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Keyvan Hashtrudi-Zaad

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affiliation: Queen's University, Kingston, Canada
not to be confused with: Kian Hashtrudi-Zaad

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2020 – today

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2023
[j37]
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Seanna Oliver, Leonam Pecly, Keyvan Hashtrudi-Zaad:
Uncoupled Stability Dynamic Range for Hunt-Crossley Modeled Virtual Environments. IEEE Robotics Autom. Lett. 8(9): 5751-5758 (2023)
[j36]
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Leonam Pecly, Keyvan Hashtrudi-Zaad:
General Discretization Method for Enhanced Kinesthetic Haptic Stability. IEEE Trans. Haptics 16(2): 261-275 (2023)
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Dean Sacoransky, Joshua A. Marshall, Keyvan Hashtrudi-Zaad:
Towards Unsupervised Filtering of Millimetre-Wave Radar Returns for Autonomous Vehicle Road Following. ICRA 2023: 6995-7001
2022
[j35]
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Chiedu Nnaji Mokogwu, Keyvan Hashtrudi-Zaad:
Energy-Based Analysis of String Stability in Vehicle Platoons. IEEE Trans. Veh. Technol. 71(6): 5915-5929 (2022)
[c69]
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Leonam Pecly, Keyvan Hashtrudi-Zaad:
Uncoupled Stability of Kinesthetic Haptic Systems Simulating Mass-Damper-Spring Environments with Complementary Filter. AIM 2022: 97-102
[c68]
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Leonam Pecly, Keyvan Hashtrudi-Zaad:
Effect of Voltage Driver on Uncoupled Stability and Fidelity of Kinesthetic Haptic Systems. HAPTICS 2022: 1-6
[c67]
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A. Rashvand, R. Heidari, Mohammad Motaharifar, Ali Hassani, M. R. Dindarloo, M. J. Ahmadi, Keyvan Hashtrudi-Zaad, Mahdi Tavakoli, Hamid D. Taghirad:
An Observer-Based Responsive Variable Impedance Control for Dual-User Haptic Training System. IROS 2022: 9635-9641
2021
[j34]
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Chiedu Nnaji Mokogwu, Keyvan Hashtrudi-Zaad:
A hybrid position-rate teleoperation system. Robotics Auton. Syst. 141: 103781 (2021)
[c66]
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Leonam Pecly, Keyvan Hashtrudi-Zaad:
Enhanced Haptic Passivity and Uncoupled Stability with Tustin-like General Discretization Method. WHC 2021: 109-114
[c65]
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Leonam Pecly, Keyvan Hashtrudi-Zaad:
Analog Position using Sensor Fusion for Haptic Systems Control. WHC 2021: 391-396
[c64]
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Shane Forbrigger, Keyvan Hashtrudi-Zaad:
An Intent-Preserving Approach to Telerobotic Rehabilitation. WHC 2021: 739-744
[c63]
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Leonam Pecly, Keyvan Hashtrudi-Zaad:
Uncoupled Stability Region for Analog and Discrete Implementation of Mass-Damper-Spring Virtual Environments. WHC 2021: 864
[c62]
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Austin Greisman, Keyvan Hashtrudi-Zaad, Joshua A. Marshall:
Detection of Conductive Lane Markers using mm Wave FMCW Automotive Radar. MFI 2021: 1-6
[c61]
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Chiedu Nnaji Mokogwu, Keyvan Hashtrudi-Zaad:
Energy-Based Analysis of String Stability in Heterogeneous Platoons. VTC Fall 2021: 1-6
2020
[j33]
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Mohammad Motaharifar, Hamid D. Taghirad, Keyvan Hashtrudi-Zaad, Seyed Farzad Mohammadi:
Control of Dual-User Haptic Training System With Online Authority Adjustment: An Observer-Based Adaptive Robust Scheme. IEEE Trans. Control. Syst. Technol. 28(6): 2404-2415 (2020)
[j32]
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Chiedu Nnaji Mokogwu, Kamran Razi, Keyvan Hashtrudi-Zaad:
Experimental Assessment of Absolute Stability in Bilateral Teleoperation. IEEE Trans. Haptics 13(2): 380-392 (2020)
[c60]
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Chiedu Nnaji Mokogwu, Keyvan Hashtrudi-Zaad:
Platoon String Stability: A Passivity Perspective. CAVS 2020: 1-6
[c59]
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S. Sudhagar, Brian W. Surgenor, Keyvan Hashtrudi-Zaad:
Robotic Sanding of Wooden Bowls with Hybrid Force/Position Impedance Control. CCECE 2020: 1-6
[c58]
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Leonam Pecly, Keyvan Hashtrudi-Zaad:
Model Transformation for Enhanced Parameter Identification of Linear Dynamic Systems. CCTA 2020: 242-247
[c57]
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Chiedu Nnaji Mokogwu, Keyvan Hashtrudi-Zaad:
Vehicle Platoon String Stability: Network Passivity Approach. CCTA 2020: 648-653
[c56]
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Andrés Ramos, Keyvan Hashtrudi-Zaad:
Estimation of Energy Absorption Capability of Arm Using Force Myography for Stable Human-Machine Interaction. EMBC 2020: 4758-4761
[c55]
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Andrés Ramos, Keyvan Hashtrudi-Zaad:
Estimation of Upper-Limb Energy Absorption Capabilities for Stable Human-Robot Interactions. HAPTICS 2020: 115-120
[c54]
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Victor A. Luna Laija, P. Gizem Özdil, Keyvan Hashtrudi-Zaad:
Effect of Direct Velocity Measurement on the Stability of Haptic Simulation Systems. HAPTICS 2020: 712-717
[c53]
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  - conf/miigp/WiercigrochHUBF20
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Julia Wiercigroch, Keyvan Hashtrudi-Zaad, Tamas Ungi, Gianluigi Bisleri, Gabor Fichtinger:
Force and torque feedback in endoscopic vessel harvesting. Image-Guided Procedures 2020: 113152Q

