Research
Robotics, Mechatronics, Haptics and virtual reality, Human motor control, Human-robot interaction, Control systems theory
Interests
Dr Ildar Farkhatdinov is a Lecturer in Robotics at QMUL since 11/2016 . He runs Human Augmentation and Interactive Robotics team, part of the Centre for Advanced Robotics @ 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 £800k+). 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
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Publications of specific relevance to the Centre for Bioengineering
2023
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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,
American Society of Mechanical Engineers 02-08-2023![Relevant Publication](/common/publications/images/fav.png)
Abeywardena S and
Farkhatdinov I (2023).
Towards enhanced stability of human stance with a supernumerary robotic tail. IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers 31-07-2023![Relevant Publication](/common/publications/images/fav.png)
Omarali B, Javaid S, Valle M and
Farkhatdinov I (2023).
Workspace Scaling in Virtual Reality based Robot Teleoperation. Augmented Humans Conference.
12-03-2023![Relevant Publication](/common/publications/images/fav.png)
Pea-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,
Institute of Electrical and Electronics Engineers (IEEE) vol. 16 (4), 609-615.
01-01-2023![Relevant Publication](/common/publications/images/fav.png)
Giudici G, Omarali B, Bonzini AA,
Althoefer K,
Farkhatdinov I and
Jamone L (2023).
Feeling Good: Validation of Bilateral Tactile Telemanipulation for a Dexterous Robot. Towards Autonomous Robotic Systems 443-454.
01-01-2023![Relevant Publication](/common/publications/images/fav.png)
Smiles AL, Chavanakunakorn KD, Omarali B,
Oh C and
Farkhatdinov I (2023).
Implementation of a Stereo Vision System for a Mixed Reality Robot Teleoperation Simulator. Towards Autonomous Robotic Systems 494-502.
01-01-20232022
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Peña-Pérez N, Eden J,
Ivanova E,
Farkhatdinov I and Burdet E (2022).
How virtual and mechanical coupling impact bimanual tracking. Journal of Neurophysiology,
American Physiological Society 07-12-2022![Relevant Publication](/common/publications/images/fav.png)
Céspedes N,
Hsu A,
Jones JM and
Farkhatdinov I (2022).
A Feasibility Study of a Data-Driven Human-Robot Conversational Interface for Reminiscence Therapy. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids).
30-11-2022![Relevant Publication](/common/publications/images/fav.png)
Perez NP, Eden J,
Ivanova E, Burdet E and
Farkhatdinov I (2022).
Is a robot needed to modify human effort in bimanual tracking? 2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob).
03-11-2022![Relevant Publication](/common/publications/images/fav.png)
Otaran A and
Farkhatdinov I (2022).
Haptic Ankle Platform for Interactive Walking in Virtual Reality. IEEE Transactions on Visualization and Computer Graphics,
Institute of Electrical and Electronics Engineers (IEEE) vol. 28 (12), 3974-3985.
26-10-2022![Relevant Publication](/common/publications/images/fav.png)
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,
Frontiers vol. 9
16-09-2022![Relevant Publication](/common/publications/images/fav.png)
Perez NP, Eden J, Burdet E,
Farkhatdinov I and Takagi A (2022).
Lateralization of Impedance Control in Dynamic Versus Static Bimanual Tasks. 2022 44th Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC).
08-09-2022
Farkhatdinov I, Garnier A, Arichi T, Bleuler H and Burdet E (2022).
Evaluation of a Portable fMRI Compatible Robotic Wrist Interface. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC),
Institute of Electrical and Electronics Engineers (IEEE) vol. 00, 2535-2539.
01-07-2022![Relevant Publication](/common/publications/images/fav.png)
Abeywardena S, Anwar E, Miller S and
Farkhatdinov I (2022).
Human balance augmentation via a supernumerary robotic tail. Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC),
Institute of Electrical and Electronics Engineers (IEEE) vol. 00, 2878-2881.
01-07-2022![Relevant Publication](/common/publications/images/fav.png)
Perez 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,
Institute of Electrical and Electronics Engineers 17-06-2022![Relevant Publication](/common/publications/images/fav.png)
Omarali B, Palermo F,
Althoefer K, Valle M and
Farkhatdinov I (2022).
Tactile Classification of Object Materials for Virtual Reality based Robot Teleoperation. 2022 International Conference on Robotics and Automation (ICRA).
