Healthcare Applications of Interactive Robotics

Dr Ildar Farkhatdinov, Associate Professor, King's College London

Home - about	People	CV Ildar Farkhatdinov	Publications
Research topics	Teaching and student projects	Start-up: Human Robotix
Publications Google scholar profile for Dr Ildar Farkhatdinov List of publications per category in reverse chronological order (journals, chapters/books, peer-reviewed conference papers). Journals (28) Giudici G, Coppola C, Althoefer K, Farkhatdinov I, Jamone L. Haptic Stiffness Perception Using Hand Exoskeletons in Tactile Robotic Telemanipulation. IEEE Robotics and Automation Letters. 2025. Dutta A, Hatjipanagioti K, Newsham MA, Leyland L, Rickson L, Buchanan A, Farkhatdinov I, Twamley J, Das A. Extended Reality Biofeedback for Functional Upper Limb Weakness: Mixed Methods Usability Evaluation. JMIR XR and Spatial Computing (JMXR). 2025 Jun 3;2:e68580. Brown J, Farkhatdinov I, Jenkin M. ROV Teleoperation in the Presence of Cross‐Currents Using Soft Haptics. Journal of Field Robotics. 2025 Feb 23. Anwar E, Abeywardena S, Miller SC, Farkhatdinov I. How Robots Can Support Balancing in Healthy People. IEEE Transactions on Medical Robotics and Bionics. 2024 Nov 21. Abeywardena S, Osman Z, Farkhatdinov I. Modelling human postural stability and muscle activation augmented by a supernumerary robotic tail. Bioinspiration & biomimetics. 2024 Sep 23;19(6):066003. Suulker C, Greenway A, Skach S, Farkhatdinov I, Miller SC, Althoefer K. Let me give you a hand: Enhancing human grasp force with a soft robotic assistive glove. IEEE Robotics and Automation Letters. 2024 Jul 24;9(9):7811-8. Abeywardena S, Anwar E, Charles Miller S, Farkhatdinov I. Mechanical characterization of supernumerary robotic tails for human balance augmentation. Journal of Mechanisms and Robotics. 2024 Jun 1;16(6):061007. Pena-Perez, N., Mutalib, S. A., Eden, J., Farkhatdinov, I., & Burdet, E. The impact of stiffness in bimanual versus dyadic interactions requiring force exchange. IEEE Transactions on Haptics, 2023. Abeywardena, S; Farkhatdinov, I. Towards enhanced stability of human stance with a supernumerary robotic tail, IEEE Robotics and Automation Letters, 2023. Abeywardena, S; Anwar, E; Miller, SC; Farkhatdinov, I. Mechanical characterisation of supernumerary robotic tails for human balance augmentation, Journal of Mechanisms and Robotics, 2023. Pena-Perez N, Eden J, Ivanova E, Farkhatdinov I, Burdet E. How virtual and mechanical coupling impact bimanual tracking. Journal of Neurophysiology. 2022 Dec 7. Perez NP, Eden J, Ivanova E, Burdet E, Farkhatdinov I. Is a robot needed to modify human effort in bimanual tracking? IEEE Robotics and Automation Letters. 2022 Jun 17;7(3):8069-75. Best RAL paper finalist at IEEE Biorob 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. Front. Robot. AI 9:977367. Otaran A, Farkhatdinov I. Haptic Ankle Platform for Interactive Walking in Virtual Reality. IEEE Transactions on Visualization and Computer Graphics. 2021 Sep 10. Vitanov I, Farkhatdinov I, Denoun B, Palermo F, Otaran A, Brown J, Omarali B, Abrar T, Hansard M, Oh C, Poslad S. A Suite of Robotic Solutions for Nuclear Waste Decommissioning. Robotics. 2021. Din AR, Althoefer K, Farkhatdinov I, Brown J, Morgan C, Shahdad S. Innovation in the time of SARS-CoV-2: A collaborative journey between NHS clinicians, engineers, academics and industry. The Surgeon. 2021. Palermo F, Konstantinova J, Poslad S, Althoefer K, Farkhatdinov I. Automatic Fracture Characterization Using Tactile and Proximity Optical Sensing. Frontiers in Robotics and AI. 2020. Sun F, Zang W, Huang H, Farkhatdinov I, Li Y. Accelerometer-based key generation and distribution method for wearable IoT devices. IEEE Internet of Things Journal. 