Mostafa Sayahkarajy
University of Technology Malaysia, Technische Universität Ilmenau
Papers
16
Total Citations
252
H-Index
5
About
Mostafa Sayahkarajy is a robotics and control engineer whose research spans flexible manipulator dynamics, soft robotics, and medical robotic systems. He is best known for his highly cited 2016 review on modelling and control of flexible-link manipulators (113 citations), which has become an essential reference for researchers navigating the intersection of robotics, solid mechanics, and control theory. His subsequent work advanced the field through sophisticated control strategies, including H∞ loop-shaping and mixed H2/H∞ approaches, to simultaneously manage motion and vibration in lightweight, slender robotic arms — a notoriously challenging control problem. Beyond rigid-flexible systems, Sayahkarajy has made meaningful contributions to soft robotics, developing snake-inspired manipulators driven by McKibben actuators and bio-inspired continuum robots modeled after eel locomotion. A growing thread in his recent work applies these soft robotic principles to medical applications, including compliant manipulators for robot-assisted echocardiography and novel steering control methods for endoscopic devices. With over 230 cumulative citations, his portfolio reflects a consistent drive to bridge theoretical control frameworks with practical, human-centered robotic systems — making his work valuable reading for students in robotics, biomedical engineering, and mechatronics alike.
Research Focus
Key Achievements
Top Papers
- 1Review of modelling and control of flexible-link manipulators113 citations · 2016
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- 4Soft manipulator using thin McKibben actuator23 citations · 2018
- 5Mixed Sensitivity H2/H∞ Control of a Flexible-Link Robotic Arm11 citations · 2014
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- 9Principal vibration modes of a rigid-flexible manipulator5 citations · 2017
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