Dr Ildar Farkhatdinov
PhD (Sorbonne), MSc (KoreaTech), BSc (Moscow), Fellow of HEASenior Lecturer in Robotics
School of Engineering and Materials Science
Queen Mary University of London
+44 (0)20 7882 3908Queen Mary University of London
i.farkhatdinov@qmul.ac.uk
hair-robotics.qmul.ac.uk
Research
human-robot interaction, assistive robotics, haptics and human touch, mechatronics and robot design, control and systems engineering
Interests
Dr Ildar Farkhatdinov is a Senior Lecturer in Robotics at Queen Mary University of London (QMUL). He is an internationally leading expert in assistive robotics and human-machine interaction. He is a principal investigator of several projects on wearable robotics, mobility assistance and haptic interfaces (budget £750k+). Several of his research works were recognised as the best paper or finalists for best paper awards at leading robotics conferences. Dr Ildar Farkhatdinov leads Human Augmentation and Interactive Robotics team (HAIR), part of the Centre for Advanced Robotics @ Queen Mary University of London. Before joining QMUL, he was a postdoctoral research associate at the Human Robotics group of the Department of Bioengineering, Imperial College London (2013-16). He earned Ph.D. in Robotics in 2013 (Sorbonne University, UPMC, France), M.Sc. in Mechanical Engineering in 2008 (KoreaTech, South Korea) and B.Sc. in Automation and Control in 2006 (Moscow University, Russia). He has actively collaborated on a number of large-scale research projects: EPSRC NCNR to create novel robotic solutions for the nuclear industry; EU FP7 BALANCE to develop balance and robotic walking assistance for the elderly; EU FP7 SYMBITRON to develop exoskeleton control for people with spinal cord injury. Dr Ildar Farkhatdinov is also a co-founder of start-up Human Robotix Ltd https://www.humanrobotix.co.uk/ and an honorary lecturer at Imperial College London.Publications
2022
Skvortsova V, Nedelchev S, Brown J, Farkhatdinov I and Gaponov I (2022). Design, characterisation and validation of a haptic interface based on twisted string actuation. Frontiers in Robotics and AI vol. 9, 10.3389/frobt.2022.977367Perez NP, Eden J, Burdet E, Farkhatdinov I and Takagi A (2022). Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks. Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biolog vol. 2022, 785-789. Conference: 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC) 10.1109/EMBC48229.2022.9871013Perez N, Eden J, Ivanova E, Burdet E and Farkhatdinov I (2022). Is a robot needed to modify human effort in bimanual tracking? IEEE Robotics and Automation Letters 10.1109/LRA.2022.3183753Brown JP and Farkhatdinov I (2022). Using Audio Recordings to Characterise a Soft Haptic Joystick. 10.1007/978-3-031-15019-7_10Soave F, Bryan-Kinns N and Farkhatdinov I (2022). Designing Audio Feedback to Enhance Motion Perception in Virtual Reality. 10.1007/978-3-031-15019-7_9Saitis C, Farkhatdinov I and Papetti S (2022). Preface.Farkhatdinov I, Garnier A, Arichi T, Bleuler H and Burdet E (2022). Evaluation of a Portable fMRI Compatible Robotic Wrist Interface. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS vol. 2022-July, 2535-2539. 10.1109/EMBC48229.2022.9871667Omarali B, Palermo F, Althoefer K, Valle M and Farkhatdinov I (2022). Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation. Proceedings - IEEE International Conference on Robotics and Automation 9288-9294. 10.1109/ICRA46639.2022.9811825Abeywardena S, Anwar E, Miller S and Farkhatdinov I (2022). Human balance augmentation via a supernumerary robotic tail. Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS vol. 2022-July, 2878-2881. 10.1109/EMBC48229.2022.9871317Stone M, Orlov P and Farkhatdinov I (2022). Design and Preliminary In-Classroom Evaluation of a Low-Cost Educational Mobile Robot. 10.1007/978-3-031-15908-4_112021
Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T, Hansard M, Oh C, Poslad S, Liu C, Godaba H, Zhang K, Jamone L and Althoefer K (2021). A Suite of Robotic Solutions for Nuclear Waste Decommissioning. Robotics vol. 10, (4) 112-112. 10.3390/robotics10040112Palermo F, Rincon-Ardila L, Oh C, Althoefer K, Poslad S, Venture G and Farkhatdinov I (2021). Multi-modal robotic visual-tactile localisation and detection of surface cracks. Conference: 2021 IEEE 17th International Conference on Automation Science and Engineering 10.1109/CASE49439.2021.9551553Din AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C and Shahdad S (2021). Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry. Surgeon vol. 19, (5) e281-e288. 10.1016/j.surge.2020.12.008Slonina Z, Bonzini AA, Brown J, Wang S, Farkhatdinov I, Althoefer K, Jamone L and Versace E (2021). Using RoboChick to Identify the Behavioral Features Promoting Social Interactions. IEEE International Conference on Development and Learning, ICDL 2021 Conference: 2021 IEEE International Conference on Development and Learning (ICDL) 10.1109/ICDL49984.2021.9515641Smith E, Anwar E and Farkhatdinov I (2021). Design and Validation of Mobile Robot with Hybrid Wheel-Leg Design. Conference: UKRAS21 Conference: Robotics at home Proceedings 10.31256/sa3rn8nOtaran A and Farkhatdinov I (2021). A Cable-Driven Walking Interface with Haptic Feedback for Seated VR. 2021 IEEE World Haptics Conference, WHC 2021 10.1109/WHC49131.2021.9517167Brown J and Farkhatdinov I (2021). Shape-Changing Touch Pad based on Particle Jamming and Vibration. 2021 IEEE World Haptics Conference, WHC 2021 10.1109/WHC49131.2021.9517168Brown J and Farkhatdinov I (2021). A Soft, Vibrotactile, Shape-Changing Joystick for Telerobotics. 2021 IEEE World Haptics Conference, WHC 2021 10.1109/WHC49131.2021.9517163Soave F, Padma Kumar A, Bryan-Kinns N and Farkhatdinov I (2021). Exploring Terminology for Perception of Motion in Virtual Reality. DIS 2021 - Proceedings of the 2021 ACM Designing Interactive Systems Conference: Nowhere and Everywhere 171-179. 10.1145/3461778.3462064Ratcliffe J, Soave F, Hoover M, Ortega FR, Bryan-Kinns N, Tokarchuk L and Farkhatdinov I (2021). Remote XR Studies: Exploring Three Key Challenges of Remote XR Experimentation. Conference on Human Factors in Computing Systems - Proceedings 10.1145/3411763.3442472Ratclife J, Soave F, Bryan-Kinns N, Tokarchuk L and Farkhatdinov I (2021). Extended reality (xr) remote research: A survey of drawbacks and opportunities. Conference on Human Factors in Computing Systems - Proceedings 10.1145/3411764.3445170Soave F, Farkhatdinov I and Bryan-Kinns N (2021). Multisensory teleportation in virtual reality applications. Proceedings - 2021 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops, VRW 2021 377-379. 10.1109/VRW52623.2021.00077Otaran A and Farkhatdinov I (2021). A short description of an ankle-actuated seated VR locomotion interface. Proceedings - 2021 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops, VRW 2021 64-66. 10.1109/VRW52623.2021.00018Otaran A and Farkhatdinov I (2021). Haptic Ankle Platform for Interactive Walking in Virtual Reality. IEEE Transactions on Visualization and Computer Graphics 10.1109/TVCG.2021.3111675Otaran A and Farkhatdinov I (2021). Walking-in-Place Foot Interface for Locomotion Control and Telepresence of Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots vol. 2021-July, 453-458. 10.1109/HUMANOIDS47582.2021.9555768Omarali B, Althoefer K, Mastrogiovanni F, Valle M and Farkhatdinov I (2021). Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation. Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics 607-612. 10.1109/SMC52423.2021.96587962020
