Fatemeh Koochaki

University of Siena, Amirkabir University of Technology

Papers

Total Citations

H-Index

About

Fatemeh Koochaki’s research is centered on the control and stability of nonlinear bilateral teleoperation systems, a field critical for enabling precise, remote manipulation in environments ranging from surgery to hazardous material handling. Her work specifically addresses two of the most challenging real-world constraints: non-passive system dynamics and unsymmetric, time-varying communication delays. In her 2014 paper on nonlinear control of non-passive bilateral teleoperation, Koochaki introduced a controller design that ensures stability and performance even when both the master and slave terminals exhibit active, non-passive behavior—a significant departure from traditional assumptions. Her second highly cited work, also from 2014, pioneers the integration of Forbidden Region Virtual Fixtures (FRVF) into nonlinear teleoperation systems with variable time delays. Here, she proved that PD-like controllers can maintain system stability and tracking accuracy while enforcing virtual constraints on the slave side, a key advancement for safety-critical applications. Though her citation counts are modest, these contributions represent foundational steps in extending teleoperation theory to more realistic, non-ideal operating conditions, offering valuable frameworks for future research in haptics and remote control.