publications Heading link

journal papers
[1] T. Bajd, A. Kralj, and M. Zefran, “Unstable states in fourpoint walking,” Journal of Biomedical Engineering, vol. 15, no. 2, pp. 159–162, Mar. 1993.
[2] M. Zefran, T. Bajd, and A. Kralj, “Kinematic modeling of fourpoint walking patterns in paraplegic subjects,” IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans, vol. 26, no. 6, pp. 760–770, 1996.
[3] G. Garvin, M. Zefran, E. Henis, and V. Kumar, “Twoarm trajectory planning in a manipulation task,” Biological Cybernetics, vol. 76, no. 1, pp. 53–62, Jan. 1997.
[4] M. Zefran and V. Kumar, “Interpolation schemes for rigid body motions,” Computer Aided Design, vol. 30, no. 3, pp. 179–189, Mar. 1998.
[5] M. Zefran, V. Kumar, and C. Croke, “On the generation of smooth threedimensional rigid body motions,” IEEE Transactions on Robotics and Automation, vol. 14, no. 4, pp. 576–89, Aug. 1998.
[6] S. Howard, M. Zefran, and V. Kumar, “On the 6 × 6 cartesian stiffness matrix for threedimensional motions,” Mechanism & Machine Theory, vol. 33, no. 4, pp. 389–408, 1998.
[7] M. Zefran, V. Kumar, and C. Croke, “Metrics and connections for rigidbody kinematics,” International Journal of Robotics Research, vol. 18, no. 2, pp. 243–58, Feb. 1999.
[8] J. Desai, M. Zefran, and V. Kumar, “Twoarm manipulation tasks with frictionassisted grasping,” Advanced Robotics, vol. 12, no. 5, pp. 485–507, 1999.
[9] M. Zefran and V. Kumar, “A geometrical approach to the study of the cartesian stiffness matrix,” ASME Journal of Mechanical Design, vol. 124, no. 1, pp. 30–38, 2002.
[10] B. Goodwine and M. Zefran, “Feedback stabilization of a class of unstable nonholonomic systems,” ASME Journal of Dynamic Systems, Measurement, and Control, vol. 124, no. 1, pp. 221–230, Mar. 2002.
[11] F. Bullo and M. Zefran, “On mechanical control systems with nonholonomic constraints and symmetries,” Systems & Control Letters, vol. 45, no. 2, pp. 133–143, Feb. 2002.
[12] ——, “Modeling and controllability for a class of hybrid mechanical systems,” IEEE Transactions on Robotics and Automation, vol. 18, no. 4, pp. 563–573, Aug. 2002.
[13] J. Kuzelicki, M. Zefran, H. Burger, and T. Bajd, “Synthesis of standingup trajectories using dynamic optimization,” Gait and Posture, vol. 21, no. 1, pp. 1–11, 2005.
[14] S. Wei, K. Uthaichana, M. Zefran, R. DeCarlo, and S. Bengea, “Applications of numerical optimal control to nonlinear hybrid systems,” Nonlinear Analysis: Hybrid Systems, vol. 1, no. 2, pp. 264–279, 2007.
[15] A. Steinberg, P. Bashook, J. Drummond, S. Ashrafi, and M. Zefran, “Assessment of faculty perception of content validity of periosim, a haptic3d virtual reality dental training simulator,” Journal of Dental
Education, vol. 71, pp. 1574–1582, 2007.
[16] M. Kolesnikov and M. Zefran, “Generalized penetration depth for penaltybased sixdegreeoffreedom haptic rendering,” Robotica, vol. 26, pp. 513–524, 2008.
[17] M. Kolesnikov, A. D. Steinberg, and M. Zefran, “HapticBased Virtual Reality Dental Simulator as an Educational Tool,” Dental computing and applications: advanced techniques for clinical dentistry, p. 219,
2009.
[18] C. CaicedoNunez and M. Zefran, “Distributed Task Assignment in Mobile Sensor Networks,” IEEE Transactions on Automatic Control, vol. 56, no. 10, pp. 2485–2489, Oct. 2011.