Palermo F, Konstantinova J, Poslad S, Althoefer K and Farkhatdinov I (2020). Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing. Frontiers in Robotics and AI 10.3389/frobt.2020.513004Soave F, Bryan-Kinns N and Farkhatdinov I (2020). A Preliminary Study on Full-Body Haptic Stimulation on Modulating Self-Motion Perception in Virtual Reality. Conference: Salento AVR 2020 10.1007/978-3-030-58465-8_34Sun F, Zang W, Huang H, Farkhatdinov I and Li Y (2020). Accelerometer-Based Key Generation and Distribution Method for Wearable IoT Devices. IEEE Internet of Things Journal vol. PP, (99) 1-1. 10.1109/jiot.2020.3014646Omarali B, Denoun B, Althoefer K, Jamone L, Valle M and Farkhatdinov I (2020). Virtual Reality based Telerobotics Framework with Depth Cameras. 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020 1217-1222. 10.1109/RO-MAN47096.2020.9223445Huang HY, Farkhatdinov I, Arami A, Bouri M and Burdet E (2020). Cable-driven robotic interface for lower limb neuromechanics identification. IEEE Transactions on Biomedical Engineering 1-1. 10.1109/tbme.2020.3004491Brown J and Farkhatdinov I (2020). Soft Haptic Interface based on Vibration and Particle Jamming. Conference: IEEE Haptics 2020 (Washington DC, USA) 10.1109/HAPTICS45997.2020.ras.HAP20.8.0698f2bbPalermo F, Konstantinova J, Althoefer K, Poslad S and Farkhatdinov I (2020). Implementing Tactile and Proximity Sensing for Crack Detection. Proceedings - IEEE International Conference on Robotics and Automation 632-637. 10.1109/ICRA40945.2020.9196936Huang H-Y, Arami A, Farkhatdinov I, Formica D and Burdet E (2020). The influence of posture, applied force and perturbation direction on hip joint viscoelasticity. IEEE Transactions on Neural Systems and Rehabilitation Engineering 10.1109/TNSRE.2020.2983515Junput B, Farkhatdinov I and Jamone L (2020). Touch It, Rub It, Feel It! Haptic Rendering of Physical Textures with a Low Cost Wearable System. 10.1007/978-3-030-63486-5_292019
Perez NP, Tokarchuk L, Burdet E and Farkhatdinov I (2019). Exploring user motor behaviour in bimanual interactive video games. IEEE Conference on Computatonal Intelligence and Games, CIG vol. 2019-August, Conference: IEEE Conference on Computatonal Intelligence and Game 10.1109/CIG.2019.8848051Danabek D, Otaran A, Althoefer K and Farkhatdinov I (2019). Mobile robot trajectory analysis with the help of vision system. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 11650 LNAI, 273-279. Conference: Towards Autonomous Robotic Systems Conference (TAROS) 10.1007/978-3-030-25332-5_24Farkhatdinov I, Michalska H, Alain B and Vincent H (2019). Idiothetic Verticality Estimation through Head Stabilization Strategy. IEEE Robotics and Automation Letters 10.1109/LRA.2019.2913790Farkhatdinov I, Michalska H, Berthoz A and Hayward V (2019). Gravito-inertial ambiguity resolved through head stabilization. Proceedings of the Royal Society A: Mathematical, Physical and Engineering Sciences vol. 475, (2223) 10.1098/rspa.2018.0010Farkhatdinov I, Ebert J, Van Oort G, Vlutters M, Van Asseldonk E and Burdet E (2019). Assisting Human Balance in Standing With a Robotic Exoskeleton. IEEE Robotics and Automation Letters vol. 4, (2) 414-421. 10.1109/LRA.2018.2890671Omarali B, Palermo F, Valle M, Poslad S, Althoefer K and Farkhatdinov I (2019). Position and Velocity Control for Telemanipulation with Interoperability Protocol. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 11649 LNAI, 316-324. 10.1007/978-3-030-23807-0_26Otaran A and Farkhatdinov I (2019). Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 11649 LNAI, 338-348. 10.1007/978-3-030-23807-0_28Farkhatdinov I, Michalska H, Berthoz A and Hayward V (2019). Idiothetic Verticality Estimation through Head Stabilization Strategy. Robotics: Science and Systems 10.15607/RSS.2019.XV.0852018
FARKHATDINOV I, Michalaska H, Berthoz A and Hayward V (2018). Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots. Biomechanics of Anthropomorphic Systems 10.1007/978-3-319-93870-7_9Pruks V, FARKHATDINOV I and Ryu J-H (2018). Preliminary study on real-time interactive virtual fixture generation method for shared teleoperation in unstructured environments. Springer Conference: Eurohaptics 2018 (Pisa, Italy) 10.1007/978-3-319-93399-3_55Duvernoy B, FARKHATDINOV I, Topp S and Hayward V (2018). Electromagnetic actuator for tactile communication. Springer Conference: Eurohaptics 2018 (Pisa, Italy) 10.1007/978-3-319-93399-3_22017
