Houssem Saafi
University of Gafsa, University of Sousse, Institut Pprime, Université de Poitiers
Papers
12
Total Citations
103
H-Index
7
About
Houssem Saafi is a robotics researcher whose work centers on parallel and hybrid robotic mechanisms, haptic devices, and medical tele-operation systems. With a career spanning over a decade, Saafi has made significant contributions to the design, modeling, and real-time control of spherical parallel manipulators (SPMs), particularly for minimally invasive and laparoscopic surgical applications. His early work established foundational approaches for developing SPM-based haptic devices capable of high rigidity and precision—critical requirements in surgical robotics—earning 13 citations for a 2013 paper on SPM development for robotic surgery. His most-cited contribution (21 citations) presents a novel SPM architecture that eliminates workspace singularities, validated in real time as a haptic master device. A recurring theme across his publications is the challenge of solving Forward Kinematic Models efficiently; his serial approach methods offer computationally lightweight solutions suitable for real-time deployment. More recently, Saafi has expanded into hybrid haptic device design, proposing a 4-DOF architecture with a remote center of rotation tailored for laparoscopic surgery, highlighting his continued innovation in human-robot interaction and medical robotics. His cumulative body of work reflects a sustained commitment to translating advanced robotic mechanisms into practical clinical tools.
Research Focus
Key Achievements
Top Papers
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- 2On the Development of a New Master Device Used for Medical Tasks19 citations · 2018
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