[-] Journal Publications:

[J16] Jujjavarapu, SS., Memar, AH., Karami, AM. and Esfahani, ET., "Variable Stiffness Mechanism for Suppressing Unintended Forces in Physical Human Robot Interaction." Journal of Mechanisms and Robotics, Accepted, 2018.

[J15] Baghdadi, A., Megahed, F., Esfahani, ET. and ,Cavuoto, L., "A Machine Learning Approach to Detect Changes in Gait Parameters Following a Fatiguing Occupational Task." Ergonomics, Vol.61, No.8, Pp.1116-1129, 2018.

[J14] Memar, AH., and Esfahani, ET., "Physiological Measures for Human Performance Analysis in Human-Robot Teamwork: Case of Tele-Exploration." IEEE Access, Vol.6, Pp.1-12, 2018.

[J13] Ghobadi, M., Singla, P., and Esfahani, ET., "Robust Attitude Estimation from Uncertain Observations of Inertial Sensors using Covariance-Inflated Multiplicative Extended Kalman Filter." IEEE Transactions on Instrumentation and Measurement, Vol.67, No.1, Pp.209-217, 2018.

[J12] Ghobadi, M., and Esfahani, ET., "A Robust Automatic Gait Monitoring Approach Using a Single IMU for Home-based Applications." Journal of Mechanics in Medicine and Biology, Vol.17, No.5, Pp.17500771-20, 2017.

[J11] Ghobadi, M., Majji, M. and Esfahani, ET., "AOSID: An analytical solution to the output-only system identification problem to estimate physical parameters and unknown input simultaneously." Structural Control and Health Monitoring, Vol.24, No.8, Pp.1-23, 2017.

[J10] Hussein, AA., Shafiei, SB., Sharif, M., Esfahani, ET., Ahmad, B., Kozlowski, JD., Hashmi, Z. and Guru, KA. "Technical mentorship during robot-assisted surgery: a cognitive analysis." British Journal of Urology, BJU International, Vol.118, No.3, Pp.429-436, 2016.

[J9] Guru, K., Shafiei, SB., Khan, A., Hussein, A., Sharif, M. and Esfahani, ET., "Undrestanding Cognitive Performance during Robot Assisted Surgery." Journal of Urology, Vol.86, No.4, Pp.751-757, 2015.

[J8] Guru, K., Esfahani, ET., Raza, SJ., Bhat, R., Wang, K., Hammond, Y., Wilding, G., Peabody, J.O. and Chowriappa, AJ. "Cognitive Skill Assessment During Robotic-Assisted Surgery." British Journal of Urology, BJU International, Vol.115, No.1, Pp.166-174, 2015.

[J7] Esfahani, ET. and Horvath, I., "Editorial: Application of brain-computer interfaces in CAD/E systems." Computer-Aided Design, Vol.54, Pp.1-2, 2014.

[J6] Esfahani, ET., Wang, S. and Sundararajan V., "Multi-sensor Wireless System for Eccentricity and Bearing Fault Detection in Induction Motors." IEEE/ASME Transaction on Mechatronics, Vol.19, No.3, Pp.818-826, 2014.

[J5] Esfahani, ET. and Sundararajan V., "Classification of Primitive Shapes Using Brain-Computer Interfaces." Computer-Aided Design, Vol.44, No.10, Pp.1011-1019, 2012.

[J4] Esfahani, ET. and Sundararajan V., "Using Brain-Computer Interfaces to Detect Human Satisfaction in Human-Robot Interaction." International Journal of Humanoid Robotics, Vol.8, No.1, Pp.87-101, 2011.

[J3] Esfahani, ET. and Elahinia, MH., "Developing an Adaptive Controller for a Shape Memory Alloy Walking Assistive Device." Journal of Vibration and Control, Vol.16, No.13, Pp.1897-1914, 2010.

[J2] Esfahani, ET. and Elahinia, MH., "Stable Walking Pattern for an SMA-Actuated Biped" IEEE/ASME Transaction on Mechatronics, Vol.12, No.5, Pp.534-541, 2007.

