Jacob Apkarian
Papers
7
Total Citations
520
H-Index
6
About
Jacob Apkarian is a pioneering researcher in robotics, whose work spans teleoperation, rehabilitation robotics, and robot kinematics. His most influential contribution is the 1995 paper "Bilateral controller for teleoperators with time delay via μ-synthesis," which has garnered 365 citations. This work addresses a critical challenge in teleoperation—system instability caused by communication delays—by applying robust control theory to ensure stable and transparent force feedback, a foundational advance for modern telerobotic surgery and remote manipulation. Apkarian also made significant strides in medical robotics with his 2008 paper on a haptic-robotic platform for upper-limb stroke therapy (70 citations), demonstrating how robotic systems can deliver intense, repeatable rehabilitation exercises to improve post-stroke functionality. His early career contributions include an exact kinematic model of the PUMA 600 manipulator (1984, 28 citations) and a novel iterative approach to kinematic control (1987, 24 citations), which enhanced precision in industrial robotics. Additionally, Apkarian developed the QBOT educational mobile robot (2009), enabling hands-on learning in MATLAB Simulink. With over 500 total citations across his key works, Apkarian’s research has shaped both theoretical control methods and practical robotic applications, from surgery to education.
Research Focus
Key Achievements
Top Papers
- 1Bilateral controller for teleoperators with time delay via μ-synthesis365 citations · 1995
- 2
- 3An exact kinematic model of PUMA 600 manipulator28 citations · 1984
- 4A New Approach to Kinematic Control of Robot Manipulators24 citations · 1987
- 5QBOT: An educational mobile robot controlled in MATLAB Simulink environment18 citations · 2009
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- 7