Seyed Abolfazl Fakoorian
Papers
8
Total Citations
155
H-Index
6
About
Seyed Abolfazl Fakoorian is a robotics and control systems researcher whose work sits at the intersection of prosthetics engineering, adaptive control theory, and state estimation. Based at Cleveland State University, he has made significant contributions to the design and control of powered lower-limb prostheses, particularly for transfemoral (above-knee) amputees. His most influential work focuses on ground reaction force (GRF) estimation, where he demonstrated that advanced filtering techniques — including extended Kalman filters and derivative-free nonlinear methods — can serve as reliable, practical alternatives to cumbersome load cell measurements, accumulating over 85 combined citations across several key studies. Fakoorian has also pioneered robust model reference adaptive impedance controllers, developing bounded-gain forgetting strategies and composite adaptive frameworks that enable prosthetic legs to respond dynamically and safely to real-world gait variability. His research extends further into bipedal robotics, where he has explored hybrid nonlinear disturbance observers to improve locomotion stability in unpredictable environments. Collectively, his body of work, spanning theoretical foundations and experimental validation on robotic test platforms, has meaningfully advanced the capabilities of intelligent prosthetic systems and positioned him as a notable voice in rehabilitation robotics and adaptive control engineering.
Research Focus
Key Achievements
Top Papers
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- 8Derivative-free Kalman filtering-based control of prosthetic legs4 citations · 2017