, NY, August 30 – September 3, 2006.
  79. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem, “Tool/tissue interaction feedback modalities in robot-assisted lump localization,” 28th IEEE Engineering in Medicine and Biology Annual International Conference, New York, NY, August 30 – September 3, 2006.
  80. Jayender, and R.V. Patel, “Robot-assisted catheter insertion using Hybrid Impedance Control”,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.
  81. Tavakoli, R.V. Patel, and M. Moallem, “Bilateral control of a teleoperator for soft tissue palpation: Design and experiments,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.
  82. L. Trejos, R.V. Patel, and R. Malthaner, “A device for robot-assisted minimally-invasive lung brachytherapy,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006, pp. 1487-1492.
  83. Tavakoli, R.V. Patel, and M. Moallem, “Robotic Suturing Forces in the Presence of Haptic Feedback and Sensory Substitution,” IEEE Conf. on Control Applications,Toronto, ON, August 28-31, 2005.
  84. L. Trejosand R.V. Patel, “Port placement for endoscopic cardiac surgery based on robot dexterity optimization,” IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005, pp. 912-917.
  85. Abolhassani, R.V. Patel,and M. Moallem, “Trajectory generation for robotic insertion in soft tissue,” 26th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society,  San Francisco, CA, 2004.
  86. Tavakoli, R.V. Patel, and M. Moallem, “Design issues in a haptics-based master-slave system for minimally invasive surgery,” IEEE International Conference on Robotics and Automation, New Orleans, LA., April 2004.
  87. Tavakoli, R.V. Patel, and M. Moallem, “A force reflective master-slave system for minimally invasive surgery”, IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS), Las Vegas, October 2003.


ROBOTICS, HAPTICS & AI: NEUROLOGICAL MOVEMENT DISORDERS

  1. Mehrabi, S.F. Atashzar, H.A. Talebi, R.V. Patel, “Design and Implementation of a Two-DOF Robotic System with an Adjustable Force Limiting Mechanism for Ankle Rehabilitation,” IEEE International Conference on Robotics & Automation (ICRA2019), Montreal, Canada, May 20-24, 2019..
  2. Khosravi, S.F. Atashzar, G. Gilmore, M. Jog, R.V. Patel, “DBS Electrode Selection in Deep Brain AStimulation Surgery using a Neural Network Model,” 41stAnnual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), Berlin, Germany, July 23-27, 2019..
  3. Bernardinis, S.F. Atashzar, M. Jog, R.V. Patel, “Visual Temporal Perception in Parkinson's Disease Analyzed using a Computer-Generated Graphical Tool,” 9th International IEEE/EMBS Conference on Neural Engineering (NER), San Francisco, CA, March 20-23, 2019.
  4. Khosravi, S.F. Atashzar, G. Gilmore, M. Jog, R.V. Patel, “Unsupervised Clustering of Micro-Electrophysiological Signals for Localization of Subthalamic Nucleus During DBS Surgery,” 9th International IEEE/EMBS Conference on Neural Engineering (NER), San Francisco, CA, March 20-23, 2019.
  5. Khosravi, S.F. Atashzar, G. Gilmore, M. Jog, R.V. Patel, “Electrophysiological Signal Processing for Intraoperative Localization of Subthalamic Nucleus during Deep Brain Stimulation Surgery,” 6th IEEE Global Conference on Signal & Information Processing (GlobalSIP): Advanced Bio-Signal Processing and Machine Learning for Medical Cyber-Physical Systems, Anaheim, CA, USA, November 2018.
  6. Bernardinis, S.F. Atashzar, M. Jog, R.V. Patel, “Visual Displacement Perception in Parkinson's Disease Analyzed Using a Virtual Reality Toolbox,” 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'18), Honolulu, USA, July 2018.
  7. K. Ghassab, A. Mohammadi, S.F. Atashzar, R.V. Patel, “Multiple-model Estimation for Pathological Hand Tremors,” 2018  IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Calgary, AB, April 2018.
  8. K. Ghassab, A. Mohammadi, S.F. Atashzar, R.V. Patel, “Dynamic Estimation Strategy for E-BMFLC Filters in Analyzing Pathological Hand Tremors,” IEEE Global Conf. on Signal and Information Processing, Symp. on Advanced Bio-Signal Processing for Rehabilitation and Assistive Systems, November 2017.
  9. Shahtalebi, A. Mohammadi, S.F. Atashzar, R.V. Patel, “A Multi-rate and Auto-Adjustable Wavelet Decomposition Framework for Pathological Hand Tremor Extraction,” IEEE Global Conference on Signal and Information Processing, Symposium on Advanced Bio-Signal Processing for Rehabilitation and Assistive Systems, November 2017.
  10. F. Atashzar, M. Shahbazi, M. Tavakoli and R.V. Patel, “A New Passivity-Based Control Technique for Safe Patient-Robot Interaction in Haptics-Enabled Rehabilitation Systems”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep. 28 – Oct. 3, 2015.
  11. Shahbazi, S.F. Atashzar, M. Tavakoli, and R.V. Patel, “Therapist-in-the-Loop Robotics-Assisted Mirror Rehabilitation Therapy: An Assist-as-Needed Framework”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.
  12. Yurkewich, S.F. Atashzar, A. Ayad, R.V. Patel, “A Six-Degree-of-Freedom Robotic System for Lower Extremity Rehabilitation,” IEEE International Conference on Rehabilitation Robotics (ICORR). Singapore. Aug. 13, 2015. 
  13. Shahbazi, S.F. Atashzar, R.V. Patel, "A Framework for Supervised Robotics-Assisted Mirror Rehabilitation Therapy", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.
  14. F. Atashzar, A. Saxena, M. Shahbazi, R.V. Patel, "Involuntary Movement during Haptics-enabled Robotic Rehabilitation: Analysis and Control Design", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.
  15. F. Atashzar, I.G. Polushin, R.V. Patel, “Projection-Based Force Reflection Algorithms for Teleoperated Rehabilitation Therapy,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.
  16. Saxena, R.V. Patel, “An Active Handheld Device for Compensation of Physiological Tremor using an Ionic Polymer Metallic Composite Actuator,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan, November 3-8, 2013.
  17. F. Atashzar, M. Shahbazi, F. Rahimi, M. Delrobaei, J. Lee, R.V. Patel, M. Jog, “Effect of Kinesthetic Force Feedback and Visual Sensory Input on Writer's Cramp,” 6th International IEEE EMBS Conference on Neural Engineering (NER 2013),San Diego, CA, November 6-8, 2013.
  18. Rahimi, M. Delrobaei, S.F. Atashzar, M. Shahbazi, J. Lee, M.E. Jackman, R.V. Patel, M. Jog, “Sensory Manipulation in Writer’s Cramp: Possibilities for Rehabilitation,” 6th International IEEE EMBS Conference on Neural Engineering (NER 2013),San Diego, CA, November 6-8, 2013.
  19. F. Atashzar, I. Polushin and R.V. Patel, “Networked Teleoperation with Non-Passive Environment: Application to Tele-Rehabilitation,” IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS2012), Algarve, Portugal, October 7-21, 2012.