Ogrinc M, FARKHATDINOV I, Walker R and Burdet E (2017). Sensory integration of apparent motion speed and vibration magnitude. IEEE Transactions on Haptics 10.1109/TOH.2017.2772232FARKHATDINOV I, Roehri N and Burdet E (2017). Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance. Bioinspiration and Biomimetics 10.1088/1748-3190/aa80adStone A and Farkhatdinov I (2017). Robotics education for children at secondary school level and above. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 10454 LNAI, 576-585. Conference: Towards Autonomous Robotic Systems 10.1007/978-3-319-64107-2_47Ogrinc M, FARKHATDINOV I, Walker R and Burdet E (2017). Horseback riding therapy for a deafblind individual enabled by a haptic interface. Assistive Technology 10.1080/10400435.2017.1288178Huang HY, Farkhatdinov I, Arami A and Burdet E (2017). Modelling neuromuscular function of SCI patients in balancing. Conference: Converging Clinical and Engineering Research on Neurorehabilitation II 10.1007/978-3-319-46669-9_602016
Ogrinc M, Farkhatdinov I, Walker R and Burdet E (2016). Deaf-Blind Can Practise Horse Riding with the Help of Haptics. Haptics: Perception, Devices, Control, and Applications 10.1007/978-3-319-42321-0_42Ogrinc M, Farkhatdinov I, Walker R and Burdet E (2016). Deaf-blind can practise horse riding with the help of haptics. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 9774, 425-461. 10.1007/978-3-319-42321-0_42Wilhelm E, Mace M, Takagi A, Farkhatdinov I, Guy S and Burdet E (2016). Investigating tactile sensation in the hand using a robot-based tactile assessment tool. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 9775, 17-24. 10.1007/978-3-319-42324-1_22015
Farkhatdinov I, Garnier A and Burdet E (2015). Development and evaluation of a portable MR compatible haptic interface for human motor control. IEEE World Haptics Conference, WHC 2015 196-201. 10.1109/WHC.2015.71777132013
Farkhatdinov I, Ouarti N and Hayward V (2013). Vibrotactile inputs to the feet can modulate vection. 2013 World Haptics Conference, WHC 2013 677-681. 10.1109/WHC.2013.6548490Farkhatdinov I, Michalska H, Berthoz A and Hayward V (2013). Modeling Verticality Estimation During Locomotion. Cism International Centre For Mechanical Sciences, Courses and Lectures 10.1007/978-3-7091-1379-0_442012
Quang HV, Farkhatdinov I and Ryu JH (2012). Passivity of delayed bilateral teleoperation of mobile robots with ambiguous causalities: Time Domain Passivity Approach. IEEE International Conference on Intelligent Robots and Systems 2635-2640. 10.1109/IROS.2012.63858072011
Farkhatdinov I, Hayward V and Berthoz A (2011). On the benefits of head stabilization with a view to control balance and locomotion in humanoids. IEEE-RAS International Conference on Humanoid Robots 147-152. 10.1109/Humanoids.2011.61008592010
Farkhatdinov I and Ryu JH (2010). Improving mobile robot bilateral teleoperation by introducing variable force feedback gain. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings 5812-5817. 10.1109/IROS.2010.5649112King HH, Hannaford B, Kwok KW, Yang GZ, Griffiths P, Okamura A, Farkhatdinov I, Ryu JH, Sankaranarayanan G, Arikatla V, Tadano K, Kawashima K, Peer A, Schauß T, Buss M, Miller L, Glozman D, Rosen J and Low T (2010). Plugfest 2009: Global interoperability in telerobotics and telemedicine. Proceedings - IEEE International Conference on Robotics and Automation 1733-1738. 10.1109/ROBOT.2010.5509422Farkhatdinov I and Ryu JH (2010). Stability analysis of mobile robot teleoperation with variable force feedback gain. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 6191 LNCS, (PART 1) 177-182. 10.1007/978-3-642-14064-8_26Farkhatdinov I, Ryu JH and An J (2010). A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain. 2010 IEEE Haptics Symposium, HAPTICS 2010 251-256. 10.1109/HAPTIC.2010.54446492009
