Jorge Martins

About

Jorge Martins is a robotics and biomedical engineering researcher whose work spans flexible manipulator modeling, robotic-assisted surgery, and human-robot interaction. His most influential contribution, "Modeling of Flexible Beams for Robotic Manipulators" (2002, 66 citations), established foundational frameworks for understanding flexible link dynamics — work later extended through control validation studies and interaction control experiments for flexible manipulators. Martins has made significant strides in medical robotics, developing vision-guided systems for ultrasound-assisted orthopaedic surgery and pioneering non-freehand 3D femur reconstruction techniques that enable precise virtual anatomical modeling for surgical navigation. His robotic motion compensation system, designed to counteract femur movement during bone drilling, reflects a consistent commitment to improving surgical safety and precision. More recently, Martins has explored fractional-order mathematics, applying fractional calculus to both medical image processing and human arm dynamics modeling — advancing control architectures for physical human-robot interaction. His 2021 study on ankle impedance in stroke patients signals a growing interest in rehabilitation robotics. Collectively, his work bridges fundamental robotics theory with clinically meaningful applications, earning over 130 citations and contributing tools with real-world surgical and therapeutic impact.

Research Focus

Key Achievements

Top Papers

1. 1
   Modeling of Flexible Beams for Robotic Manipulators

   66 citations · 2002
2. 2
   A Vision System for Robotic Ultrasound Guided Orthopaedic Surgery

   23 citations · 2014
3. 3
   3D femur reconstruction using a robotized ultrasound probe

   10 citations · 2012
4. 4
   Robotic motion compensation for bone movement, using ultrasound images

   8 citations · 2015
5. 5
   Fractional Order Image Processing of Medical Images

   6 citations · 2017
6. 6
   Fractional direct and inverse models of the dynamics of a human arm

   6 citations · 2015
7. 7
   Multivariable passive ankle impedance in stroke patients: A preliminary study

   5 citations · 2021
8. 8
   Modelling, Control and Validation of Flexible Robot Manipulators

   5 citations · 2005
9. 9
   Interaction Control Experiments for a Robot with one Flexible Link

   4 citations · 2008
10. 10
    An open architecture for position and force control of robotic manipulators

    4 citations · 2002

Key Collaborators

Contact & Links