[J1] Azimi, E., Ghobadi, M., Esfahani, ET. , Keshmiri, M. and Tehrani AF., "Three-Dimensional Smooth Trajectory Planning Using Realistic Simulation." Lecture Notes in Computer Science, Vol. 3276 /2005, Ed by D. Nardi et al, Pp. 381-392. Springer-Verlag GmbH.

[-] Book Chapters

[B3] Esfahani, ET., McBride, DW., Shafiei, SB. and Obenaus, A., "A Real-Time Analysis of Traumatic Brain Injury from T2 Weighted Magnetic Resonance Images Using a Symmetry-based Algorithm", Video Bioinformatics, Vol.22, Computational Biology, Ed. Bhanu, B., Talbot, P., Pp.99-117, Springer 2015.

[B2] Elahinia, MH., Esfahani, ET., Wang, S., "Control of SMA systems: review of the state of the art." Shape Memory Alloys: Manufacture, Properties and Applications. Ed. by Chen, RC., Nova Science Publishers, 2011, Inc. ISBN: 978-1-60741-789-7.

[B1] Esfahani, ET., "Dynamic Modeling with Dymola" A Key to Some Software Packages in Mechanical Engineering, Ed. by Forouzan, M., Pp. 259-274 Kelid-Amouzesh Press, Iran 2005, ISBN: 964-8617-45-7

[-] Papers in Conference Proceedings:

[C35] Memar, AH., and Esfahani, ET., "EEG Correlates of Motor Control Difficulty in Physical Human-Robot Interaction: A Frequency Domain Analysis", IEEE Haptics Symposium, Pp.229-234, March 25-28, 2018, San Francisco – CA.

[C34] Jujjavarapu, S., Memar, AH., and Esfahani, ET., "Design of a 2D haptic system with passive variable stiffness using permanent magnets for upper-limb rehabilitation", ASME IDETC 2017 Conference, Pp.4228-4231, Aug 30-Sep 2, 2017, Cleveland – OH.

[C33] Memar, AH., Mastroarde, N., and Esfahani, ET., "Design of a Novel Variable Stiffness Gripper Using Permanent Magnets", IEEE International Conference on Robotics and Automation, May 29-June 3, 2017, Singapore.

[C32] Memar, AH., and Esfahani, ET., "Design of a Novel Variable Stiffness Gripper", IEEE International Symposium on Robot and Human Interactive Communication, Aug 26-31, 2016, New York City – NY.

[C31] Memar, AH., and Esfahani, ET., "Human Control of Multiple Robots in A Collaborative Exploration: Individual Differences in Visual Skills", IEEE International Symposium on Robot and Human Interactive Communication, Aug 26-31, 2016, New York City – NY.

[C30] Ghobadi, M., and Esfahani, ET., "A Robust Method to Improve Estimation Accuracy of Walking Gait Kinematics by Considering Geometrical Constraints on Kinect Data", ASME IDETC 2016 Conference, Aug 21-24, 2016, Charlotte – NC.

[C29] Pillai, N., Patra, A., and Esfahani,ET., "Modeling Post-Impact Injury Propagation in TraumaticBrain Injury", ASME IDETC 2016 Conference, Aug 21-24, 2016, Charlotte – NC.

[C28] Dinparastdjadid, A., and Esfahani, ET., "Spike Sorting via Multi-Cluster Feature Selection", ASMEIDETC 2016 Conference, Aug 21-24, 2016, Charlotte – NC.

[C27] Memar, AH., and Esfahani, ET., "Human Performance in a Mixed Human-Robot Team: Design of a Collaborative Framework", ASME IDETC 2016 Conference, Aug 21-24, 2016, Charlotte – NC.

[C26] Ghobadi, M., Yuqian, Z., Rana, A., Esfahani, ET., and Esfandiari, L. "Quantitative Estimation of Electro-osmosis Force on Charged Particles inside a Borosilicate Nanopore-Based Sensor" 38th International Conference of IEEE Engineering in Medicine and Biology, IEEE EMBC 2016, Pp.4228-4231, Aug 16-20,2016 – Orlando FL.