Farkhatdinov I, Ryu JH and Poduraev J (2009). Rendering of environmental force feedback in mobile robot teleoperation based on fuzzy logic. Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 503-508. 10.1109/CIRA.2009.5423152Farkhatdinov I, Ryu JH and Poduraev J (2009). A user study of command strategies for mobile robot teleoperation. Intelligent Service Robotics vol. 2, (2) 95-104. 10.1007/s11370-009-0036-9Farkhatdinov I, Balashov V, Ryu JH and Poduraev J (2009). A comparative study of indirect and direct workspace representation in human-robot interaction. IFAC Proceedings Volumes (IFAC-PapersOnline) vol. 13, (PART 1) 1730-1735. 10.3182/20090603-3-RU-2001.01332008
Farkhatdinov I, Ryu JH and Poduraev J (2008). Control strategies and feedback information in mobile robot teleoperation. IFAC Proceedings Volumes (IFAC-PapersOnline) vol. 17, (1 PART 1) 10.3182/20080706-5-KR-1001.0918Farkhatdinov I, Ryu JH and Poduraev J (2008). A feasibility study of time-domain passivity approach for bilateral teleoperation of mobile manipulator. 2008 International Conference on Control, Automation and Systems, ICCAS 2008 272-277. 10.1109/ICCAS.2008.4694563Farkhatdinov I and Ryu JH (2008). Teleoperation of multi-robot and multi-property systems. IEEE International Conference on Industrial Informatics (INDIN) 1453-1458. 10.1109/INDIN.2008.4618333Farkhatdinov I and Ryu JH (2008). A study on the role of force feedback for teleoperation of industrial overhead crane. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformat vol. 5024 LNCS, 796-805. 10.1007/978-3-540-69057-3_101Farkhatdinov I and Ryu JH (2008). Switching of control signals in teleoperation systems: Formalization and application. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 353-358. 10.1109/AIM.2008.4601686Farkhatdinov I, Ryu J-H and IEEE (2008). Teleoperation of Multi-Robot and Multi-Property Systems. 2008 6TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS, VOLS 1-3 1383-1388. Farkhatdinov I, Ryu J-H, Poduraev J and IEEE (2008). A Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator. 2008 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-4 250-255. Farkhatdinov I, Ryu J-H and Poduraev J (2008). Control Strategies and Feedback Information in Mobile Robot Teleoperation. IFAC-PapersOnLine vol. 41, (2) 14681-14686. 10.3182/20080706-5-kr-1001.024862007
Farkhatdinov I and Ryu JH (2007). Hybrid position-position and position-speed command strategy for the bilateral teleoperation of a mobile robot. ICCAS 2007 - International Conference on Control, Automation and Systems 2442-2447. 10.1109/ICCAS.2007.4406773Farkhatdinov I, Ryu J-H and IEEE (2007). Hybrid position-position and position-speed command strategy for the bilateral teleoperation of a mobile robot. 2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6 1281-1286. Grants
Grants of specific relevance to Advanced Robotics
XRAI:eXtended reality Robotics AI systemFarkhatdinov I and Smiles AL
Engineering and Physical Sciences Research Council (30-09-2021 - 29-09-2025)
USE OF DIGITAL GAMES AND INTERACTIVE DEVICES TO ASSESS MOTOR SKILLS IN CHILDRENFarkhatdinov I and Zhang Qiu P
Engineering and Physical Sciences Research Council (20-09-2021 - 29-09-2025)
Automatic Posture and Balance Support for Supernumerary Robotic LimbsFarkhatdinov I
£466,000 Engineering and Physical Sciences Research Council (01-01-2021 - 31-12-2023)
Evaluating Haptic Feedback for Vehicle Safety in Field RoboticsFarkhatdinov I
£9,217 Natural Environment Research Council (01-01-2021 - 31-12-2022)
Development of a Soft Haptic Interface for Robot TeleoperationFarkhatdinov I and Brown J
Engineering and Physical Sciences Research Council (30-09-2018 - 31-12-2022)
QMUL EPSRC Core Equipment Bid: Q-Arena - a multidisciplinary research environment for human-centred robotics and interactive engineeringWang W, Farkhatdinov I and Zhang K
£129,000 Engineering and Physical Sciences Research Council (01-10-2020 - 30-09-2022)
National Centre for Nuclear Robotics (NCNR)Stolkin R, Taylor CJ, Montazeri A, Giuliani M, Richardson TS, Althoefer KA, Scott TB, Farkhatdinov I, Hansard ME, Pipe AG, Leonardis AXC, Cavallaro AA, Stone R, Richards AG, Mistry MN, Peer A, Mcdonald-Maier KD, Melhuish C, Herrmann G, Jamone L, Poslad S, Hanheide MA, Neumann G and Malkin R
£11,588,430 Engineering and Physical Sciences Research Council (01-10-2017 - 31-03-2021)