27-05-2022![Relevant Publication](/common/publications/images/fav.png)
Brown JP and
Farkhatdinov I (2022).
Using Audio Recordings to Characterise a Soft Haptic Joystick. Haptic and Audio Interaction Design 102-111.
01-01-2022![Relevant Publication](/common/publications/images/fav.png)
Soave F, Bryan-Kinns N and
Farkhatdinov I (2022).
Designing Audio Feedback to Enhance Motion Perception in Virtual Reality. Haptic and Audio Interaction Design 92-101.
01-01-2022![Relevant Publication](/common/publications/images/fav.png)
Stone M, Orlov P and
Farkhatdinov I (2022).
Design and Preliminary In-Classroom Evaluation of a Low-Cost Educational Mobile Robot. Towards Autonomous Robotic Systems 128-136.
01-01-20222021
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Omarali B,
Althoefer K, Mastrogiovanni F, Valle M and
Farkhatdinov I (2021).
Workspace Scaling and Rate Mode Control for Virtual Reality based Robot Teleoperation. 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC).
20-10-2021![Relevant Publication](/common/publications/images/fav.png)
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.
07-10-2021![Relevant Publication](/common/publications/images/fav.png)
Palermo 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. 2021 IEEE 17th International Conference on Automation Science and Engineering.
05-10-2021![Relevant Publication](/common/publications/images/fav.png)
Slonina 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. 2021 IEEE International Conference on Development and Learning (ICDL).
23-08-2021![Relevant Publication](/common/publications/images/fav.png)
Otaran A and
Farkhatdinov I (2021).
Walking-in-Place Foot Interface for Locomotion Control and Telepresence of Humanoid Robots. 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids).
21-07-2021![Relevant Publication](/common/publications/images/fav.png)
Otaran A and
Farkhatdinov I (2021).
A Cable-Driven Walking Interface with Haptic Feedback for Seated VR. 2021 IEEE World Haptics Conference (WHC).
09-07-2021![Relevant Publication](/common/publications/images/fav.png)
Brown J and
Farkhatdinov I (2021).
Shape-Changing Touch Pad based on Particle Jamming and Vibration. 2021 IEEE World Haptics Conference (WHC).
09-07-2021![Relevant Publication](/common/publications/images/fav.png)
Brown J and
Farkhatdinov I (2021).
A Soft, Vibrotactile, Shape-Changing Joystick for Telerobotics. 2021 IEEE World Haptics Conference (WHC).
09-07-2021![Relevant Publication](/common/publications/images/fav.png)
Smith E, Anwar E and
Farkhatdinov I (2021).
Design and Validation of Mobile Robot with Hybrid Wheel-Leg Design. UKRAS21 Conference: Robotics at home Proceedings.
08-07-2021![Relevant Publication](/common/publications/images/fav.png)
Soave F, Kumar AP, Bryan-Kinns N and
Farkhatdinov I (2021).
Exploring Terminology for Perception of Motion in Virtual Reality. Designing Interactive Systems Conference 2021.
28-06-2021![Relevant Publication](/common/publications/images/fav.png)
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. Extended Abstracts of the 2021 CHI Conference on Human Factors in Computing Systems.
08-05-2021![Relevant Publication](/common/publications/images/fav.png)
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 06-05-2021![Relevant Publication](/common/publications/images/fav.png)
Soave F,
Farkhatdinov I and Bryan-Kinns N (2021).
Multisensory Teleportation in Virtual Reality Applications. 2021 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW).
01-04-2021![Relevant Publication](/common/publications/images/fav.png)
Otaran A and
Farkhatdinov I (2021).
A Short Description of an Ankle-Actuated Seated VR Locomotion Interface. 2021 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW).
01-04-2021![Relevant Publication](/common/publications/images/fav.png)
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. The Surgeon,
Elsevier vol. 19 (5), e281-e288.
22-01-20212020
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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,
Frontiers Media 02-12-2020![Relevant Publication](/common/publications/images/fav.png)
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. Salento AVR 2020.
31-08-2020![Relevant Publication](/common/publications/images/fav.png)
Palermo F, Konstantinova J,
Althoefer K,
Poslad S and
Farkhatdinov I (2020).
Implementing Tactile and Proximity Sensing for Crack Detection. 2020 IEEE International Conference on Robotics and Automation (ICRA).
31-08-2020![Relevant Publication](/common/publications/images/fav.png)
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,
Institute of Electrical and Electronics Engineers vol. PP (99), 1-1.