ROBOTICS & HAPTICS: DESIGN, SENSING AND CONTROL

  1. Xu, A. Yurkewich, R.V. Patel, “Curvature, Torsion and Force Sensing in Continuum Robots Using Helically-Wrapped FBG Sensors”, IEEE International Conference on Robotics and Automation (ICRA 2016), Stockholm, Sweden, May 2016.
  2. S. Shahzada, A. Yurkewich, R. Xu, and R.V. Patel, “Sensorization of a surgical robotic instrument for force sensing,” SPIE BiOS, International Society for Optics and Photonics, San Francisco, CA, Jan. 2016.
  3. Xu, A. Yurkewich, and R.V. Patel, “Shape sensing for torsionally compliant concentric-tube robots,” SPIE BiOS, International Society for Optics and Photonics, San Francisco, CA, Jan. 2016.
  4. Najmaei, A. Asadian, M.R. Kermani, R.V. Patel, “Performance Evaluation of Magneto-Rheological Based Actuation for Haptic Feedback in Medical Applications”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep. 28 – Oct. 3, 2015.
  5. Najmaei, A. Asadian, M.R. Kermani, R.V. Patel, “Performance Evaluation of Magneto-Rheological Based Actuation for Haptic Feedback in Medical Applications”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, Sep. 28 – Oct. 3, 2015.
  6. Najmaei, A. Asadian, M.R. Kermani, and R.V. Patel, “Magneto-Rheological Actuators for Haptic Devices: Design, Modeling, Control, and Validation of a Prototype Clutch”, IEEE International Conference on Robotics & Automation (ICRA 2015), Seattle, WA, May 26-30, 2015.
  7. Takhmar, I.G. Polushin, A. Talasaz, R.V. Patel, "Cooperative Teleoperation with Projection-Based Force Reflection for MIS", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), Chicago, IL, Sep. 14-18, 2014.
  8. Xu, S.F. Atashzar, R.V. Patel, “Kinematic Instability in Concentric-tube Robots: Modeling and Analysis,” IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, Brazil, August 12-15, 2014.
  9. Shahbazi, H.A. Talebi, R.V. Patel, "Networked Dual-User Teleoperation with Time-Varying Authority Adjustment: A Wave Variable Approach", IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), Besançon, France, July 8-11, 2014.  
  10. Najmaei, P. Yadmellat, R.V. Patel, M.R. Kermani, “Application of Magneto-Rheological Fluid Based Clutches for Improved Performance in Haptic Interfaces,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, June 2-4, 2014.
  11. Xu, A. Asadian, S.F. Atashzar, R.V. Patel, “Real-time Trajectory Tracking for Externally Loaded Concentric-tube Robots,” IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, June 2-4, 2014.
  12. Xu, A. Asadian, A. Naidu, and R.V. Patel, “Position control of concentric-Tube continuum robots using a modified Jacobian-based approach,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  13. Takhmar, I.G. Polushin, and R.V. Patel, “Frequency separation in projection-based force reflection algorithms for bilateral teleoperators,” IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013.
  14. Shahbazi, S.F. Atashzar, A. Talebi, and R.V. Patel, “A Multi-Master / Single-Slave Teleoperation System,” 5th Annual Dynamic Systems and Control Conference, Ft. Lauderdale, FL, USA,October 17-19, 2012.
  15. Xuand R.V. Patel, “A Fast Torsionally Compliant Kinematic Model of Concentric-Tube Robots,” 34th Annual Int. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS), San Diego, CA, Aug. 28 - Sep. 1, 2012.
  16. G. Polushin, A. Takhmar, and R.V. Patel, “Small-gain design of a cooperative teleoperator system withprojection-based force reflection,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, CA, September 25-30, 2011.
  17. Polushin, A. Takhmar, and R.V. Patel, “Small-Gain Design of Networked Cooperative Bilateral Teleoperators,” IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 9-13, 2011.
  18. Azizian, R.V. Patel, C. Gavrilovici and M.O. Poulter, “Image-guided robot-assisted microscope objective lens positioning: Application in patch clamping,” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), October 18-22, 2010.
  19. Tavakoli, A. Aziminejadand R.V. Patel, “Stability of discrete-time bilateral teleoperation control,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’07), San Diego, California, Oct. 29-Nov. 2, 2007.
  20. Tavakoli, A. Aziminejad, R.V. Patel, and M. Moallem, “Enhanced transparency in haptics-based master-slave systems,” American Control Conference, New York, July 11-13, 2007
  21. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem, “Wave-based time delay compensation in bilateral teleoperation: two-channel versus four-channel architectures,” American Control Conference, New York, July 11-13, 2007.
  22. Aziminejad, M. Tavakoli, R.V. Patel, and M. Moallem, “Bilateral delayed teleoperation: the effects of passivity in channel model and force sensing” IEEE International Conference on Robotics & Automation, Rome, Italy, April 10-14, 2007.
