Mohsen Afrough

Papers

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About

Mohsen Afrough’s research lies at the intersection of robotics, dynamics, and energy-efficient mechanical design, with a particular focus on underactuated systems and friction modeling. His most cited work, “Identification of Dynamic Parameters and Friction Coefficients” (2018, 18 citations), provides a rigorous methodology for extracting critical dynamic properties from robotic systems, enabling more accurate control and simulation. In his earlier influential paper, “Energy Efficiency Evaluation of an Underactuated Robot in Comparison to Traditional Robot Kinematics” (2014, 10 citations), Afrough introduced a novel underactuated serial kinematics industrial handling robot that leverages high-torque direct drive motors and slip rings. By combining underactuated motion with null-space motion, his design conserves kinetic energy within the system—a breakthrough that significantly reduces energy consumption during pick-and-place tasks. This work not only challenges conventional kinematic paradigms but also offers a practical path toward sustainable automation. Afrough’s contributions are particularly valuable for researchers exploring energy-efficient robotics, dynamic parameter estimation, and friction compensation, and his findings continue to inform the development of lighter, more agile industrial manipulators.