2010 – 2019

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2019
[c52]
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Victor A. Luna Laija, Daniel Cleveland, Keyvan Hashtrudi-Zaad:
Uncoupled Stability of a Haptic System with Position-Velocity Sampling. WHC 2019: 473-478
2018
[j31]
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Ryan Schindeler, Keyvan Hashtrudi-Zaad:
Analog Haptic Control: Advantages and Challenges. IEEE Trans. Haptics 11(2): 162-173 (2018)
[j30]
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Ryan Schindeler, Keyvan Hashtrudi-Zaad:
Online Identification of Environment Hunt-Crossley Models Using Polynomial Linearization. IEEE Trans. Robotics 34(2): 447-458 (2018)
[c51]
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Daniel Cleveland, Keyvan Hashtrudi-Zaad:
The effect of discretization techniques on uncoupled stability of haptic simulation systems. HAPTICS 2018: 66-71
[c50]
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Leonam S. D. Pecly, Marcelo L. O. Souza, Keyvan Hashtrudi-Zaad:
Model-reference model-mediated control for time-delayed teleoperation systems. HAPTICS 2018: 72-77
2017
[j29]
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Leonam Pecly, Ryan Schindeler, Daniel Cleveland, Keyvan Hashtrudi-Zaad:
High-Precision Resolver-to-Velocity Converter. IEEE Trans. Instrum. Meas. 66(11): 2917-2928 (2017)
[c49]
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Leonam S. D. Pecly, Marcelo L. O. Souza, Keyvan Hashtrudi-Zaad:
Offline and online synchronization of position derived signals for identification of dynamic systems. LARS/SBR 2017: 1-6
2016
[j28]
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Hossein Sadjadi, Keyvan Hashtrudi-Zaad, Gabor Fichtinger:
Simultaneous Electromagnetic Tracking and Calibration for Dynamic Field Distortion Compensation. IEEE Trans. Biomed. Eng. 63(8): 1771-1781 (2016)
[c48]
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Gregg Johns, Evelyn Morin, Keyvan Hashtrudi-Zaad:
The role of electromechanical delay in modelling the EMG-force relationship during quasi-dynamic contractions of the upper-limb. EMBC 2016: 3634-3637
[c47]
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Ryan Schindeler, Keyvan Hashtrudi-Zaad:
Polynomial linearization for real-time identification of environment Hunt-Crossley models. HAPTICS 2016: 173-178
[c46]
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Kamran Razi, Chiedu Nnaji Mokogwu, Keyvan Hashtrudi-Zaad:
Experimental evaluation of absolute stability in teleoperation systems. HAPTICS 2016: 241-246
[c45]
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Ryan Anderson, Andras Lasso, Keyvan Hashtrudi-Zaad, Gabor Fichtinger:
Investigation of permanent magnets in low-cost position tracking. Image-Guided Procedures 2016: 97862F
2014
[j27]
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Hossein Sadjadi, Keyvan Hashtrudi-Zaad, Gabor Fichtinger:
Needle deflection estimation: prostate brachytherapy phantom experiments. Int. J. Comput. Assist. Radiol. Surg. 9(6): 921-929 (2014)
[j26]
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Kamran Razi, Keyvan Hashtrudi-Zaad:
Development of a Guaranteed Stable Network of Telerobots with Kinesthetic Consensus. IEEE Trans. Haptics 7(4): 454-466 (2014)
[j25]
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Kamran Razi, Keyvan Hashtrudi-Zaad:
Analysis of Coupled Stability in Multilateral Dual-User Teleoperation Systems. IEEE Trans. Robotics 30(3): 631-641 (2014)
[c44]
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Yu Qi, Hossein Sadjadi, Caitlin T. Yeo, Keyvan Hashtrudi-Zaad, Gabor Fichtinger:
Electromagnetic tracking performance analysis and optimization. EMBC 2014: 6534-6538
[c43]
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Kamran Razi, Keyvan Hashtrudi-Zaad:
Möbius transformation and application to coupled stability analysis of cascaded master and slave networks. HAPTICS 2014: 539-544
[c42]
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Siyuan Yin, Ajay Koti, Amir Haddadi, Keyvan Hashtrudi-Zaad:
