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ARQ: Advanced Robotics at Queen Mary

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Dr Ildar Farkhatdinov

Ildar FarkhatdinovPhD, FHEA

Lecturer in Robotics

School of Electronic Engineering and Computer Science
Queen Mary University of London
+44 (0)20 7882 3908

hair-robotics.qmul.ac.uk
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Research

human-robot interaction, assistive robotics, haptics and human touch, mechatronics and robot design, control and systems engineering

Interests

Dr Ildar Farkhatdinov is a Lecturer in Robotics at QMUL since 11/2016 and a Turing Institute Fellow. 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 £730k+). Several of his research works were recognised as the best paper or finalists for best paper awards at leading robotics conferences. 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.

Publications

Publications of specific relevance to Advanced Robotics

2021

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
Din 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  10.1016/j.surge.2020.12.008

2020

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.2020.513004
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
Omarali 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-MAN47096.2020.9223445
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
Brown 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.HAP20.8.0698f2bb
Palermo 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/ICRA40945.2020.9196936
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.2020.2983515
Junput 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_29

2019

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, Berthoz A and Hayward V (2019). Idiothetic Verticality Estimation through Head Stabilization Strategy. 10.15607/rss.2019.xv.085
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
Omarali 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_26
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_28

2018

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_55
Duvernoy 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_2

2017

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.2017.2772232
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
Ogrinc M, FARKHATDINOV I, Walker R and Burdet E (2017). Horseback riding therapy for a deafblind individual enabled by a haptic interface. Assistive Technology  10.1080/10400435.2017.1288178
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_60

2016

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_42
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

2015

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.2015.7177713

2013

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.2013.6548490
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_44

2012

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.2012.6385807

2011

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.2011.6100859

2010

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.2010.5444649

2009

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, 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/s11370-009-0036-9
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-2001.0133

2008

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-1001.0918
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). Teleoperation of multi-robot and multi-property systems. IEEE International Conference on Industrial Informatics (INDIN)  1453-1458. 10.1109/INDIN.2008.4618333
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, 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 Proceedings Volumes  vol. 41, (2) 14681-14686. 10.3182/20080706-5-kr-1001.02486

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, 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
Automatic Posture and Balance Support for Supernumerary Robotic Limbs
Farkhatdinov I
£466,000 Engineering and Physical Sciences Research Council (01-01-2021 - 31-12-2023)
QMUL EPSRC Core Equipment Bid: Q-Arena - a multidisciplinary research environment for human-centred robotics and interactive engineering
Farkhatdinov I
£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