2020. Huang HY, Farkhatdinov I, Arami A, Bouri M, Burdet E. Cable-driven robotic interface for lower limb neuromechanics identification. IEEE Transactions on Biomedical Engineering. 2020. Huang HY, Arami A, Farkhatdinov I, Formica D, Burdet E. The influence of posture, applied force and perturbation direction on hip joint viscoelasticity. IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2020. Farkhatdinov I, Michalska H, Berthoz A, Hayward V. Idiothetic Verticality Estimation through Head Stabilization Strategy. IEEE Robotics and Automation Letters. 2019 Apr 29;4(3):2677-82. Best paper finalist at RSS 2019. Farkhatdinov I, Michalska H, Berthoz A, Hayward V. Gravito-inertial ambiguity resolved through head stabilization. Proceedings of the Royal Society A. 2019. Farkhatdinov I, Ebert J, Van Oort G, Vlutters M, Van Asseldonk E, Burdet E. Assisting human balance in standing with a robotic exoskeleton. IEEE Robotics and automation letters. 2019. Ogrinc M, Farkhatdinov I, Walker R, Burdet E. Horseback riding therapy for a deafblind individual enabled by a haptic interface. Assistive Technology. 2018. Ogrinc M, Farkhatdinov I, Walker R, Burdet E. Sensory integration of apparent motion speed and vibration magnitude. IEEE Transactions on Haptics. 2017. Farkhatdinov I, Roehri N, Burdet E. Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance. Bioinspiration & biomimetics. 2017. Farkhatdinov I, Ryu JH, Poduraev J. A user study of command strategies for mobile robot teleoperation. Intelligent Service Robotics. 2009. Farkhatdinov I, Kim DW, Ryu JH. Automotive Engineering Educational System Development Using Augmented Reality. The Journal of Korean Institute for Practical Engineering Education. 2009. Books/chapters (2) Farkhatdinov I, Michalska H, Berthoz A, Hayward V. Review of anthropomorphic head stabilisation and verticality estimation in robots. In Biomechanics of anthropomorphic systems 2019 (pp. 185-209). Springer. Haptic and Audio Interaction Design, 11th International Workshop, HAID 2022, London, UK, August 25–26, 2022, Proceedings, Springer. Editors C Saitis, I Farkhatdinov, S Papetti. Peer-reviewed conference proceedings (63) Brown J, Yurkewich A, Zardbani M, Cazenave L, Burdet E, Farkhatdinov I. Measuring Muscle Activation with the HRX-1 Wrist Manipulation Robot. In2025 International Conference On Rehabilitation Robotics (ICORR) 2025 May 12 (pp. 1047-1052). IEEE. Gaponov I, Farkhatdinov I. Overview of Undergraduate Programmes in Robotics and Artificial Intelligence in the United Kingdom. In2025 IEEE Global Engineering Education Conference (EDUCON) 2025 Apr 22 (pp. 1-6). IEEE. Smiles A, Oh C, Farkhatdinov I. Robotic Perception of Underwater Plastic Bottles for Augmented Telepresence. InEuropean Robotics Forum 2025 Feb 24 (pp. 320-326). Cham: Springer Nature Switzerland. Mao X, Giudici G, Coppola C, Althoefer K, Farkhatdinov I, Li Z, Jamone L. Dexskills: Skill segmentation using haptic data for learning autonomous long-horizon robotic manipulation tasks. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024 Oct 14 (pp. 5104-5111). IEEE. Anwar E, Abeywardena S, Miller SC, Farkhatdinov I. Design and validation of a wearable robotic tail for human balance support. In2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) 2024 Sep 1 (pp. 895-900). IEEE. Cecamore M, Gaponov I, Miller SC, Farkhatdinov I. Design and validation of a haptic ankle platform for physical human-machine interaction. In2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) 2024 Sep 1 (pp. 1301-1306). IEEE. Otaran A, Farkhatdinov I. Exploring User Preferences for Walking in Virtual Reality Interfaces Through an Online Questionnaire. In International Conference on