  23. Jayender, R.V. Patel, S. Nikumb, and M. Ostojic, “A robust controller for shape memory alloy actuators,” 43rdIEEE Conference on Decision and Control, San Diego, CA, December 13-15, 2006.
  24. A. Talebi and R.V. Patel, “Experimental results on intelligent fault detection for robotic manipulators, 4thInternational Federation of Automatic Control (IFAC) Symposium on Mechatronic Systems, Heidelberg, Germany, September 12-14, 2006.
  25. Aziminejad, M. Moallem, and R.V. Patel, “Analytic study of transparency in wave-based teleoperation,” IEEE International Conference on Mechatronics, Budapest, Hungary, July 3-5, 2006.
  26. Tavakoli, R.V. Patel and M. Moallem, “Adaptive inverse dynamics control of a PHANToM haptic interface,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.
  27. Jayender, R.V. Patel, S. Nikumb, and M. Ostojic, “H-infinity loop shaping controller for shape memory alloy actuators,” 44thIEEE Conference on Decision and Control and the European Control Conference (CDC-ECC), December 12-15, 2005, Seville, Spain
  28. Jayender, R.V. Patel, N. Suwas, and M. Ostojic, “Modeling and gain scheduled control of shape memory alloy actuators,” IEEE Conf. on Control Applications,Toronto, ON, August 28-31, 2005.
  29. R. Kermani, R.V. Patel, and M. Moallem, “Friction identification and compensation in robotic manipulators,” IEEE Conf. on Control Applications,Toronto, ON, August 28-31, 2005.
  30. Rayman, S. Primak, R.V. Patel, M. Moallem, R. Morady, M. Tavakoli, V. Subotic, N. Galbraith, A. van Wynsberghe, K. Croome, “Effects of Latency on Telesurgery: An Experimental Study,” 8thIntl. Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI '05), Palm Springs, CA, 2005.
  31. Yuan, M. Moallem, and R.V. Patel, “A real-time task-oriented scheduling algorithm for distributed multi-robot system,” IEEE International Conference on Robotics and Automation, New Orleans, LA., April 2004.
  32. Zaidi, B.S. Haroun, and R.V. Patel, “A neural network approach for generating derivative information using quantized robot position measurements,” IEEE International Conference on Neural Networks (in the IEEE World Congress on Computational Intelligence), Orlando, FL, June 26 - July 2, 1994.
  33. Shadpey, K. Khorasani, and R.V. Patel, “An analog Hopfield network for recognition of partially visible 2-D objects,” IEEE International Conference on Neural Networks (in the IEEE World Congress on Computational Intelligence), Orlando, FL, June 26 - July 2 1994.
  34. Khan, B. Haroun, R.V. Patel, K. Khorasani, and A. Al-Khalili, “Depth perception from blurring - a neural network based approach for automated visual inspection in VLSI wafer probing,” 1992 International Joint Conference on Neural Networks, Baltimore, MD, June 7-11, 1992.
  35. A. Balafoutisand R.V. Patel, “The use of skew-symmetric Cartesian tensors in describing orientation and invariants of spatial rotations,” The European Robotics and Intelligent Systems Conference (EURISCON ’91), Corfu, Greece, June 23-28, 1991.
  36. A. Balafoutis, R.V. Patel, and J. Angeles, “An integrated robot motion simulator: linearized dynamic robot models,” ASME Computers in Engineering Conference, Boston, MA, August 5-9, 1990.
  37. A. Balafoutisand R.V. Patel, “A Cartesian tensor methodology for the study of classical Newtonian dynamics, part I: Cartesian tensor analysis,” in Tenth Symposium on Engineering Applications of Mechanics, Kingston, Ontario, May 27-30, 1990.
  38. A. Balafoutisand R.V. Patel, “A Cartesian tensor methodology for the study of classical Newtonian dynamics, part II: Applications to rigid body motion,” Tenth Symposium on Engineering Applications of Mechanics, Kingston, Ontario, May 27-30, 1990.
  39. A. Al-Ashoor, K. Khorasani, R.V. Patel, and A. Al-Khalili, “Trajectory following robust adaptive control of flexible-joint manipulators,” 30th IEEE Conference on Decision & Control, Brighton, England, December 11-13, 1991.
  40. Brodkin and R.V. Patel, “An architecture for an advanced robot controller,” Canadian Conference on Electrical & Computer Engineering, Ottawa, Canada, September 4-6, 1990.
  41. Nguyen, R.V. Patel, and K. Khorasani, “Neural network architectures for the forward kinematics problem in robotics,” International Joint Conference on Neural Networks - IJCNN’90, San Diego, CA, June 17-21, 1990.
  42. Angeles, O. Ma, and R.V. Patel, “DYNVERS: An integrated package for robotic manipulator inverse and direct dynamics,” ASME Computers in Engineering Conference, San Francisco, CA, July 31 - August 3, 1988.
  43. A. Balafoutisand R.V. Patel, “Linearized robot models in joint and Cartesian spaces,” 9th Symp. on Engineering Applications of Mechanics, London, Ontario, May 29-31, 1988.
  44. A. Balafoutis, P. Misra, and R.V. Patel, “A Cartesian tensor approach for fast computation of manipulator dynamics,” IEEE International Conference on Robotics & Automation, Philadelphia, PA, April 25-29, 1988.