[19] K. Uthaichana, R. A. DeCarlo, S. C. Bengea, S. Pekarek, and M. Zefran, “Hybrid optimal theory and predictive control for power management in hybrid electric vehicle,” Journal of Nonlinear Systems and Applications, vol. 2, no. 12, pp. 96–110, 2011.
[20] S. Wei, K. Uthaichana, M. Zefran, and R. DeCarlo, “Hybrid Model Predictive Control for the Stabilization of Wheeled Mobile Robots Subject to Wheel Slippage,” IEEE Transactions on Control Systems Technology, vol. 21, no. 6, pp. 2181–2193, Nov. 2013.
[21] R. T. Meyer, M. Zefran, and R. A. DeCarlo, “A Comparison of the Embedding Method With Multiparametric Programming, MixedInteger Programming, GradientDescent, and Hybrid Minimum PrincipleBased Methods,” IEEE Transactions on Control Systems Technology, vol. 22, no. 5, pp. 1784–1800, Sep. 2014.
[22] L. Chen, M. Javaid, B. Di Eugenio, and M. Zefran, “The roles and recognition of HapticOstensive actions in collaborative multimodal human{human dialogues,” Computer Speech & Language, vol. 34, no. 1, pp.201–231, Nov. 2015.
[23] M. Javaid, S. Ashrafi, M. Zefran, and A. D. Steinberg, “ToothPIC: An Interactive Application for Teaching Oral Anatomy,” IEEE Transactions on Learning Technologies, vol. 9, no. 2, pp. 184–189, Apr. 2016.
[24] E. Noohi, M. Zefran, and J. L. Patton, “A Model for Human{Human Collaborative Object Manipulation and Its Application to Human{Robot Interaction,” IEEE Transactions on Robotics, vol. 32, no. 4, pp. 880–896, Aug. 2016.
[25] S. Parastegari, E. Noohi, B. Abbasi, and M. Zefran, “Failure Recovery in RobotHuman Object Handover,” IEEE Transactions on Robotics, vol. 34, no. 3, pp. 660–673, Jun. 2018.
[26] S. C. Johnson, M. Wicks, M. Zefran, and R. A. DeCarlo, “The Structured Distance to the Nearest System Without Property P,” IEEE Transactions on Automatic Control, vol. 63, no. 9, pp. 2960–2975, Sep. 2018. 
book chapters
[1] V. Kumar, M. Zefran, and J. Ostrowski, “Motion planning and control of robots,” in Handbook of Industrial Robotics, S. Y. Nof, Ed. New York, NY: John Wiley and Sons, 1999.
[2] M. Zefran and F. Bullo, “Lagrangian dynamics,” in Robotics and Automation Handbook, T. R. Kurfess, Ed. CRC Press, 2005, pp. 5–1–5–16.
[3] M. Kolesnikov, A. D. Steinberg, and M. Zefran, “Hapticbased virtual reality dental simulator as an educational tool,” in Dental Computing and Applications: Advanced Techniques for Clinical Dentistry, A. Daskalaki, Ed. Hershey, PA: IGI Global, 2009, pp. 219–231.
[4] S. Bengea, K. Uthaichana, M. Zefran, and R. Decarlo, “Optimal control of switching systems via embedding into continuous optimal control problem,” in The Control Handbook, Second Edition, W. S. Levine, Ed. CRC Press, 2010, pp. 31–1–31–23.
[5] M. Kolesnikov, A. D. Steinberg, and M. Zefran, “Hapticbased virtual reality dental simulator as an educational tool,” in Gaming and Simulations: Concepts, Methodologies, Tools and Applications. Hershey, PA: IGI Global, 2011, pp. 724–735.
[6] M. Bailey, K. Gebis, and M. Zefran, “Simulation of Closed Kinematic Chains in Realistic Environments Using Gazebo,” in Robot Operating System (ROS), ser. Studies in Computational Intelligence, A. Koubaa, Ed. Springer, 2016, no. 625, pp. 567–593.
[7] E. Noohi and M. Zefran, “Estimating Human Intention During a Human{Robot Cooperative Task Based on the Internal ForceInternal force Model,” in Trends in Control and DecisionMaking for Human{Robot Collaboration Systems. Springer, Cham, 2017, pp. 83–109. 
conference proceedings
[1] M. Zefran and T. Bajd, “Kinematic model of a robot hand and computation of grasp matrix using screw systems,” in Symposium on Advances in Robot Kinematics. Linz, Austria: Springer Verlag, 1990, p. 108.