Human-Computer Interaction 2024 Jun 1 (pp. 244-258). Cham: Springer Nature Switzerland. Giudici G, Omarali B, Bonzini AA, Althoefer K, Farkhatdinov I, Jamone L. Feeling good: Validation of bilateral tactile telemanipulation for a dexterous robot. In Annual Conference Towards Autonomous Robotic Systems 2023, Springer Nature, Best paper finalist. Smiles AL, Chavanakunakorn KD, Omarali B, Oh C, Farkhatdinov I. Implementation of a Stereo Vision System for a Mixed Reality Robot Teleoperation Simulator. In Annual Conference Towards Autonomous Robotic Systems 2023, Springer Nature. Omarali B, Valle M, Farkhatdinov I, Workspace scaling in virtual reality based robot teleoperation, ACM Augmented Human international conference 2023, March 12-14, 2023. Cespedes N, Hsu A, Jones J, Farkhatdinov I, A Feasibility Study of a Data-driven Human-Robot Conversational Interface for Reminiscing, accepted, IEEE Conference on Humanoid robots 2022, Japan. IEEE Robotics and Automation Society Dr Kanako Miura award. Brown J, Farkhatdinov I. Using Audio Recordings to Characterise a Soft Haptic Joystick. In 11th International Workshop on Haptic and Audio Interaction Design 2022 (HAID 2022), Aug 25, Springer. Soave F, Bryan-Kinns N, Farkhatdinov I. Designing Audio Feedback to Enhance Motion Perception in Virtual Reality. In 11th International Workshop on Haptic and Audio Interaction Design 2022 (HAID 2022), Aug 25, Springer. Farkhatdinov I, Arnaud G, Arichi T, Bleuler H, Burdet E, Evaluation of a Portable fMRI Compatible Robotic Wrist Interface, 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'22), Glasgow, United Kingdom 11-15 July 2022. Perez N, Eden J, Takagi A, Farkhatdinov I, Burdet E, Lateralization of impedance control in dynamic versus static bimanual tasks, 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'22), Glasgow, United Kingdom 11-15 July 2022. Best student paper finalist. Abeywardena S, Anwar E, Miller S, Farkhatdinov I, Human balance augmentation via a supernumerary robotic tail, 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'22), Glasgow, United Kingdom 11-15 July 2022. Omarali B, Palermo F, Althoefer K, Valle M, Farkhatdinov I, Tactile classification of object materials for virtual reality based robot teleoperation, accepted to 2022 IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022, Philadelphia (PA), USA. Stone M, Orlov P, Farkhatdinov I. Design and Preliminary In-Classroom Evaluation of a Low-Cost Educational Mobile Robot. In Annual Conference Towards Autonomous Robotic Systems 2022 (pp. 128-136). Springer, Cham. Otaran A, Farkhatdinov I. Walking-in-Place Foot Interface for Locomotion Control and Telepresence of Humanoid Robots. In 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021. Omarali B, Althoefer K, Mastrogiovanni F, Valle M, Farkhatdinov I. Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation. In 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC). Brown J, Farkhatdinov I. Shape-Changing Touch Pad based on Particle Jamming and Vibration. In 2021 IEEE World Haptics Conference. Brown J, Farkhatdinov I. A Soft, Vibrotactile, Shape-Changing Joystick for Telerobotics. In 2021 IEEE World Haptics Conference. Otaran A, Farkhatdinov I. A cable-driven walking interface with haptic feedback for seated VR. In 2021 IEEE World Haptics Conference. Best work-in-progress paper finalist. Slonina Z, Bonzini AA, Brown J, Wang S, Farkhatdinov I, Althoefer K, Jamone L, Versace E. Using RoboChick to Identify the Behavioral Features Promoting Social Interactions. In 2021 IEEE International Conference on Development and Learning. Soave F, Padma Kumar A, Bryan-Kinns N, Farkhatdinov I. Exploring Terminology for Perception of Motion in Virtual Reality. In