ROBOTICS: FLEXIBLE, REDUNDANT AND MOBILE

  1. F. Atashzar, M. Shahbazi, A. Talebi, and R.V. Patel, “Control of Time-Delayed Telerobotic Systems with Flexible-Link Slave Manipulators,” IEEE/RSJ International Conference onIntelligent Robots and Systems (IROS2012), Algarve, Portugal, October 7-21, 2012.
  2. R. Kermani, R.V. Patel, M. Moallem, “Multi-directional stabilization of a large-scale robotic manipulator,” IEEE International Conference on Robotics & Automation, Orlando, FL, May 15-19, 2006.
  3. Yang, M. Moallem, R.V. Patel, “A fuzzy logic-based reactive navigation algorithm for mobile robots,” IEEE Conf. on Control Applications,Toronto, ON, August 28-31, 2005.
  4. Yang, M. Moallem, R.V. Patel, “Motion planning for mobile robots using a fuzzy laered goal-oriented approach,” IEEE Conf. on Control Applications,Toronto, ON, August 28-31, 2005.
  5. Shahand R.V. Patel, “Transpose Jacobian based hybrid impedance control of redundant manipulators,” IEEE Conf. on Control Applications, Toronto, ON, August 28-31, 2005.
  6. Shahand R.V. Patel, “Inverse Jacobian based hybrid impedance control of redundant manipulators,” IEEE International Conference on Mechatronics and Automation, Niagara Falls, Ontario, July 29 – August 1, 2005; received the best paper award.
  7. R. Kermani, R.V. Patel, and M. Moallem, “A high control authority piezoelectric stack actuator for structurally flexible mechanisms,” IEEE International Conference on Robotics and Automation, Barcelona, Spain, April 2005.
  8. R. Kermani, R.V. Patel, and M. Moallem, “Tracking control of a flexible manipulator using piezoelectric transducers,” 3rdIFAC Symposium on Mechatronics, Sydney, Australia, Sept. 2004; shortlisted for the best paper award.
  9. Bassan, H.A. Talebi, R.V. Patel, and M. Moallem, “Real-time vibration control of an industrial manipulator mounted on a compliant base,” American Control Conference, Boston, MA, June 2004.
  10. Yang, R.V. Patel, and M. Moallem, “A fuzzy Braitenberg navigation strategy for differential-drive mobile robots,” 3rdIFAC Symposium on Mechatronics, Sydney, Australia, Sept. 2004.
  11. R. Kermani, M. Wong, R.V. Patel, and M. Moallem, “Friction compensation in low- and high-reversal velocity manipulators,” IEEE International Conference on Robotics and Automation, New Orleans, LA., April 2004.
  12. R. Kermani, R.V. Patel, and M. Moallem, “Active vibration control in a macro manipulator using strengthened piezoelectric actuators,” IEEE International Conference on Robotics and Automation, New Orleans, LA., April 2004.
  13. Moallem, M.R. Kermani, R.V. Patel, and M. Ostojic, “Control of a Positioning System with Structural Flexibility using Piezolelectric Transducers, IEEE Conference on Decision and Control, Maui, Hawaii, December 2003.
  14. Yang, M. Moallem, R.V. Patel, “An improved fuzzy logic based navigation system for mobile robots”, IEEE/RSJ International Conference on Intelligent Robots & Systems (IROS), Las Vegas, October 2003.
  15. Abdollahi, H.A. Talebi, and R.V. Patel, “State estimation for flexible-joint manipulators using stable neural networks,” IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003),Kobe, Japan, 2003; received the best student paper award.
  16. Yang, M. Moallem, R.V. Patel, “A novel intelligent technique for mobile robot navigation”, IEEE Conference on Control Applications, Istanbul, June 2003.
  17. K-P. Kang, M. Moallem, and R.V. Patel, “Embedded controller design for an active damper system”, IEEEConference on Control Applications, Istanbul, June 2003.
  18. R. Kermani, M. Moallem and R.V. Patel, “Real-time active control of vibrations in a flexible beam using piezoelectric transducers,” 2ndIFAC Conference on Mechatronic Systems, Berkeley, CA, Dec. 9-11, 2002.
  19. Chengand R.V. Patel, “Vibration control of a flexible macro-micro manipulator system using neural networks,” 15th IFAC World Congress, Barcelona, Spain, 2002.
  20. A. Talebi, R.V. Patel, and M. Wong, “A neural-network based observer for flexible-joint manipulators,” 15thIFAC World Congress, Barcelona, Spain, 2002.
  21. R. Kermani, M. Moallem and R.V. Patel, “Optimizing the performance of piezoelectric actuators for active vibration control,“ IEEE International Conference on Robotics and Automation, Washington, D.C., 2002.
