Soheil Gharatappeh

Gyeongsang National University, Isfahan University of Technology

Papers

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About

Soheil Gharatappeh is a researcher whose work sits at the intersection of rehabilitation robotics and autonomous navigation. His primary research areas include cable-driven parallel robots for gait rehabilitation, assistive control strategies, and simultaneous localization and mapping (SLAM) for mobile robotics. Gharatappeh made significant contributions to the control of cable-driven robots, addressing the critical challenge of maintaining positive cable tensions during rehabilitation exercises. His 2015 paper on controlling a planar cable-driven robot for gait rehabilitation, with 15 citations, established a foundation for safe and effective robotic therapy. He further advanced the field by designing a novel Assist-As-Needed controller in 2016, which intelligently adjusts robotic support based on patient performance, promoting active participation during gait training. In parallel, Gharatappeh contributed to SLAM research by developing a modified Fast-SLAM algorithm that enables efficient 2D mapping and 3D localization, reducing computational costs for real-time applications. His work bridges the gap between precise robotic control and practical rehabilitation, demonstrating impact through citations that highlight the relevance of his innovations in both clinical and autonomous systems.