Uncoupled stability analysis of haptic simulation systems for various kinematic sampled data and discretization methods. HAPTICS 2014: 563-568
2013
[j24]
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Hossein Sadjadi, Keyvan Hashtrudi-Zaad, Gabor Fichtinger:
Fusion of Electromagnetic Trackers to Improve Needle Deflection Estimation: Simulation Study. IEEE Trans. Biomed. Eng. 60(10): 2706-2715 (2013)
[j23]
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Colin J. Sutherland, Keyvan Hashtrudi-Zaad, Richard W. Sellens, Purang Abolmaesumi, Parvin Mousavi:
An Augmented Reality Haptic Training Simulator for Spinal Needle Procedures. IEEE Trans. Biomed. Eng. 60(11): 3009-3018 (2013)
[j22]
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Robust Stability of Teleoperation Systems with Time Delay: A New Approach. IEEE Trans. Haptics 6(2): 229-241 (2013)
[j21]
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
A Framework for Unconditional Stability Analysis of Multimaster/Multislave Teleoperation Systems. IEEE Trans. Robotics 29(3): 684-694 (2013)
[c41]
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Irene Ayukawa, Tamas Ungi, Keyvan Hashtrudi-Zaad, Gabor Fichtinger, Parvin Mousavi:
Experimental assessment of error in an electromagnetically-tracked ultrasound-guided needle navigation system. Image-Guided Procedures 2013: 867124
2012
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Real-Time Identification of Hunt-Crossley Dynamic Models of Contact Environments. IEEE Trans. Robotics 28(3): 555-566 (2012)
[c40]
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Kamran Razi, Keyvan Hashtrudi-Zaad:
Extension of Zeheb-Walach absolute stability criteria for robot-human interactions. CDC 2012: 1186-1191
[c39]
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Hossein Sadjadi, Keyvan Hashtrudi-Zaad, Gabor Fichtinger:
Needle deflection estimation using fusion of electromagnetic trackers. EMBC 2012: 952-955
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Javad Hashemi, Evelyn Morin, Parvin Mousavi, Keyvan Hashtrudi-Zaad:
Enhanced multi-site EMG-force estimation using contact pressure. EMBC 2012: 3098-3101
2011
[j19]
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
Shared control architectures for haptic training: Performance and coupled stability analysis. Int. J. Robotics Res. 30(13): 1627-1642 (2011)
[j18]
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Behzad Khademian, Jacob Apkarian, Keyvan Hashtrudi-Zaad:
Assessment of Environmental Effects on Collaborative Haptic Guidance. Presence Teleoperators Virtual Environ. 20(3): 191-206 (2011)
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Colin J. Sutherland, Keyvan Hashtrudi-Zaad, Purang Abolmaesumi, Parvin Mousavi:
Towards an augmented ultrasound guided spinal needle insertion system. EMBC 2011: 3459-3462
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Javad Hashemi, Evelyn Morin, Parvin Mousavi, Keyvan Hashtrudi-Zaad:
Joint angle-based EMG amplitude calibration. EMBC 2011: 4439-4442
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Development of a dynamic model for bevel-tip flexible needle insertion into soft tissues. EMBC 2011: 7478-7482
2010
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Katherine Mountjoy, Evelyn Morin, Keyvan Hashtrudi-Zaad:
Use of the Fast Orthogonal Search Method to Estimate Optimal Joint Angle For Upper Limb Hill-Muscle Models. IEEE Trans. Biomed. Eng. 57(4): 790-798 (2010)
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Bounded-Impedance Absolute Stability of Bilateral Teleoperation Control Systems. IEEE Trans. Haptics 3(1): 15-27 (2010)
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
Unconditional stability analysis of dual-user teleoperation systems. HAPTICS 2010: 161-166
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Stability analysis of haptic interfaces for different types of sampled signals and virtual environment implementations. HAPTICS 2010: 293-299