[2] M. Zefran, T. Bajd, and A. Kralj, “Kinematic analysis of walking with crutches,” in 7th International Conference on Mechanics in Medicine and Biology, Ljubljana, Slovenia, 1991.
[3] ——, “Parallel structure model of paraplegic patient’s gait,” in Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Orlando, FL, USA: IEEE, 1991, pp. 924–925.
[4] ——, “Analysis of paraplegic subject’s walking patterns through parallel structure kinematic model,” in Int. Symposium on Advances in Robot Kinematics, Ferrara, Italy, 1992.
[5] M. Zefran, V. Kumar, and X. Yun, “Optimal trajectories and force distribution for cooperating arms,” in IEEE Int. Conf. on Robotics and Automation. San Diego, CA, USA: IEEE, 1994, pp. 874–879.
[6] M. Zefran and V. Kumar, “Optimal control of systems with unilateral constraints,” in IEEE Int. Conf. on Robotics and Automation, vol. 3. Nagoya, Japan: IEEE, 1995, pp. 2695–2700.
[7] M. Zefran, V. Kumar, J. Desai, and E. Henis, “Twoarm manipulation: What can we learn by studying humans?” in Int. Conf. on Intelligent Robots and Systems, Pittsburgh, PA, Aug. 1995, pp. 70–75.
[8] W. S. Howard, M. Zefran, and V. Kumar, “On the 6×6 stiffness matrix for three dimensional motions,” in World Congress on the Theory of Machines and Mechanisms. Milan, Italy: Edizioni Unicopli, 1995, pp.1575–1579.
[9] T. Bajd, M. Zefran, and A. Kralj, “Timing and kinematics of quadrupedal walking pattern,” in Int. Conf. on Intelligent Robots and Systems, vol. 3. Pittsburgh, PA, USA: IEEE, Piscataway, NJ, USA, 1995, pp.303–307.
[10] M. Zefran and V. Kumar, “Planning of smooth motions on se(3),” in IEEE Int. Conf. on Robotics and Automation, vol. 1. Minneapolis, MN, USA: IEEE, Apr. 1996, pp. 121–126.
[11] ——, “Coordinatefree formulation of the Cartesian stiffness matrix,” in Int. Symposium on Advances in Robot Kinematics, Portoroz, Slovenia, 1996.
[12] M. Zefran, V. Kumar, and C. Croke, “Choice of Riemannian metrics for rigid body kinematics,” in ASME Mechanisms Conference, Irvine, CA, 1996, p. 514.
[13] M. Zefran and V. Kumar, “Coordinatefree formulation of the Cartesian stiffness matrix,” in Advances in robot kinematics, J. Lenarcic and V. ParentiCastelli, Eds. Kluwer Academic, 1996, pp. 119–128.
[14] J. Desai, C.C. Wang, M. Zefran, and V. Kumar, “Motion planning for multiple mobile manipulators,” in IEEE Int. Conf. on Robotics and Automation, vol. 3. Minneapolis, MN, USA: IEEE, 1996, pp. 2073–2078.
[15] M. Zefran, J. Desai, and V. Kumar, “Continuous motion plans for robotic systems with changing dynamic behavior,” in Robotic motion and manipulation, J.P. Laumond and M. Overmars, Eds. Wellesley, MA: A K Peters, 1997, pp. 113–128.
[16] M. Zefran and V. Kumar, “Affine connections for the cartesian stiffness matrix,” in IEEE Int. Conf. on Robotics and Automation, vol. 2. Albuquerque, NM, USA: IEEE, 1997, pp. 1376–1381.
[17] ——, “A variational calculus framework for motion planning,” in International Conference on Advanced Robotics, Monterey, CA, 1997, pp. 415–420.
[18] J. Desai, M. Zefran, and V. Kumar, “Twoarm manipulation tasks with friction assisted grasping,” in Int. Conf. on Intelligent Robots and Systems, vol. 1. Grenoble, France: IEEE, 1997, pp. 189–195.