[C25] Guru, KA., Shafiei, SB., Khan, A., Sharif, M., Raza, S.J., Fiorica, T., Wing, J., Durrani, Esfahani,ET., "Surgical Workload Evaluation during Robotic Assisted Surgery", American Urological Association Annual Meeting, May 15-19, 2015 – New Orleans, LA.

[C24] Guru, KA.,Shafiei, SB., Khan, A., Sharif, M., Korszen, S., Berka, C., Esfahani, ET., "Surgical Mentorship During Robot-assisted Surgery: Is the Surgeon really with the Program?" Science of Team Science Conference, June 2-5, 2015 –Bethesda, MD.

[C23] Ghobadi, M., Kesavadas, T., Sosnoff, J. and Esfahani, ET., "Using Minimum Jerk Model for Human Activity Classification in Home-Based Monitoring", IEEE International Conference on Rehabilitation Robotics, Pp.909-912, Aug 11-14, 2015, Singapore.

[C22] Shafiei, SB., Guru, KA. and Esfahani, ET., "Using Two-Third Power Law for Segmentation of Hand Movement in Robotic Assisted Surgery", ASME IDETC 2015 Conference, Aug 2-5, 2015, Boston - MA.

[C21] Ghobadi, M., Majji, M., and Esfahani, ET., "Simultaneous Output-Only Identification of Physical Parameters and Unknown Inputs of Linear Systems", ASME IDETC 2015 Conference, Aug 2-5, 2015, Boston - MA.

[C20] Pareek, S., Sharma, V., and Esfahani, ET., "Human Factor Study in Gesture Based CAD Environment", ASME IDETC 2015 Conference, Aug 2-5, 2015, Boston - MA.

[C19] Esfahani, ET., Pareek, S., Chembrammel, P., Ghobadi, M. and Kesavadas, T., "Adaptation of Rehabilitation Systems based on User’s Mental Engagement", ASME IDETC 2015 Conference, Aug 2-5, 2015, Boston - MA.

[C18] Memar, AH., and Esfahani, ET., "Modeling and Dynamic Parameter Identification of the Schunk Powerball Robotic Arm", ASME IDETC 2015 Conference, Aug 2-5, 2015, Boston - MA.

[C17] Bani-Hani, M., Borazjani, I., Esfahani, ET., Krovi, V., and Karami, AM., "Generation and Optimization of Traveling Vibrating Waves in Self-Assembling Swimming Smart Boxes", ASME IDETC 2015 Conference, Aug 2-5, 2015, Boston - MA.

[C16] Daghooghi, M., Borazjani, I., Karami, MA and Esfahani, ET., "Self-Propelled Swimming Simulations of Self-Assembling Smart Boxes." ASME 2014 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2014), September 8-10, 2014 - Newport, RI, USA.

[C15] Karami, MA., Esfahani, ET., Daghooghi, M. and Borazjani, I., "Self-Assembling Swimming Smart Boxes." ASME 2014 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2014), September 8-10, 2014 - Newport, RI, USA.

[C14] Ghobadi, M., and Esfahani, ET., "Foot-Mounted Inertial Measurement Unit for Activity Classification." 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 14), August 26-30, 2014 - Chicago, IL, USA.

[C13] Shafiei, SB., and Esfahani, ET., "Aligning Brain Activity and Sketch in Multi-Modal CAD Interface." ASME International Design Engineering Technical Conference (DETC 2014), August 17-20, 2014 - Buffalo, NY, USA.

[C12] Ghobadi, M., and Esfahani, ET., "Adaptive Segmentation for Air Gesture Identification." ASME International Design Engineering Technical Conference (DETC 2014), August 17-20, 2014 - Buffalo, NY, USA.

[C11] Shankar, SS., Jaiswal, P.,Esfahani, ET., and Rai, R., "Sketching in Air: A Single Stroke Classification Framework." ASME International Design Engineering Technical Conference (DETC 2014), August 17-20, 2014 - Buffalo, NY, USA.