  22. Abdollahi, H.A. Talebi, and R.V. Patel, “A stable neural network observer with application to flexible-joint manipulators,” 9thInternational Conference on Neural Information Processing (ICONIP2002), Singapore, 2002.
  23. Moallem and R.V. Patel, “Optimal placement of smart actuators for vibration control of a flexible-link manipulator,” American Control Conference, Arlington, VA, June 25-27, 2001.
  24. Moallem and R.V. Patel, “Vibration control of flexible-link manipulators using generalized output re-definition,” IEEE International Symposium on Computational Intelligence in Robotics and Automation, Banff, Alberta, 2001.
  25. Moallem, R.V. Patel, and K. Khorasani, "Optimization of an actuated flexible arm for improved control properties," IEEE International Conference on Control Applications, Anchorage, Alaska, September 25-27, 2000.
  26. A. Talebi, R.V. Patel, and K. Khorasani, "A neural network controller for a discrete-time nonlinear non-minimum phase system," IEEE/INNS/ENNS Joint Conference on Neural Networks,Como, Italy, July 24-27, 2000.
  27. Moallem and R.V. Patel, "A vibration control strategy for a boom-mounted manipulator system for high-speed positioning," IEEE/RSJ International Conference on Intelligent Robotics & Systems (IROS’99), Korea, October, 1999.
  28. P. Xie, I.J. Bryson, F. Shadpey, and R.V. Patel, "A robust control scheme for dual-arm redundant manipulators: Experimental results," IEEE International Conference on Robotics and Automation, Detroit, MI, pp. 2507-2512, May 10-15, 1999.
  29. A. Talebi, K. Khorasani, and R.V. Patel, "Experimental results on tracking control of a flexible-link manipulator: A new output re-definition approach," IEEE International Conference on Robotics and Automation, Detroit, MI, May 10-15, 1999.
  30. A. Talebi, R.V. Patel, and H. Asmer, “Neural network based identification of flexible-link manipulator dynamics,” 5thInternational Conference on Neural Information Processing (ICONIP'98), Kitakyushu, Japan, October 21-23, 1998.
  31. A. Talebi, R.V. Patel, and H. Asmer, “Dynamic modeling of flexible-link manipulators using neural networks with application to the SSRMS,” IEEE/RSJ Intl. Conference on Intelligent Robotics & Systems (IROS’98),Victoria, B.C., October 12-16, 1998.
  32. Xie, S. Kalaycioglu, H. Asmer, and R.V. Patel, “Real-time collision avoidance for a redundant manipulator in an unstructured environment,” IEEE/RSJ International Conference on Intelligent Robotics & Systems (IROS’98),Victoria, B.C., October 12-16, 1998.
  33. A. Talebi, R.V. Patel, and K. Khorasani, “Control of a class of non-minimum phase nonlinear systems using neural networks,” EUFIT ’98 Conference, Aachen, Germany, September 7-10, 1998.
  34. A. Talebi, R.V. Patel, and K. Khorasani, “Neural network controllers for a flexible-link manipulator: Experimental Results,” IEEE Conference on Control Applications, Trieste, Italy, September 1-4, 1998.
  35. J. Yazdanpanah, K. Khorasani, and R.V. Patel, “Comparison of Linear and Nonlinear Control for a Flexible-Link Manipulator,” American Control Conference, Philadelphia, PA, June 24-26, 1998.
  36. A. Talebi, R.V. Patel, and K. Khorasani, “Inverse Dynamics Control of Flexible--Link Manipulators  using Neural Networks,” IEEE International Conference on Robotics & Automation, Leuven, Belgium, May 16-21, 1998.
  37. A. Talebi, K. Khorasani, and R.V. Patel, “Tip-Position Tracking for Flexible-Link Manipulators using Artificial Neural Networks: Experimental Results,” IEEE International Joint Conference on Neural Networks (IJCNN),Anchorage, Alaska, May 5-9, 1998.
  38. J. Yazdanpanah, R.V. Patel, and K. Khorasani, “Robust regulation of a flexible-link manipulator based on a new modeling approach,” 36th IEEE Conference on Decision and Control, San Diego, CA, December 10-12, 1997.
  39. Shadpey, F. Ranjbaran, R.V. Patel, and A. J. Robins, “Development and experimental evaluation of a robust contact force control strategy for a 7-DOF redundant manipulator,” 8thInternational Conference on Advanced Robotics (ICAR’97), Monterey, CA, 1997.
  40. Moallem, K. Khorasani, and R.V. Patel, “An inverse dynamics sliding control technique for flexible multi-link manipulators,” American Control Conference,Albuquerque, NM, June 4-6, 1997.
  41. Moallem, R.V. Patel and K. Khorasani, “Experimental results for nonlinear decoupling control of flexible multi-link manipulators,” IEEE International Conference on Robotics and Automation,Albuquerque, NM, April 20-25, 1997.
