Ehsan Basafa

Johns Hopkins University, Sharif University of Technology

Papers

Total Citations

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About

Ehsan Basafa is a researcher whose work sits at the intersection of medical robotics, biomechanics, and humanoid dynamics. His key research areas include surgical robotics, continuum manipulators, and actuator control. Basafa’s most significant contribution addresses a critical challenge in orthopedic surgery: treating bone defects behind implants during total hip arthroplasty revision. In his 2014 paper (24 citations), he pioneered the control of a coupled 6-degree-of-freedom robotic arm with a snake-like dexterous manipulator, formulating the problem as a weighted, multi-objective constraint—a novel approach that enables precise, minimally invasive intervention in confined anatomical spaces. This work has direct implications for improving patient outcomes in complex revision surgeries. Beyond medical applications, Basafa has contributed foundational knowledge to humanoid robotics, developing dynamics models to compute joint torques and assess stability during locomotion (2005, 3 citations). He has also advanced actuator design, exploring the trade-offs between force bandwidth and output impedance in nonlinear series elastic actuators (2007, 4 citations), which have applications in both robotics and biomechanics. Through these diverse contributions, Basafa demonstrates a commitment to translating robotic control theory into tangible solutions for surgery and human-robot interaction.