Designing Interactive Systems Conference 2021. Palermo F, Rincon-Ardila L, Oh C, Althoefer K, Poslad S, Venture G, Farkhatdinov I. Multi-modal robotic visual-tactile localisation and detection of surface cracks. In 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE). Otaran A, Farkhatdinov I. A Short Description of an Ankle-Actuated Seated VR Locomotion Interface. In 2021 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW). Soave F, Farkhatdinov I, Bryan-Kinns N. Multisensory Teleportation in Virtual Reality Applications. In 2021 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW). Ratcliffe J, Soave F, Bryan-Kinns N, Farkhatdinov I, Tokarchuk L, Extended Reality (XR) Remote Research: a Survey of Drawbacks and Opportunities, In Proceedings of the ACM SIGCHI Conference on Human factors in computing systems 2021. Best paper finalist. Junput B, Farkhatdinov I, Jamone L. Touch It, Rub It, Feel It! Haptic Rendering of Physical Textures with a Low Cost Wearable System. In Annual Conference Towards Autonomous Robotic Systems 2020, Springer, Cham. Soave F, Bryan-Kinns N, Farkhatdinov I. A Preliminary Study on Full-Body Haptic Stimulation on Modulating Self-motion Perception in Virtual Reality. In International Conference on Augmented Reality, Virtual Reality and Computer Graphics 2020. Springer, Cham. Omarali B, Denoun B, Althoefer K, Jamone L, Valle M, Farkhatdinov I. Virtual reality based telerobotics framework with depth cameras. In 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN). Palermo F, Konstantinova J, Althoefer K, Poslad S, Farkhatdinov I. Implementing tactile and proximity sensing for crack detection. In 2020 IEEE International Conference on Robotics and Automation (ICRA). Brown JP, Farkhatdinov I. Soft Haptic Interface based on Vibration and Particle Jamming. In 2020 IEEE Haptics Symposium (HAPTICS) 2020 Mar 28 (pp. 1-6). IEEE. Best paper finalist Perez NP, Tokarchuk L, Burdet E, Farkhatdinov I. Exploring User Motor Behaviour in Bimanual Interactive Video Games. In 2019 IEEE Conference on Games (CoG) 2019. Danabek D, Otaran A, Althoefer K, Farkhatdinov I. Mobile Robot Trajectory Analysis with the Help of Vision System. In Annual Conference Towards Autonomous Robotic Systems 2019. Otaran A, Farkhatdinov I. Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction. In Annual Conference Towards Autonomous Robotic Systems 2019. Springer, Cham. Best student paper Omarali B, Palermo F, Valle M, Poslad S, Althoefer K, Farkhatdinov I. Position and Velocity Control for Telemanipulation with Interoperability Protocol. In Annual Conference Towards Autonomous Robotic Systems 2019. Springer, Cham. Pruks V, Farkhatdinov I, Ryu JH. Preliminary study on real-time interactive virtual fixture generation method for shared teleoperation in unstructured environments. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications 2018 (Eurohaptics). Springer, Cham. Duvernoy B, Farkhatdinov I, Topp S, Hayward V. Electromagnetic actuator for tactile communication. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications 2018 Springer, Stone A, Farkhatdinov I. Robotics education for children at secondary school level and above. In Annual Conference Towards Autonomous Robotic Systems 2017. Springer, Cham. Huang HY, Farkhatdinov I, Arami A, Burdet E. Modelling neuromuscular function of SCI patients in balancing. In Converging Clinical and Engineering Research on Neurorehabilitation II 2017. Springer, Cham. Ogrinc M, Farkhatdinov I, Walker R, Burdet E. Deaf-Blind Can Practise Horse Riding with the Help of Haptics. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications 2016 (Eurohaptics). Springer. Wilhelm E, Mace M, Takagi A, Farkhatdinov I, Guy S, Burdet E. Investigating Tactile Sensation in the Hand Using a Robot-Based Tactile Assessment Tool. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications 2016 (Eurohaptics). Springer, Cham. Farkhatdinov I, Garnier A, Burdet E. Development and evaluation of a portable MR compatible haptic interface for human motor control. In 2015 IEEE World Haptics Conference (WHC) 2015. IEEE. Best paper finalist Farkhatdinov I, Ouarti N, Hayward V. Vibrotactile inputs to the feet can modulate vection. In 2013 World Haptics Conference (WHC) 2013. Van Quang H, Farkhatdinov I, Ryu JH. Passivity of delayed bilateral teleoperation of mobile robots with ambiguous causalities: Time domain passivity approach. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Farkhatdinov I, Michalska H, Berthoz A, Hayward V. Modeling verticality estimation during locomotion. In Romansy 19–robot design, dynamics and control 2013 Springer. Farkhatdinov I, Hayward V, Berthoz A. On the benefits of head stabilization with a view to control balance and locomotion in humanoids. In 2011 11th IEEE-RAS International Conference on Humanoid Robots. Farkhatdinov I, Ryu JH. Improving mobile robot bilateral teleoperation by introducing variable force feedback gain. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010. Farkhatdinov I, Ryu JH. Stability analysis of mobile robot teleoperation with variable force feedback gain. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications 2010 (Eurohaptics), Springer. King HH, Hannaford B, Kwok KW, Yang GZ, Griffiths P, Okamura A, Farkhatdinov I, Ryu JH, Sankaranarayanan G, Arikatla V, Tadano K. Plugfest 2009: Global interoperability in telerobotics and telemedicine. In 2010 IEEE International Conference on Robotics and Automation 2010. Farkhatdinov I, Ryu JH, An J. A preliminary experimental study on haptic teleoperation of mobile robot with variable force feedback gain. In 2010 IEEE Haptics Symposium. Best poster award Farkhatdinov I, Ryu JH, Poduraev J. Rendering of environmental force feedback in mobile robot teleoperation based on fuzzy logic. In 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation-(CIRA). Farkhatdinov I, Ryu JH. Development of educational system for automotive engineering based on augmented reality. In Int. conf. on engineering education and research 2009. Farkhatdinov I, Balashov V, Ryu JH, Poduraev J. A comparative study of indirect and direct workspace representation in human-robot interaction. IFAC Proceedings Volumes. 2009. Farkhatdinov I, Ryu JH, Poduraev J. A feasibility study of time-domain passivity approach for bilateral teleoperation of mobile manipulator. In 2008 International Conference on Control, Automation and Systems. Farkhatdinov I, Ryu JH. Teleoperation of multi-robot and multi-property systems. In 2008 6th IEEE International Conference on Industrial Informatics. Farkhatdinov I, Ryu JH. Switching of control signals in teleoperation systems: Formalization and application. In 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Farkhatdinov I, Ryu JH. A study on the role of force feedback for teleoperation of industrial overhead crane. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications 2008 (Eurohaptics). Springer. Farkhatdinov I, Ryu JH, Poduraev J. Control strategies and feedback information in mobile robot teleoperation. IFAC Proceedings Volumes. 2008. Farkhatdinov I, Ryu JH. Hybrid position-position and position-speed command strategy for the bilateral teleoperation of a mobile robot. In 2007 International Conference on Control, Automation and Systems 2007. Farkhatdinov I, Ryu JH. A user study of a mobile robot teleoperation. In Proc. of the 4th International Conference on Ubiquitous Robots and Ambient Intelligence 2007.