  42. P. Xie, S. Kalaycioglu and R.V. Patel, “Control of residual vibrations in the Space Shuttle Remote Manipulator System,” IEEE International Conference on Robotics and Automation,Albuquerque, NM, April 20-25, 1997.
  43. Talebi, K. Khorasani, and R.V. Patel, “Experimental evaluation of neural network based controllers for tracking the tip position of a flexible-link manipulator”,IEEE International Conference on Robotics and Automation, Albuquerque, NM, April 20-25, 1997.
  44. Moallem, R.V. Patel, and K. Khorasani, “An observer-based inverse dynamics control strategy for flexible multi-link manipulators,” 35th IEEE Conference of Decision and Control, Kobe, Japan, December 11–13, 1996.
  45. Shadpey, S.M. Noorhosseini, I. Bryson, and R.V. Patel, “An integrated robotic development environment for task planning and obstacle avoidance,” Third Biennial European Joint Conference on Engineering Systems Design & Analysis, organized by ASME International, Montpellier, France, July 1–4, 1996.
  46. Moallem, R.V. Patel, and K. Khorasani, “An inverse dynamics control strategy for tip position tracking of flexible multi-link manipulators,” 13th IFAC World Congress, San Francisco, CA, June 30-July 5, 1996, pp. 85-90.
  47. Moallem, K. Khorasani, and R.V. Patel, “Tip position tracking of flexible multi-link manipulators: An integral manifold approach,” IEEE International Conference on Robotics & Automation, Minneapolis, MN, April 24–26, 1996, pp. 2432-2437.
  48. Moallem, K. Khorasani, and R.V. Patel “Optimum structure design for flexible-link manipulators,” IEEE International Conference on Robotics & Automation, Minneapolis, MN, April 24–26, 1996, pp. 798-803.
  49. Shadpey and R.V. Patel, “Adaptive compliant motion control of kinematically redundant manipulators,” 34th IEEE Conf. on Decision and Control, New Orleans, Louisiana, December 13–15, 1995.
  50. Shadpey, C. Tessier, R.V. Patel, B. Langlois, and A. Robins, “A trajectory planning and object avoidance system for kinematically redundant manipulators: An experimental evaluation,” AAS/AIAA Astrodynamics Conference, Halifax, Canada, August 1995.
  51. Shadpey, R.V. Patel, C. Balafoutis, and C. Tessier, “Compliant motion control and redundancy resolution for kinematically redundant manipulators,” American Control Conference, Seattle, WA, pp. 392-296, June 21-23, 1995.
  52. Geniele, R.V. Patel, and K. Khorasani, “Control of a flexible-link manipulator,” IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, 1995.
  53. Lin and R.V. Patel, “Cartesian control of redundant flexible-joint manipulators,” 32nd IEEE Conference on Decision and Control, San Antonio, TX, December 15-17, 1993.
  54. Lin and R.V. Patel, “Dynamic control of redundant manipulators with joint flexibility,” 12th IFAC World Congress, Sydney, Australia, July 18-23, 1993.
  55. Lin, R.V. Patel, and C.A. Balafoutis, “Augmented impedance control: An approach to impact reduction for kinematically redundant manipulators,” IEEE Symposium on New Directions in Control Theory and Applications, Crete, Greece, June 21-23, 1993.
  56. Zeman, R.V. Patel, and K. Khorasani, “A neural network based approach for the control of flexible-joint manipulators,” 7th International Conference on CAD/CAM, Robotics and Factories of the Future, Metz, France, August 17-19, 1992.
  57. Lin, R.V. Patel, and C.A. Balafoutis, “Configuration control of redundant manipulators for minimization of collision impact,” American Control Conference, Chicago, IL, June 24-26, 1992.
  58. Angeles, F. Ranjbaran, and R.V. Patel, “On the design of the kinematic structure of a seven-axes redundant manipulator for maximum conditioning,” IEEE International Conference on Robotics and Automation, Nice, France, May 10-15, 1992.
  59. A. Al-Ashoor, R.V. Patel, K. Khorasani, and A. Al-Khalili, “Adaptive control of flexible joint manipulators,” IEEE Conference on Systems, Man and Cybernetics, Los Angeles, CA, November 4-7, 1990.
  60. Zeman, R.V. Patel, and K. Khorasani, “A neural network controller for flexible-joint manipulators,” American Control Conference, San Diego, CA, May 23-25, 1990.
  61. Zeman, R.V. Patel, and K. Khorasani, “A neural network based control strategy for flexible-joint manipulators,” 28th IEEE Conference on Decision and Control, Tampa, FL, December 13-15, 1989.