[19] M. Zefran and V. Kumar, “Two methods for interpolating rigid body motions,” in IEEE Int. Conf. on Robotics and Automation, vol. 4. Leuven, Belgium: IEEE, 1998, pp. 2922–2927.
[20] M. Zefran and J. Burdick, “Stabilization of systems with changing dynamics,” in Mathematical Theory of Networks and Systems (MTNS), A. Beghi, L. Finesso, and G. Picci, Eds. Padua, Italy: Il poligrafo, 1998, pp. 965–968.
[21] M. Zefran and J. W. Burdick, “Stabilization of systems with changing dynamics,” in Hybrid Systems: Computation and Control, ser. Lecture notes in computer science, T. Henzinger and S. Sastry, Eds. Springer Verlag, 1998, vol. 1386, pp. 400–415.
[22] ——, “Stabilization of systems with changing dynamics by means of switching,” in IEEE Int. Conf. on Robotics and Automation, vol. 2. Leuven, Belgium: IEEE, 1998, pp. 1090–1095.
[23] ——, “Design of switching controllers for systems with changing dynamics,” in IEEE Conf. on Decision and Control, vol. 2. Tampa, FL, USA: IEEE, 1998, pp. 2113–2118.
[24] V. Kumar, M. Zefran, and J. Ostrowski, “Motion planning in humans and robots,” in International Symposium on Robotics Research, Y. Shirai and S. Hirose, Eds. Shonan, Japan: Springer Verlag, 1998, pp. 102–111.
[25] J. Desai, M. Zefran, and V. Kumar, “A geometric approach to second and higher order kinematic analysis,” in Int. Symposium on Advances in Robot Kinematics, J. Lenarcic and M. Husty, Eds. Strobl, Austria: Kluwer Academic, 1998, pp. 365–374.
[26] F. Bullo and M. Zefran, “On modeling and locomotion of hybrid mechanical systems with impacts,” in IEEE Conf. on Decision and Control, vol. 3. Tampa, FL, USA: IEEE, 1998, pp. 2633–2638.
[27] M. Zefran, F. Bullo, and J. Radford, “An investigation into nonsmooth locomotion,” in IEEE Int. Conf. on Robotics and Automation, vol. 3. Detroit, MI, USA: IEEE, 1999, pp. 2038–2043.
[28] M. Zefran, “Passivity of hybrid systems based on multiple storage functions,” in Allerton Conference on Communication Control and Computing, Monticello, IL, 2001, pp. 1244–1252.
[29] M. Zefran, F. Bullo, and M. Stein, “A notion of passivity for hybrid systems,” in IEEE Conf. on Decision and Control, vol. 1. Orlando, FL, USA: IEEE, 2001, pp. 768–773.
[30] M. Zefran, “A feedback strategy for dextrous manipulation,” in IEEE Int. Conf. on Robotics and Automation, vol. 3. Washington, DC, USA: IEEE, 2002, pp. 2479–2484.
[31] M. R. Stein and M. Zefran, “Hybrid systems for telepresence: Experimental platform design,” in Proceedings of SPIE – The International Society for Optical Engineering, vol. 4570. Newton, MA, United States: The International Society for Optical Engineering, 2002, pp. 16–24.
[32] F. Bullo and M. Zefran, “On mechanical control systems with nonholonomic constraints and symmetries,” in IEEE Int. Conf. on Robotics and Automation, vol. 2. Washington, DC, USA: IEEE, 2002, pp. 1741–1746.
[33] S. Mahapatra and M. Zefran, “Stable haptic interaction with switched virtual environments,” in IEEE Int. Conf. on Robotics and Automation, vol. 1. Taipei, Taiwan: Institute of Electrical and Electronics Engineers
Inc., 2003, pp. 1241–1246.
[34] G. Song and M. Zefran, “A computational approach to dynamic bipedal walking,” in Int. Conf. on Intelligent Robots and Systems, vol. 1. Las Vegas, NV, United States: IEEE, 2003, pp. 358–363.
[35] S. Wei and M. Zefran, “Smooth path planning and control for mobile robots,” in IEEE Int. Conf. On Networking, Sensing, and Control, vol. 2005. Tucson, AZ, USA: IEEE, 2005, pp. 894–899.
