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About

Morteza Rahimiyan is a researcher specializing in the control of robotic systems, with a particular focus on rehabilitation robotics and impedance control. His work addresses the critical challenge of ensuring safe and effective human-robot interaction, especially in the context of lower limb rehabilitation. Rahimiyan’s major contributions include the development of advanced control strategies that manage contact forces between robots and patients, a key issue in physical therapy. He introduced the **Internal Model Impedance Control (IMIC)** method for a Lower Limb Rehabilitation Robot (LLRR), which directly tackles uncertainty in the environment—such as a patient’s limb—to maintain stable and compliant contact. Building on this, his most cited works, including "Optimal Predictive Impedance Control in the Presence of Uncertainty for a Lower Limb Rehabilitation Robot" and "Bi-Level Adaptive Computed-Current Impedance Controller for Electrically Driven Robots" (each with 12 citations), demonstrate a progression toward more sophisticated, computationally efficient controllers. These papers reduce calculation complexity by leveraging actuator electrical equations rather than full electromechanical models, making real-time control more practical. Rahimiyan’s research is pivotal for advancing robotic rehabilitation, where precision and safety are paramount, and his work continues to influence the design of adaptive, patient-responsive robotic systems.