Peyman Yadmellat
Papers
11
Total Citations
137
H-Index
6
About
Peyman Yadmellat is a robotics researcher whose work sits at the intersection of safe human-robot interaction, advanced actuation systems, and surgical robotics. He is best known for pioneering the use of magnetorheological (MR) fluid-based actuators in robot design, most notably his development of a novel two-degrees-of-freedom safe manipulator that employs a single motor with MR clutches to achieve antagonistic, bidirectional joint actuation — a concept that has garnered over 40 citations and challenged conventional multi-motor paradigms. His contributions extend to adaptive control strategies that compensate for the inherent magnetic hysteresis in MR actuators, improving torque control fidelity without relying on external sensors. Beyond intrinsically safe robotics, Yadmellat has made significant strides in surgical robotics, developing sophisticated motion transmission models for tendon-driven mechanisms — including the da Vinci surgical instrument — that account for compliance, friction, backlash-like hysteresis, and multi-DOF coupling. His work on steerable ablation catheters further demonstrates his commitment to clinically relevant, minimally invasive technologies. Collectively, his research portfolio, spanning over a decade and accumulating more than 130 citations, reflects a sustained effort to make robotic systems safer, more precise, and better suited for direct interaction with the human body.
Research Focus
Key Achievements
Top Papers
- 1Design and Development of a Single-Motor, Two-DOF, Safe Manipulator42 citations · 2013
- 2Adaptive Control of a Hysteretic Magnetorheological Robot Actuator29 citations · 2016
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- 5Output Torque Modeling of a Magneto-Rheological Based Actuator13 citations · 2011
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- 10Black-box modeling and control of steerable ablation catheters2 citations · 2016