Dr Ildar Farkhatdinov
Senior Lecturer in Robotics
Director for Undergraduate Robotics Engineering Programme
School of Engineering and Materials Science
Queen Mary University of London
Queen Mary University of London
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
Publications of specific relevance to the Centre for Advanced Robotics2024
Anwar E, Abeywardena S, Miller SC and Farkhatdinov I (2024). How Robots Can Support Balancing in Healthy People. IEEE Transactions on Medical Robotics and Bionics, Institute of Electrical and Electronics Engineers (IEEE) vol. PP (99), 1-1. 21-11-2024
Abeywardena S, Osman Z and Farkhatdinov I (2024). Modelling human postural stability and muscle activation augmented by a supernumerary robotic tail. Bioinspiration & Biomimetics, IOP Publishing vol. 19 (6) 23-09-2024
Suulker C, Greenway A, Skach S, Farkhatdinov I, Miller SC and Althoefer K (2024). Let Me Give You a Hand: Enhancing Human Grasp Force With a Soft Robotic Assistive Glove. IEEE Robotics and Automation Letters, Institute of Electrical and Electronics Engineers (IEEE) vol. 9 (9), 7811-7818. 24-07-2024
Cecamore M, Gaponov I, Miller SC and Farkhatdinov I (2024). Design and Validation of a Haptic Ankle Platform for Physical Human-Machine Interaction. 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). 04-01-2024
Anwar E, Abeywardena S, Miller SC and Farkhatdinov I (2024). Design and Validation of a Wearable Robotic Tail for Human Balance Support. 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). 04-01-2024
Otaran A and Farkhatdinov I (2024). Exploring User Preferences for Walking in Virtual Reality Interfaces Through an Online Questionnaire. Virtual, Augmented and Mixed Reality 244-258. 01-01-2024
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, American Society of Mechanical Engineers 02-08-2023
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
Omarali B, Javaid S, Valle M and Farkhatdinov I (2023). Workspace Scaling in Virtual Reality based Robot Teleoperation. Augmented Humans Conference. 12-03-2023
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
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
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. 01-01-2023
2022
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
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
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
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
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
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
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
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
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
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
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
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. 01-01-2022
2021
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
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
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
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
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
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
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
Brown J and Farkhatdinov I (2021). A Soft, Vibrotactile, Shape-Changing Joystick for Telerobotics. 2021 IEEE World Haptics Conference (WHC). 09-07-2021
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
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
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
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
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
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
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. 22-01-2021
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, Frontiers Media 02-12-2020
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
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
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
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
Brown J and Farkhatdinov I (2020). Soft Haptic Interface based on Vibration and Particle Jamming. IEEE Haptics 2020 Washington DC, USA. 07-05-2020
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
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
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. 01-01-2020
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 Game. 01-08-2019
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
Otaran A and Farkhatdinov I (2019). Modeling and Control of Ankle Actuation Platform for Human-Robot Interaction. 01-01-2019
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
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, Springer 07-08-2018
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. 06-06-2018
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
2017
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
Stone A and Farkhatdinov I (2017). Robotics education for children at secondary school level and above. Towards Autonomous Robotic Systems. 30-06-2017
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
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. 01-01-2017
2016
Ogrinc M, Farkhatdinov I, Walker R and Burdet E (2016). Deaf-blind can practise horse riding with the help of haptics. 01-01-2016
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
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. 01-01-2016
2015
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). 01-06-2015
2013
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. 01-01-2013
2012
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. 01-10-2012
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. 2011 11th IEEE-RAS International Conference on Humanoid Robots. 01-10-2011
2010
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
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. 01-01-2010
2009
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. 01-01-2009
2008
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, 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 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). Control Strategies and Feedback Information in Mobile Robot Teleoperation. IFAC-PapersOnLine, Elsevier vol. 41 (2), 14681-14686. 01-01-2008
2007
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
Grants
Grants of specific relevance to the Centre for Advanced RoboticsAutomatic Posture and Balance Support for Supernumerary Robotic LimbsIldar Farkhatdinov
£373,314 EPSRC Engineering and Physical Sciences Research Council (01-01-2021 - 31-12-2024)
3D Mask Adapter for Successful Mask Fit Testing.Sarah Waia, Shakeel Shahdad, Ildar Farkhatdinov, Joshua Brown, Bukeikhan Omarali and Kaspar Althoefer
£47,837 Barts and the London Charity (01-11-2022 - 30-04-2024)
Travel grant UK-Canada for PhD student Joshua BrownIldar Farkhatdinov
£9,217 NERC Natural Environment Research Council (01-01-2021 - 31-12-2022)
EPSRC Core Equipment 2020Wen Wang, Ketao Zhang, Matteo Palma and Ildar Farkhatdinov
£497,496 EPSRC Engineering and Physical Sciences Research Council (01-11-2020 - 30-04-2022)