Mohammad Haghighipanah
Papers
6
Total Citations
259
H-Index
6
About
Mohammad Haghighipanah is a leading researcher in the field of cable-driven robotic systems, with a particular focus on surgical robotics. His work addresses the fundamental challenges of modeling and controlling these flexible, tendon-driven mechanisms, where cables introduce significant nonlinearities like stretch, friction, and hysteresis. Haghighipanah’s major contributions include developing novel hysteretic cable stretch models and cable-pulley network friction models, which capture the complex, history-dependent behavior of cables under load. He has pioneered sensorless force estimation techniques for surgical instruments, enabling haptic feedback without adding bulky sensors—a critical step toward safer, more intuitive robotic surgery. His work on applying Unscented Kalman Filters to improve joint angle estimation and position precision has directly enhanced the accuracy and reliability of cable-driven surgical robots. With his most-cited papers accumulating over 250 citations, Haghighipanah’s research has provided the foundational modeling frameworks that allow engineers to design more precise, responsive, and compact robotic systems for minimally invasive surgery. His integrated approach—combining advanced hysteresis modeling, friction compensation, and state estimation—has established him as a key figure in advancing the practical performance of cable-driven medical robots.
Research Focus
Key Achievements
Top Papers
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