2000 – 2009

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2009
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Least conservative robust stability condition for linear bilateral teleoperation control systems. WHC 2009: 220-225
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
Novel shared control architectures for enhanced users' interaction in haptic training simulation systems. IROS 2009: 886-892
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
Experimental performance evaluation of a haptic training simulation system. IROS 2009: 1247-1252
2008
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
Transparent Rate Mode Bilateral Teleoperation Control. Int. J. Robotics Res. 27(1): 57-72 (2008)
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Babak Taati, Amir M. Tahmasebi, Keyvan Hashtrudi-Zaad:
Experimental Identification and Analysis of the Dynamics of a PHANToM Premium 1.5A Haptic Device. Presence Teleoperators Virtual Environ. 17(4): 327-343 (2008)
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Farhad Ghassemi, Shahram Tafazoli, Peter D. Lawrence, Keyvan Hashtrudi-Zaad:
Design and Calibration of an Integration-Free Accelerometer-Based Joint-Angle Sensor. IEEE Trans. Instrum. Meas. 57(1): 150-159 (2008)
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Amir M. Tahmasebi, Keyvan Hashtrudi-Zaad, D. Thompson, Purang Abolmaesumi:
A Framework for the Design of a Novel Haptic-Based Medical Training Simulator. IEEE Trans. Inf. Technol. Biomed. 12(5): 658-666 (2008)
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
A New Fast Online Identification Method for Linear Time-Varying Systems. ACC 2008: 1322-1328
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
A new robust stability analysis and design tool for bilateral teleoperation control systems. ICRA 2008: 663-670
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Delay-robust transparent bilateral teleoperation control design. IROS 2008: 438-444
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
Online contact impedance identification for robotic systems. IROS 2008: 974-980
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Amir Haddadi, Keyvan Hashtrudi-Zaad:
A new method for online parameter estimation of Hunt-Crossley environment dynamic models. IROS 2008: 981-986
2007
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Farid Mobasser, J. Mikael Eklund, Keyvan Hashtrudi-Zaad:
Estimation of Elbow-Induced Wrist Force With EMG Signals Using Fast Orthogonal Search. IEEE Trans. Biomed. Eng. 54(4): 683-693 (2007)
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Amir M. Tahmasebi, Purang Abolmaesumi, Keyvan Hashtrudi-Zaad:
A Haptic-based Ultrasound Training/Examination System (HUTES). ICRA 2007: 3130-3131
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
Performance Issues in Collaborative Haptic Training. ICRA 2007: 3257-3262
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
Stable impedance reflecting teleoperation with online collision prediction. IROS 2007: 476-482
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
A four-channel multilateral shared control architecture for dual-user teleoperation systems. IROS 2007: 2660-2666
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Behzad Khademian, Keyvan Hashtrudi-Zaad:
Kinesthetic performance analysis of dual-user teleoperation systems. SMC 2007: 228-233
2006
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Andrew C. Smith, Keyvan Hashtrudi-Zaad:
Smith Predictor Type Control Architectures for Time Delayed Teleoperation. Int. J. Robotics Res. 25(8): 797-818 (2006)
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Pezhman Foroughi, Purang Abolmaesumi, Keyvan Hashtrudi-Zaad:
Intra-subject elastic registration of 3D ultrasound images. Medical Image Anal. 10(5): 713-725 (2006)
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Andrew C. Smith, Farid Mobasser, Keyvan Hashtrudi-Zaad:
Neural-Network-Based Contact Force Observers for Haptic Applications. IEEE Trans. Robotics 22(6): 1163-1175 (2006)
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
Adaptive Bilateral Control using Operator Elbow Impedance. CCECE 2006: 1271-1274
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
Predictive Teleoperation using Laser Rangefinder. CCECE 2006: 1279-1282
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
Adaptive Teleoperation Control using Online Estimate of Operator's Arm Damping. CDC 2006: 2032-2038
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Pezhman Foroughi, Purang Abolmaesumi, Keyvan Hashtrudi-Zaad:
Towards Real-time Registration of 4D Ultrasound Images. EMBC 2006: 404-407
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
A Method for Online Estimation of Human Arm Dynamics. EMBC 2006: 2412-2416
2005
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M. Matinfar, Keyvan Hashtrudi-Zaad:
Optimization-based Robot Compliance Control: Geometric and Linear Quadratic Approaches. Int. J. Robotics Res. 24(8): 645-656 (2005)
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
Hand Force Estimation using Electromyography Signals. ICRA 2005: 2631-2636
2004
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Purang Abolmaesumi, Keyvan Hashtrudi-Zaad, D. Thompson:
A haptics-based ultrasound examination training system. CARS 2004: 1262
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M. Matinfar, Keyvan Hashtrudi-Zaad:
Optimization-based robot impedance controller design. CDC 2004: 1246-1251
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Farid Mobasser, Keyvan Hashtrudi-Zaad:
Implementation of a Rate Mode Impedance Reflecting Teleoperation Controller on a Haptic Simulation System. ICRA 2004: 1974-1979
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Simon P. DiMaio, Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
Optimal Selection of Manipulator Impedance for Contact Tasks. ICRA 2004: 4795-4801
2003
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Keyvan Hashtrudi-Zaad, Farid Mobasser, Septimiu E. Salcudean:
Transparent implementation of bilateral teleoperation controllers under rate mode. ACC 2003: 161-167
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Farid Mobasser, Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
Impedance reflecting rate mode teleoperation. ICRA 2003: 3296-3302
2002
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Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
Bilateral parallel force/position teleoperation control. J. Field Robotics 19(4): 155-167 (2002)
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Shahram Tafazoli, Septimiu E. Salcudean, Keyvan Hashtrudi-Zaad, Peter D. Lawrence:
Impedance control of a teleoperated excavator. IEEE Trans. Control. Syst. Technol. 10(3): 355-367 (2002)
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Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
Transparency in time-delayed systems and the effect of local force feedback for transparent teleoperation. IEEE Trans. Robotics Autom. 18(1): 108-114 (2002)
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Farhad Ghassemi, Shahram Tafazoli, Peter D. Lawrence, Keyvan Hashtrudi-Zaad:
An Accelerometer-Based Joint Angle Sensor for Heavy-Duty Manipulators. ICRA 2002: 1771-1776
2001
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Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
Analysis of Control Architectures for Teleoperation Systems with Impedance/Admittance Master and Slave Manipulators. Int. J. Robotics Res. 20(6): 419-445 (2001)
2000
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Septimiu E. Salcudean, Ming Zhu, Wen-Hong Zhu, Keyvan Hashtrudi-Zaad:
Transparent Bilateral Teleoperation under Position and Rate Control. Int. J. Robotics Res. 19(12): 1185-1202 (2000)
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Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
Analysis and Evaluation of Stability and Performance Robustness for Teleoperation Control Architectures. ICRA 2000: 3107-3113

