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

Publications of specific relevance to Advanced Robotics
2023

Abeywardena S, Anwar E, Miller SC and
Farkhatdinov I (2023).
Mechanical characterisation of supernumerary robotic tails for human balance augmentation. Journal of Mechanisms and Robotics 10.1115/1.4063094
Omarali B, Javaid S, Valle M and
Farkhatdinov I (2023).
Workspace Scaling in Virtual Reality based Robot Teleoperation. ACM International Conference Proceeding Series 98-104.
10.1145/3582700.3582717
Pena-Perez N, Mutalib SA, Eden J,
Farkhatdinov I and Burdet E (2023).
The Impact of Stiffness in Bimanual Versus Dyadic Interactions Requiring Force Exchange. IEEE Transactions on Haptics 10.1109/TOH.2023.32745842022

Peña-Pérez N, Eden J, Ivanova E,
Farkhatdinov I and Burdet E (2022).
How virtual and mechanical coupling impact bimanual tracking. Journal of Neurophysiology 10.1152/jn.00057.2022
Otaran A and
Farkhatdinov I (2022).
Haptic Ankle Platform for Interactive Walking in Virtual Reality. IEEE Transactions on Visualization and Computer Graphics vol. 28, (12) 3974-3985.
10.1109/TVCG.2021.3111675
Perez NP, Eden J, Ivanova E, Burdet E and
Farkhatdinov I (2022).
Is a robot needed to modify human effort in bimanual tracking? Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics vol. 2022-August,
Conference: 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) 10.1109/BioRob52689.2022.9925446
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.2022.977367
Perez 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/EMBC48229.2022.9871013
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/EMBC48229.2022.9871667
Abeywardena 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/EMBC48229.2022.9871317
Cespedes N, Hsu A, Jones JM and
Farkhatdinov I (2022).
A Feasibility Study of a Data-Driven Human-Robot Conversational Interface for Reminiscence Therapy. IEEE-RAS International Conference on Humanoid Robots vol. 2022-November, 708-713.
10.1109/Humanoids53995.2022.100001192021
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/robotics10040112
Smith E, Anwar E and
Farkhatdinov I (2021).
Design and Validation of Mobile Robot with Hybrid Wheel-Leg Design. UK-Robotics and Autonomous Systems (RAS) Network Conference: UKRAS21 Conference: Robotics at home Proceedings 10.31256/sa3rn8n
Soave 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.
10.1145/3461778.3462064
Ratcliffe 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 10.1145/3411763.3442472
Ratclife 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 10.1145/3411764.3445170
Soave 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/VRW52623.2021.00077
Otaran 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/VRW52623.2021.00018
Omarali 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

Soave 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_34
Sun 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.2020.3014646
Huang 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.2020.3004491
Huang 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.2020.29835152019

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.2019.8848051
Danabek 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_24
Farkhatdinov I, Michalska H, Alain B and Vincent H (2019).
Idiothetic Verticality Estimation through Head Stabilization Strategy. IEEE Robotics and Automation Letters 10.1109/LRA.2019.2913790
Farkhatdinov 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.2018.0010
Farkhatdinov 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.2018.2890671
Otaran 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_282018
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_9
Pruks 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_552017
FARKHATDINOV 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/aa80ad
Stone 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_47
Huang 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. 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_42
Wilhelm 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_2
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 Springer Nature 10.1007/978-3-319-42321-0_422015
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, 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.2010.5649112
King 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.2010.5509422
Farkhatdinov 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_26
Farkhatdinov 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.2009.5423152
Farkhatdinov 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).
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.2008.4694563
Farkhatdinov 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_101
Farkhatdinov 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.2008.4601686
Farkhatdinov I and Ryu J-H (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 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, VOLS 1-4 250-255.
2007
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.2007.4406773
Farkhatdinov I and Ryu J-H (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
An intelligent UUV human-robot interfaceFarkhatdinov I and Smiles AL
Engineering and Physical Sciences Research Council (30-09-2021 - 29-09-2025)
Summary
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)
Summary
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)
Summary
Development of a Soft Haptic Interface for Robot TeleoperationFarkhatdinov I and
Brown JEngineering and Physical Sciences Research Council (30-09-2018 - 31-12-2022)
Summary
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)
Summary