Papers
2
Total Citations
10
H-Index
2
About
Sami Hafsi is a researcher specializing in rehabilitation robotics, with a focus on the design and control of orthotic devices for upper limb therapy. His work centers on developing robotic systems that assist in passive and resistive rehabilitation movements for the elbow joint, addressing critical challenges in human-robot interaction and patient-specific therapy. Hafsi’s major contributions include the design of an Elbow Joint Orthosis Robot and the application of an embedded Hildreth-based model predictive control (MPC) strategy to manage hard and soft constraints in real-time robotic control. This approach enables safe, adaptive, and efficient rehabilitation by solving fast quadratic programming problems, even when the patient’s limb dynamics are unknown. His most-cited paper (2022, 6 citations) demonstrates the effectiveness of this MPC method, while his earlier work (2021, 4 citations) lays the foundation by presenting the orthosis design and position control for passive therapy. Though early in his career, Hafsi’s research has immediate relevance for developing affordable, didactic rehabilitation systems that can be tailored to individual patients, bridging the gap between theoretical control methods and practical clinical applications.
Research Focus
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