[C10] Deshpande, A., Esfahani, ET., and Rai, R., "Geons and Non-Accidental Relations in 2D Shape Abstraction: A BCI Study." ASME International Design Engineering Technical Conference (DETC 2014), August 17-20, 2014 - Buffalo, NY, USA.

[C09] Bhat, R., Deshpande, A., Rai, R. and Esfahani, ET., "BCI-touch based system, a multimodal CAD interface for object manipulation." ASME International Mechanical Engineering Congress and Expositions (IMECE 2013), NOV 15-21, 2013 - San Diego, CA.

[C08] Wang, S., Esfahani, ET. and Sundararajan, V., "Evaluation of SSVEP as Passive Feedback for Improving the Performance of Brain Machine Interfaces." ASME 2012 Design Engineering Technical Conference (DETC 2012), August 12-15, 2012 - Chicago, IL.

[C07] Esfahani, ET. and Sundararajan, V., "Using Brain Computer Interfaces For Geometry Selection In CAD Systems: P300 Detection Approach." ASME 2011 Design Engineering Technical Conference (DETC 2011), August 28-31, 2011 - Washington DC.

[C06] Esfahani, ET. and Sundararajan, V., "A Text Understanding Interface for Physical System Modeling and Simulation." ASME 2009 Design Engineering Technical Conference (DETC 2009), August 30- September 2, 2009 - San Diego CA.

[C05] Esfahani, ET., Elahinia, MH., Hefzy, M.S., Armstrong, C., "Shape Memory Alloys, An Alternative Actuation Method for Orthosis." North American Congress on Biomechanics (NACOB 2008), Aug 5-9, 2008 - Ann Arbor, MI.

[C04] Tarkesh, E. and Elahinia, MH., "Nonlinear Control Techniques for a SMA Active Ankle Foot Orthosis." ASME International Mechanical Engineering Congress and Expositions (IMECE 2007), NOV 11-15, 2007 - Seattle, WA.

[C03] Esfahani, ET., Elahinia, MH. and Hefzy, M.S., "Developing an Active Ankle Foot Orthosis Based on Shape Memory Alloy Actuators." ASME 2007 Summer Bioengineering Conference (SBC 2007), Jun 20-24, 2007 - Keystone, CO.

[C02] Esfahani, ET. and Elahinia, MH., "Walking Pattern Filter for Dynamic Biped Robot with SMA actuators." ASME International Mechanical Engineering Congress and Exposition (IMECE 2006), Nov 5-10, 2006 - Chicago, IL.

[C01] Ghobadi, M., Azimi, E., Esfahani, ET. and Keshmiri, M., "Stable Walking Pattern Generation for Humanoid Robot." In Proc. of 13th International Conference on Mechanical Engineering (ISME 2005) Pp. 2303, 17-19 May 2005 - Isfahan, Iran.

[-] Conference/Workshop Abstracts & Posters:

[A13] Memar, AH. and Esfahani, ET., "Cognitive haptic based rehabilitation system for patient-centric hometherapy.", ACM/IEEE International Conference on Human-Robot Interaction, Workshop on Cognitiveand Social Neuroscience Methods for HRI, March 5, 2018, Chicago, IL.

[A12] Pareek, S., Chembrammel, P., Esfahani, ET., and Kesavadas, T., "Cognitive haptic based rehabilitationsystem for patient-centric home therapy", 39th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, July 11-15, 2017, Jeju Island, Korea.

[A11] Ghobadi, M., Auerbach, BD., Chen, GD., Ding, D., Esfahani, ET. and Salvi, RJ., "Observing Dynamics of Auditory System Recovery using Conditional Granger Causality", 38th International Con-ference of IEEE Engineering in Medicine and Biology, IEEE EMBC 2016, Aug 16-20, 2016 – Orlando, FL.

[A10] Auerbach, BD., Chen, GD., Ding, D., Ghobadi, M., Esfahani, ET. and Salvi, RJ., "Maladaptiveneuronal gain enhancement along the ascending auditory pathway following acoustic trauma NeuralCircuits", April 6-9, 2016 – Cold Spring Harbor, NY.