[36] P. Tzanos, M. Zefran, and A. Nehorai, “Information based distributed control for biochemical source detection and localization,” in IEEE Int. Conf. on Robotics and Automation, vol. 2005. Barcelona, Spain: Institute of Electrical and Electronics Engineers Inc., Piscataway, NJ 088551331, United States, 2005, pp. 4457–4462.
[37] C. H. CaicedoN and M. Zefran, “Energy cost of coordination algorithms for wireless mobile sensor networks,” in IEEE Int. Conf. On Networking, Sensing, and Control. Tucson, AZ, USA: IEEE, 2005, pp.419–424.
[38] S. Pekarek, K. Uthaichana, S. Bengea, R. DeCarlo, and M. Zefran, “Modeling of an electric drive for a hev supervisory level power flow control problem,” in IEEE Vehicle Power and Propulsion Conference, vol. 2005. Chicago, IL, USA: IEEE, 2005, pp. 396–401.
[39] S. Wei and M. Zefran, “Towards a formal design of behaviors for autonomous robots,” in IEEE Int. Conf. On Networking, Sensing, and Control. Ft. Lauderdale, FL, USA: IEEE, 2006, pp. 66–71.
[40] C. H. CaicedoN. and M. Zefran, “Task switching in mobile wireless sensor networks,” in IEEE Int. Conf. On Networking, Sensing, and Control. Ft. Lauderdale, FL, USA: IEEE, 2006, pp. 12–17.
[41] M. Corno and M. Zefran, “Haptic playback: Modeling, controller design, and stability analysis,” in Robotics: Science and Systems, 2006.
[42] G. Song and M. Zefran, “Underactuated dynamic threedimensional bipedal walking,” in IEEE Int. Conf. on Robotics and Automation. Orlando, FL, USA: IEEE, 2006, pp. 854–859.
[43] ——, “Stabilization of hybrid periodic orbits with application to bipedal walking,” in American Control Conference. Minneapolis, MN, USA: IEEE, 2006, pp. 2504–2509.
[44] P. Tzanos and M. Zefran, “Stability analysis of information based control for biochemical source localization,” in IEEE Int. Conf. on Robotics and Automation. Orlando, FL, USA: IEEE, 2006, pp. 3116–3121.
[45] B. Moerdyk, R. DeCarlo, D. Birdwell, M. Zefran, and J. Chiasson, “Hybrid optimal control for load balancing in a cluster of computer nodes,” in IEEE International Symposium on Intelligent Control, 2006, pp. 1713–1718.
[46] S. Wei, M. Zefran, K. Uthaichana, and R. DeCarlo, “Hybrid model predictive control for stabilization of wheeled mobile robots subject to wheel slippage,” in IEEE Int. Conf. on Robotics and Automation, 2007,pp. 2373–2378.
[47] P. Tzanos and M. Zefran, “Locating a circular biochemical source: Modeling and control,” in IEEE Int. Conf. on Robotics and Automation, 2007, pp. 523–528.
[48] M. Kolesnikov and M. Zefran, “Energybased 6DOF penetration depth computation for penaltybased haptic rendering algorithms,” in Int. Conf. on Intelligent Robots and Systems, 2007, pp. 2120–2125.
[49] C. CaicedoN and M. Zefran, “Balancing sensing and coverage in mobile sensor networks: a minmax approach,” in IEEE Conf. on Decision and Control. New Orleans, LA, USA: IEEE, 2007, pp. 6124–6129.
[50] K. Uthaichana, S. Bengea, R. DeCarlo, S. Pekarek, and M. Zefran, “Hybrid model predictive control tracking of a sawtooth driving profile for an hev,” in American Control Conference, 2008, pp. 967–974.
[51] C. CaicedoNunez and M. Zefran, “Performing coverage on nonconvex domains,” in IEEE International Conference on Control Applications, 2008, pp. 1019–1024.
[52] ——, “Consensusbased rendezvous,” in IEEE International Conference on Control Applications, 2008, pp. 1031–1036.
[53] ——, “A coverage algorithm for a class of nonconvex regions,” in IEEE Conf. on Decision and Control, 2008, pp. 4244–4249.