CONTROL SYSTEMS: COMPUTATIONAL ISSUES AND APPLICATIONS

  1. Abdollahi, H.A. Talebi, and R.V. Patel, “Experimental results on stable identification for nonlinear systems using neural networks,” 3rdIFAC Symposium on Mechatronics, Sydney, Australia, Sept. 2004; shortlisted for the best paper award.
  2. Mesbah-Nejad, M. Madani, M. Moallem, and R.V. Patel, “Design and optimization of a closed-chain mechanism for constrained position and force control,” 3rdIFAC Symposium on Mechatronics, Sydney, Australia, Sept. 2004.
  3. Yuan, M.Moallem, R.V. Patel, “A feedback scheduling algorithm for real-time control systems,” IEEE Conf. on Control Applications,Toronto, ON, August 28-31, 2005.
  4. Abdollahi, H.A. Talebi, and R.V. Patel, “A stable neural network based identification scheme for nonlinear systems,” American Control Conference, Denver, CO, 2003.
  5. J. Yazdanpanah, K. Khorasani, and R.V. Patel, “On the domain of validity of nonlinear Control,” 36th IEEE Conference on Decision and Control, San Diego, CA, December 10-12, 1997.
  6. H. Saboksayr, R.V. Patel, and M. Zaheer-uddin, “Energy-efficient operation of HVAC systems using neural network based decentralized controllers,” American Control Conference, Seattle, WA, June 21-23, 1995.
  7. V. Patel, “A condensed form for a symplectic pencil and solution of the discrete algebraic Riccati equation,” American Control Conference, Seattle, WA, June 21-23, 1995.
  8. Misra, R.V. Patel, and V.L. Syrmos, “Computation of matrix fraction descriptions of implicit systems,” American Control Conference, Seattle, WA, June 21-23, 1995.
  9. Zaheer-uddin, R.V. Patel, and S.A.K. Al-Assadi, “Decentralized control of a variable air volume system,” American Control Conference, Baltimore, MD, June 29 - July 1, 1994.
  10. V. Patel, H. Geniele, and K. Khorasani, “Control system design using transmission zero assignment,” 12th IFAC World Congress, Sydney, Australia, July 18-23, 1993.  
  11. V. Patel, “On computing the stable deflating subspace of a symplectic pencil,” 12th IFAC World Congress, Sydney, Australia, July 18-23, 1993.
  12. Zaheer-uddin, R.V. Patel, and S.A.K. Al-Assadi, “Temperature control of multi-zone space heating systems using decentralized robust controllers,” 12th IFAC World Congress, Sydney Australia, July 18-23, 1993.
  13. Zaheer-uddin, S.A.K. Al-Assadi, and R.V. Patel, “Load-preview decentralized robust controllers for HVAC systems,” American Control Conference, San Francisco, CA, June 2-4, 1993.
  14. V. Patel, “On Hamiltonian matrices, symplectic transformations and invariant subspaces,” American Control Conference, San Francisco, CA, June 2-4, 1993.  
  15. V. Patel and P. Misra, “Transmission zero assignment in linear multivariable systems, part II: The general case,” American Control Conference, Chicago, IL, June 24-26, 1992.
  16. V. Patel, M. Zaheer-uddin, and S.A.K. Al-Assadi, “Decentralized robust control of a multi-zone space heating system,” American Control Conference, Chicago, IL, June 24-26, 1992.
  17. Naik, G. Singh, K. Khorasani, and R.V. Patel, “An improved multidirectional associative memory,” International Joint Conference on Neural Networks, Singapore, November 18-21, 1991.
  18. Khorasani and R.V. Patel, “Adaptive control of dynamic systems using neural networks,” IEEE Conference on Decision and Control, Honolulu, Hawaii, December 5-7, 1990.
  19. Lin, K. Khorasani, and R.V. Patel, “A counter-propagation neural network for approximating continuous functions,” IEEE Conference on Systems, Man and Cybernetics, Los Angeles, CA, November 4-7, 1990.
  20. Misraand R.V. Patel, “Simple factorizability of 2-dimensional polynomials,” IEEE International Symposium on Circuits & Systems, New Orleans, LA, April 29-May 3, 1990.
  21. Misraand R.V. Patel, “Minimal order generalized state-space representations of singular systems,” 1989 American Control Conference, Pittsburgh, PA, June 21-23, 1989.
  22. Misraand R.V. Patel, “Transmission zero assignment in linear multivariable systems,” 27th IEEE Conference on Decision and Control, Austin, Texas, December 7-9, 1988.
  23. Misraand R.V. Patel, “Minimal representation of degenerate differential systems,” AIAA Guidance, Navigation and Control Conference, Minneapolis, MN, August 15-17, 1988.
  24. Misra, R.V. Patel, and C.A. Balafoutis, “Robust control of robot manipulators in Cartesian space,” American Control Conference, Atlanta, GA, June 15-17, 1988.
  25. Misraand R.V. Patel, “Characterization and computation of decentralized fixed modes,” American Control Conference, Seattle, WA, June 18-20, 1986.
  26. Misraand R.V. Patel, “A computational method for frequency response of multivariable systems,” 24th IEEE Conference on Decision and Control, Fort Lauderdale, FL, December 11-13, 1985.
  27. Misraand R.V. Patel, “Numerical considerations in eigenvalue assignment by output feedback,” 24th IEEE Conference on Decision and Control, Fort Lauderdale, FL, December 11-13, 1985.  
  28. V. Patel and P. Misra, “A numerical test for transmission zeros with application in characterizing decentralized fixed modes,” 23rd IEEE Conference on Decision and Control, Las Vegas, NV, December 12-14, 1984.
  29. V. Patel and P. Misra, “Numerical considerations in the multi-input pole assignment problem,” IEEE International Conference on Computers, Systems and Signal Processing, Bangalore, India, December 10-12, 1984.
  30. V. Patel, “Computational algorithms for pole assignment in linear multivariable systems,” 2nd IFAC Symposium on Computer-Aided Design of Multivariable Technological Systems, West Lafayette, IN, Purdue University, September 15-17, 1982.
  31. V. Patel, “On matrix reductions by unimodular transformations,” 20th IEEE Conference on Decision and Control, San Diego, CA, December 16-18, 1981.
  32. V. Patel and M. Toda, “Quantitative measures of robustness for multivariable systems,” Joint Automatic Control Conference, San Francisco, CA, August 13-15, 1980.
  33. V. Patel, “Matrix fraction descriptions of linear time-invariant systems,” 18th IEEE Conference on Decision and Control, Fort Lauderdale, FL, December 12-14, 1979.
  34. V. Patel and M. Toda, “Bounds on estimation errors of discrete-time filters under modeling uncertainty,” 17th IEEE Conference on Decision and Control, San Diego, CA, January 10-12, 1979.
  35. V. Patel, M. Toda, and B. Sridhar, “Robustness of linear quadratic state feedback designs in the presence of system uncertainty,” Joint Automatic Control Conference, San Francisco, CA, June 22-24, 1977.
  36. V. Patel and M. Toda, “Worst case analysis of non-stationary linear continuous-time filters with modeling errors,” Conference on Information Sciences and Systems, Baltimore, MD, Johns Hopkins University, March 30 - April 1, 1977.
  37. V. Patel, “An algorithm for constructing minimal order inverses,” Joint Automatic Control Conference, West Lafayette, IN, Purdue University, July 27-30, 1976.

 