1990 – 1999

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1999
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Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
On the Use of Local Force Feedback for Transparent Teleoperation. ICRA 1999: 1863-1869
1998
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Simon P. DiMaio, Septimiu E. Salcudean, Claude Reboulet, Shahram Tafazoli, Keyvan Hashtrudi-Zaad:
A Virtual Excavator for Controller Development and Evaluation. ICRA 1998: 52-58
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Septimiu E. Salcudean, Keyvan Hashtrudi-Zaad, Shahram Tafazoli, Simon P. DiMaio, Claude Reboulet:
Bilateral Matched Impedance Teleoperation with Application to Excavator Control. ICRA 1998: 133-139
1997
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Septimiu E. Salcudean, Shahram Tafazoli, Keyvan Hashtrudi-Zaad, Peter D. Lawrence, Claude Reboulet:
Evaluation of Impedance and Teleoperation Control of a Hydraulic Mini-Excavator. ISER 1997: 229-240
1996
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Keyvan Hashtrudi-Zaad, Khashayar Khorasani:
An integral manifold approach to tracking control for a class of non-minimum phase linear systems using output feedback. Autom. 32(11): 1533-1552 (1996)
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Keyvan Hashtrudi-Zaad, Septimiu E. Salcudean:
Adaptive transparent impedance reflecting teleoperation. ICRA 1996: 1369-1374

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