Amin Fakhari

About

Amin Fakhari is a robotics researcher whose work bridges the critical gap between theoretical manipulation and real-world physical interaction. His primary research areas center on robotic grasping and dexterous manipulation, with a specific focus on the mechanics of soft-finger contact and the often-overlooked challenge of slippage control. Fakhari’s major contribution is the systematic modeling and control of slippage in soft-finger grasping, moving beyond idealized, no-slip assumptions. His foundational 2015 paper on developing realistic pressure distribution and friction limit surfaces (13 citations) provides the essential physical framework for this work. He has since advanced this field by introducing dynamic analysis and control strategies for planar slippage (2019, 9 citations), enabling more robust and stable object manipulation. Demonstrating his versatility, Fakhari also led the design and field testing of LinBot (2019, 8 citations), an innovative robot for inspecting high-voltage power transmission lines. His recent work on motion and force planning for pivoting heavy objects (2021, 7 citations) further showcases his commitment to solving practical, high-impact manipulation challenges, pushing robots beyond their nominal payload limits.

Research Focus

Key Achievements

Top Papers

1. 1
   Development of Realistic Pressure Distribution and Friction Limit Surface for Soft-Finger Contact Interface of Robotic Hands

   13 citations · 2015
2. 2
   Slippage control in soft finger grasping and manipulation

   12 citations · 2015
3. 3
   Modeling and control of planar slippage in object manipulation using robotic soft fingers

   9 citations · 2019
4. 4
   LinBot - Design, Analysis, and Field Test of a Novel Power Transmission Lines Inspection Robot

   8 citations · 2019
5. 5
   Motion and Force Planning for Manipulating Heavy Objects by Pivoting

   7 citations · 2021

Key Collaborators

Contact & Links