06-08-2020![Relevant Publication](/common/publications/images/fav.png)
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,
Institute of Electrical and Electronics Engineers, 1-1.
23-06-2020![Relevant Publication](/common/publications/images/fav.png)
Brown J and
Farkhatdinov I (2020).
Soft Haptic Interface based on Vibration and Particle Jamming. IEEE Haptics 2020 Washington DC, USA.
07-05-2020![Relevant Publication](/common/publications/images/fav.png)
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,
Institute of Electrical and Electronics Engineers 26-03-2020![Relevant Publication](/common/publications/images/fav.png)
Omarali B, Denoun B,
Althoefer K,
Jamone L, Valle M and
Farkhatdinov I (2020).
Virtual Reality based Telerobotics Framework with Depth Cameras. 2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN).
04-01-2020![Relevant Publication](/common/publications/images/fav.png)
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. Towards Autonomous Robotic Systems 274-286.
01-01-20202019
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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 Game.
01-08-2019![Relevant Publication](/common/publications/images/fav.png)
Danabek D, Otaran A,
Althoefer K and
Farkhatdinov I (2019).
Mobile robot trajectory analysis with the help of vision system. Towards Autonomous Robotic Systems Conference (TAROS).
03-07-2019
Farkhatdinov I, Michalska H, Berthoz A and Hayward V (2019).
Idiothetic Verticality Estimation through Head Stabilization Strategy. Robotics: Science and Systems XV.
22-06-2019
Farkhatdinov I, Michalska H, Alain B and Vincent H (2019).
Idiothetic Verticality Estimation\\through Head Stabilization Strategy. IEEE Robotics and Automation Letters,
Institute of Electrical and Electronics Engineers 29-04-2019
Farkhatdinov I, Michalska H, Berthoz A and Hayward V (2019).
Gravito-inertial ambiguity resolved through head stabilization. Proceedings of the Royal Society A,
The Royal Society vol. 475 (2223)
01-03-2019
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.
03-01-2019![Relevant Publication](/common/publications/images/fav.png)
Omarali B, Palermo F, Valle M,
Poslad S,
Althoefer K and
Farkhatdinov I (2019).
Position and Velocity Control for Telemanipulation with Interoperability Protocol. 01-01-2019![Relevant Publication](/common/publications/images/fav.png)
Otaran A and
Farkhatdinov I (2019).
Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction. 01-01-20192018
FARKHATDINOV I, Michalaska H, Berthoz A and Hayward V (2018).
Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots. Biomechanics of Anthropomorphic Systems,
Springer 07-08-2018![Relevant Publication](/common/publications/images/fav.png)
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. Eurohaptics 2018 Pisa, Italy 13 Jun 2018 - 16 Jun 2018.
06-06-2018![Relevant Publication](/common/publications/images/fav.png)
Duvernoy B,
FARKHATDINOV I, Topp S and Hayward V (2018).
Electromagnetic actuator for tactile communication. Eurohaptics 2018 Pisa, Italy 13 Jun 2018 - 16 Jun 2018.
06-06-20182017
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Ogrinc M,
FARKHATDINOV I, Walker R and Burdet E (2017).
Sensory integration of apparent motion speed and vibration magnitude. IEEE Transactions on Haptics,
Institute of Electrical and Electronics Engineers 15-11-2017
FARKHATDINOV I, Roehri N and Burdet E (2017).
Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance. Bioinspiration and Biomimetics,
IOP Publishing 25-09-2017![Relevant Publication](/common/publications/images/fav.png)
Stone A and
Farkhatdinov I (2017).
Robotics education for children at secondary school level and above. Towards Autonomous Robotic Systems.
30-06-2017![Relevant Publication](/common/publications/images/fav.png)
Ogrinc M,
FARKHATDINOV I, Walker R and Burdet E (2017).
Horseback riding therapy for a deafblind individual enabled by a haptic interface. Assistive Technology,
Association for the Advancement of Rehabilitation Technology 27-03-2017![Relevant Publication](/common/publications/images/fav.png)
Huang HY,
Farkhatdinov I, Arami A and Burdet E (2017).
Modelling neuromuscular function of SCI patients in balancing. Converging Clinical and Engineering Research on Neurorehabilitation II.
01-01-20172016
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Ogrinc M,
Farkhatdinov I, Walker R and Burdet E (2016).