Book Chapters

  1. S.F. Atashzar, M.D. Naish, R.V. Patel, “Active Sensorimotor Augmentation in Robotics-Assisted Surgical Systems,” in ‘Mixed and Augmented Reality in Medicine’, (Editors: T.M. Peters, C.A. Linte and Z. Yaniv), Taylor & Francis, 2018, 24 pages, 1-24.
  2. S.F. Atashzar and R.V. Patel, “Teleoperation for Minimally Invasive Robotics-Assisted Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.
  3. A.L. Trejos, M. Shahbazi and R.V. Patel, “Training and Skills Assessment for Robotics-Assisted Minimally Invasive Surgery,” in ‘Minimally Invasive Surgical Robotics’ (Editor: R.V. Patel), Vol. 1 of the Encyclopedia of Medical Robotics (Editor-in-Chief: J.P. Desai), World Scientific Publishing Company, Singapore, 2017.
  4. M.D. Naish, R.V. Patel, A.L. Trejos, M.T. Perri, and R.A. Malthaner*, “Robotic Techniques for Minimally Invasive Tumor Localization,” in Surgical Robotics Systems, Applications and Visions, J. Rosen, B. Hannaford, and R. Satava (eds.), Springer, New York, 2011.
  5. A.J. Laub, R.V. Patel and P.M. Van Dooren, “Numerical and computational issues in linear control and system theory,” in The Controls Handbook (W.S. Levine, ed.), Second Edition, Boca Raton, FL: CRC Press, 2010. 
  6. M. Tavakoli and R.V. Patel, “Haptics in Telerobotic Systems for Minimally Invasive Surgery,” invited book chapter for the book: “Telesurgery”, Springer-Verlag, 2007.
  7. A. Lin, A.L. Trejos, R.V. Patel, and R. Malthaner*, “Robotic Cancer Therapy and Thoracic Surgery: Robot-Assisted Minimally-Invasive Brachytherapy for Lung Cancer,” invited book chapter for the book: “Telesurgery”, Springer-Verlag, 2007.
  8. A.J. Laub, R.V. Patel and P.M. Van Dooren, “Numerical and computational issues in linear control and system theory,” in The Controls Handbook (W.S. Levine, ed.), Boca Raton, FL: CRC Press, 1995. 
  9. R.V. Patel, “Numerical issues in computing the stable deflating subspace of a symplectic pencil,” in Recent Advances in Computer-Aided Control Systems Engineering (M. Jamshidi and C.J. Herget, eds.), New York: Elsevier Science Publishers, 1992. 
  10. R.V. Patel and Z. Lin, “Trajectory Planning,” in Encyclopedia of Robotics (R.C. Dorf and S.Y. Nof, eds.), New York: John Wiley & Sons, 1988. 
  11. R.V. Patel, “The minimal design problem in multivariable system theory,” in Encyclopedia of Systems and Control (M.G. Singh, ed.), Oxford: Pergamon Press, 1987. 
  12. R.V. Patel and P. Misra, “A numerical algorithm for eigenvalue assignment by output feedback,” in Computational and Combinatorial Methods in Systems Theory (C.I. Byrnes and A. Lindquist, eds.), pp. 37–50, New York: North Holland, 1986. 
  13. R.V. Patel, “Algorithms for eigenvalue assignment in multivariable systems,” in Advances in Computer-Aided Control Systems Engineering (M. Jamshidi and C.J. Herget, eds.), pp. 315–345, New York: North Holland, 1985. 
  14. R.V. Patel, “A condensed form for linear systems over principal ideal domains,” in Linear Algebra and its Role in Systems Theory (B.N. Datta, ed.), pp. 323–338, AMS Contemporary Mathematics, vol. 47, 1985. 
  15. F. Fallside, R.V. Patel, and H. Seraji, “Review of a pole-zero assignment design method,” in Control System Design by Pole-Zero Assignment (F. Fallside, ed.), pp. 43–50, London: Academic Press, 1977. 
  16. R.V. Patel, “Multivariable zeros and their properties,” in Control System Design by Pole-Zero Assignment (F. Fallside, ed.), pp. 145–165, London: Academic Press, 1977. 

 

Books/Monographs

  1. R.V. Patel (Editor), “Minimally Invasive Surgical Robotics,” Vol. 1 (of 4 volumes), Encyclopedia of Medical Robotics (Editor-in-Chief: J. Desai), World Scientific Publishing Company, Singapore, 2017.
  2. R.V. Patel and F. Shadpey, Control of Redundant Robot Manipulators: Theory and Experiments, vol 315 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2005; 205 pages.
  3. H.A. Talebi, F. Abdollahi, R.V. Patel, and K. Khorasani, Neural Network Based State Estimation of Nonlinear Systems: Application to Fault Detection and Isolation, vol. 395 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2010; 154 pages.
  4. M. Tavakoli, R.V. Patel, M. Moallem, A. Aziminejad, Haptics-Based Systems for Robot-Assisted Surgery and Telesurgery: Design, Control, and Experimentation, World Scientific Publishers in the series "New Frontiers in Robotics”, 2008; 158 pages. 
  5. M. Kermani, M. Moallem, and R.V. Patel, Vibration Suppression using Piezoelectric Materials, Nova Science Publishers, NY, 2008, 176 pages.
  6. H.A. Talebi, R.V. Patel, and K. Khorasani, Control of Flexible-Link Manipulators using Neural Networks, vol. 261 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”; 2001; 142 pages.
  7. M. Moallem, R.V. Patel, and K. Khorasani, Flexible-Link Robot Manipulators: Control Techniques and Structural Design, vol. 257 in the Springer-Verlag Series: “Lecture Notes in Control and Information Sciences”, 2000; 159 pages.
  8. R.V. Patel, A.J. Laub and P. Van Dooren (Editors), Numerical Linear Algebra Techniques for Systems and Control, Reprint Book Series, IEEE Press, New York, under the sponsorship of the IEEE Control Systems Society, 1994; 724 pages. 
  9. C.A. Balafoutis and R.V. Patel, Dynamic Analysis of Robot Manipulators: A Cartesian Tensor Approach, in the Kluwer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors, T. Kanade (Consulting Editor), Kluwer Academic Publishers, Boston, MA, 1992; 292 pages. 
  10. R.V. Patel and N. Munro, Multivariable System Theory and Design, Pergamon Press, Oxford, 1982; 374 pages.

 

Patents

  1. R.V. Patel, V. Mehrabi and S.F. Atashzar, Motorized Rehabilitation Device, PCT Application, No. PCT/CA2017/051240, filed October 18, 2017
  2. C.M. Schlachta*, R.V. Patel, A.L. Trejos, and M.D. Naish, Hands-Free Pointer System, United States Patent 9,798,381, issued: October 24, 2017; (PCT Application PCT/CA2009/001667); licensed to Synaptive Medical Inc., Toronto.
  3. C.M. Schlachta*, R.V. Patel, A.L. Trejos and M.D. Naish, Hands-Free Pointer System, China Patent ZL200980154807, issued: July 2, 2014.
  4. R.V. Patel, J. Jayender, and S. Nikumb, Catheter, and System for Controlling Same, United States Patent 8,961,433; issued: February 24, 2015.

The following notation is used to indicate the specific status of the HQP at the time the research reported in the publications was conducted:

  • Underlined names denote the HQP who were Graduate or Undergraduate Students supervised or jointly supervised by Dr. Patel.
  • † denotes the HQP who were Postdoctoral fellows supervised by Dr. Patel
  • ‡ denotes the HQP who were Research Associates/Engineers supervised or primarily supervised by Dr. Patel.
  • The names of clinicians participating in the research are identified by *.