Mahir Hassan

University of Waterloo, Queen's University, King Fahd University of Petroleum and Minerals

Papers

Total Citations

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About

Mahir Hassan is a robotics researcher whose work focuses on the reliability and fault tolerance of parallel robot manipulators, particularly in the context of active joint failures. His major contributions center on understanding how joint jams and actuator force losses affect the mobility, velocity, and static force of these systems—critical insights for designing safer, more resilient robots. In his most-cited paper, "Optimizing fault tolerance to joint jam in the design of parallel robot manipulators" (2006, 28 citations), he provides a framework for mitigating the catastrophic effects of joint failure. His earlier foundational studies, including "Analysis of Active Joint Failure in Parallel Robot Manipulators" (2004, 13 citations) and "Reduced Motion of Parallel Robot Manipulators Due to Active Joint Jam" (2004, 5 citations), systematically explore how the Jacobian matrix changes after a jam, formulating criteria equations to predict reduced motion. More recently, Hassan has extended his expertise to novel environments, as seen in his work on a floating cable-driven robotic manipulator for marine applications (2019, 3 citations). His research is essential for engineers designing high-stakes robotic systems where failure is not an option.