Deaf-blind can practise horse riding with the help of haptics. 01-01-2016![bullet icon](/common/publications/images/bullet24.png)
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. 01-01-2016![bullet icon](/common/publications/images/bullet24.png)
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 452-461.
01-01-20162015
Farkhatdinov I, Garnier A and Burdet E (2015).
Development and Evaluation of a Portable MR Compatible Haptic Interface for Human Motor Control. 2015 IEEE World Haptics Conference (WHC).
01-06-20152013
Farkhatdinov I, Ouarti N and Hayward V (2013).
Vibrotactile Inputs to the Feet can Modulate Vection. 2013 World Haptics Conference (WHC).
01-04-2013
Farkhatdinov I, Michalska H, Berthoz A and Hayward V (2013).
Modeling Verticality Estimation During Locomotion. Romansy 19 – Robot Design, Dynamics and Control 359-366.
01-01-20132012
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Van Quang H,
Farkhatdinov I and Ryu J-H (2012).
Passivity of Delayed Bilateral Teleoperation of Mobile Robots with Ambiguous Causalities: Time Domain Passivity Approach. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-20122011
Farkhatdinov I, Hayward V and Berthoz A (2011).
On the Benefits of Head Stabilization with a View to Control Balance and Locomotion in Humanoids. 2011 11th IEEE-RAS International Conference on Humanoid Robots.
01-10-20112010
Farkhatdinov I and Ryu J-H (2010).
Improving Mobile Robot Bilateral Teleoperation by Introducing Variable Force Feedback Gain. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.
01-10-2010![bullet icon](/common/publications/images/bullet24.png)
King HH, Hannaford B, Kwok K-W, Yang G-Z, Griffiths P, Okamura A,
Farkhatdinov I, Ryu J-H, 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. 2010 IEEE International Conference on Robotics and Automation.
07-05-2010
Farkhatdinov I, Ryu J-H and An J (2010).
A Preliminary Experimental Study on Haptic Teleoperation of Mobile Robot with Variable Force Feedback Gain. 2010 IEEE Haptics Symposium.
01-03-2010
Farkhatdinov I and Ryu J-H (2010).
Stability Analysis of Mobile Robot Teleoperation with Variable Force Feedback Gain. 01-01-20102009
Farkhatdinov I, Ryu J-H and Poduraev J (2009).
Rendering of Environmental Force Feedback in Mobile Robot Teleoperation based on Fuzzy Logic. 2009 IEEE International Symposium on Computational Intelligence in Robotics and Automation - (CIRA).
01-12-2009
Farkhatdinov I, Ryu J-H and Poduraev J (2009).
A user study of command strategies for mobile robot teleoperation. Intelligent Service Robotics,
Springer Nature vol. 2 (2), 95-104.
17-03-2009
Farkhatdinov I, Balashov V, Ryu J-H and Poduraev J (2009).
A Comparative Study of Indirect and Direct Workspace Representation in Human-Robot Interaction. 01-01-20092008
Farkhatdinov I, Ryu JH and Poduraev J (2008).
Control strategies and feedback information in mobile robot teleoperation. 01-12-2008
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.
01-10-2008
Farkhatdinov I and Ryu J-H (2008).
Teleoperation of Multi-Robot and Multi-Property Systems. 2008 6th IEEE International Conference on Industrial Informatics.
01-07-2008
Farkhatdinov I and Ryu J-H (2008).
Switching of Control Signals in Teleoperation Systems: Formalization and Application. 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.
01-07-2008
Farkhatdinov I and Ryu J-H (2008).
A Study on the Role of Force Feedback for Teleoperation of Industrial Overhead Crane. 01-01-2008
Farkhatdinov I and Ryu J-H (2008).
Teleoperation of Multi-Robot and Multi-Property Systems. 01-01-2008
Farkhatdinov I, Ryu J-H and Poduraev J (2008).
A Feasibility Study of Time-Domain Passivity Approach for Bilateral Teleoperation of Mobile Manipulator. 01-01-2008
Farkhatdinov I, Ryu J-H and Poduraev J (2008).
Control Strategies and Feedback Information in Mobile Robot Teleoperation. IFAC-PapersOnLine,
Elsevier vol. 41 (2), 14681-14686.
01-01-20082007
Farkhatdinov I and Jee-Hwan R (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.
01-01-2007
Farkhatdinov I and Ryu J-H (2007).
Hybrid position-position and position-speed command strategy for the bilateral teleoperation of a mobile robot. 01-01-2007