[A09] Ghobadi, M., and Esfahani, ET., "Evaluating Sensor Fusion Algorithms on Wearbale Inertial Sensors based on a Realistic Simulation Framework for Indoor Environments", ASME IDETC 2016 Conference, Aug 21-24, 2016, Charlotte – NC.

[A08] Ghobadi, M., Memar, AH. and Esfahani, ET., "Employing Human Gestural Feedback in Physical Human-Robot Interactions Based on IMU and EMG Sensors" IEEE International Conference on Robotics and Automation, May 26-30, 2015 – Seattle, WA.

[A07] Pareek, S., Kesavadas, T., and Esfahani, ET., "Using Brain Monitoring for Adaptive Human Robotic Interaction in Robotic Rehabilitation" Personal Health and Human Performance Conference, December9, 2014 – Dayton OH.

[A06] Shafie, SB., Guru, KA, Sharif, M. and Esfahani, ET., "Using Human Motor Control for Classification of Surgical Expertise", Clinical Translation of Medical Robots Workshop in IEEE/RSJ International Conference on Robotics and Systems, Sep 17, 2014 –Chicago, IL.

[A05] Esfahani, ET., Zimcosky, M., and Elahinia, M., "Design and Control a SMA walking robot" Proceedings of SPIE Smart Structures and Materials, March 8-12, 2009 –San Diego, CA.

[A04] Esfahani, ET. and Elahinia, MH., "The Nonlinear stress based switching control for shape memory alloy actuators." 12th Conference on Nonlinear Vibration, Dynamics and Multibody Systems, Jun 1-5, 2008 - Blacksburg, VA.

[A03] Esfahani, ET., Elahinia, MH. and Hefzy, MS., "Sliding mode controller for a knee prosthesis actuated by Shape Memory Alloy." 11th Conference on Nonlinear Vibration, Stability and Dynamics of Structures, Aug 13-17, 2006 - Blacksburg, VA.

[A02] Esfahani, ET., Tehrani, AF. and Tarkesh, H., "Pre-controlling the Semi-Passive Biped Walking Gait Using Realistic Simulation and Genetic Algorithm." 15th International Symposium on Measurement and Control in Robotic, 8-10 Nov. 2005 - Brussels, Belgium.

[A01] Esfahani, ET. ,(et all) "Persia Robot Team Description Paper." In Proc. of 6th International Robocup Symposium,Pp. 495, 24-25 June 2002 - Fukuoaka, Japan.

HILS-Lab NEWS
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Human in the Loop System  Laboratory HILS Lab

Oct 2015

Dr. Esfahani served as the conference chair of the 9th Frontiers in Biomedical Devices Conference in the incoming IDETC 2016.


Sep  2015

Dr.Esfahani received funding from National Science Foundations to study cognitive home based rehabilitations.


Aug 2015

Shrey successfully defended his MS thesis. He will starts his PhD studies at UIUC.


Aug 2015

Po Sheng successfully defended his MS thesis.


Aug 2015

Amir received ASME-CIE Graduate Research Poster Award in IDETC 2015.


Aug 2015

Mostafa received ASME-VIB Graduate Research Travel Award.


June 2015

Chams received SUNY Chancellor award for student excellence.


June 2015

Brian and Maggie finished their studies at UB. They will PhD degree at  MIT and University of Florida.


March 2015

Dr.Esfahnai received funding from Institute for Person-Centered Care to develop wearable sensors for home-based monitoring of stroke patients.


Jan 2015

Our BJUI Paper is highlighted in Nature Review.


Dec 2015

Chen successfully defended his MS project.


Dec 2014

Vaibhav successfully defended his MS project. He is joining Type A Machine as an R&D Engineer.


June 2014

Somayeh received travel awards to attend IROS 2014.


June 2014

Rohit successfully defended his MS thesis. He is joining SunEdison as a project Engineer.


April 2014

Margaret received Research and Creativity Scholarship from UB Honor College to develop Spring Origami.


April 2014

Brain and Chams received Research and Creativity Scholarship from UB Honor College to develop modular snake robots.