[54] S. Wei, M. Zefran, and R. A. DeCarlo, “Optimal control of robotic systems with logical constraints: Application to uav path planning,” in IEEE Int. Conf. on Robotics and Automation, May 2008, pp. 176–181.
[55] C. CaicedoNu ́nez and M. ̃ Zefran, “Probabilistic guarantees for rendezvous under noisy measurements,” in American Control Conference, 2009, pp. 5180–5185.
[56] M. Kolesnikov, M. Zefran, A. D. Steinberg, and P. G. Bashook, “PerioSim: Haptic virtual reality simulator for sensorimotor skill acquisition in dentistry,” in 2009 IEEE International Conference on Robotics and Automation, May 2009, pp. 689–694.
[57] M. Kolesnikov and M. Zefran, “Haptic Playback: Better Trajectory Tracking during Training Does Not Mean More Effective Motor Skill Transfer,” in EuroHaptics 2010, ser. Lecture Notes in Computer Science, vol. 6192, Jul. 2010, pp. 451–456.
[58] A. P. Sistla, M. Zefran, and Y. Feng, “Runtime Monitoring of Stochastic CyberPhysical Systems with Hybrid State,” in Runtime Verification, ser. Lecture Notes in Computer Science, vol. 7186, Sep. 2011, pp. 276–293.
[59] ——, “Monitorability of Stochastic Dynamical Systems,” in Computer Aided Verification, ser. Lecture Notes in Computer Science, Jul. 2011, pp. 720–736.
[60] S. Banerjee, K. Da Zhao, W. Rao, and M. Zefran, “Decentralized selfbalancing systems,” in 2013 IFIP/IEEE 21st International Conference on Very Large Scale Integration (VLSISoC), 2013, pp. 340–343.
[61] W. Jiang and M. Zefran, “Coverage control with information aggregation,” in 52nd IEEE Conference on Decision and Control, Dec. 2013, pp. 5421–5426.
[62] M. Javaid, M. Zefran, and B. Di Eugenio, “Communication through physical interaction: A study of human collaborative manipulation of a planar object,” in The 23rd IEEE International Symposium on Robot and
Human Interactive Communication, Aug. 2014, pp. 838–843.
[63] S. C. Johnson, R. A. DeCarlo, and M. Zefran, “Settransition observability of switched linear systems,” in American Control Conference (ACC), 2014, Jun. 2014, pp. 3267–3272.
[64] R. Meyer, F. Just, R. A. DeCarlo, M. Zefran, and M. Oishi, “Notch filter and MPC for powered wheelchair operation under Parkinson’s tremor,” in 2014 American Control Conference, Jun. 2014, pp. 4114–4120.
[65] E. Noohi and M. Zefran, “Quantitative measures of cooperation for a dyadic physical interaction task,” in 2014 IEEERAS International Conference on Humanoid Robots, Nov. 2014, pp. 469–474.
[66] E. Noohi, S. Parastegari, and M. Zefran, “Using monocular images to estimate interaction forces during minimally invasive surgery,” in 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2014), Sep. 2014, pp. 4297–4302.
[67] A. P. Sistla, M. Zefran, Y. Feng, and Y. Ben, “Timely Monitoring of Partially Observable Stochastic Systems,” in Proceedings of the 17th International Conference on Hybrid Systems: Computation and Control, ser. HSCC’14, 2014, pp. 61–70.
[68] B. Di Eugenio and M. Zefran, “The RoboHelper Project: From Multimodal Corpus to Embodiment on a Robot,” in 2015 AAAI Fall Symposium Series, Sep. 2015.
[69] M. Javaid, M. Zefran, and A. Yavolovsky, “Using pressure sensors to identify manipulation actions during human physical interaction,” in 2015 24th IEEE International Symposium on Robot and Human Interactive Communication (ROMAN), Aug. 2015, pp. 670–675.
[70] W. Jiang and M. Zefran, “Location control for information dissemination,” in 2015 American Control Conference (ACC), Jul. 2015, pp. 1728–1733.
[71] E. Noohi, S. Parastegari, and M. Zefran, “Computational model for dyadic and bimanual reaching movements,” in 2015 IEEE World Haptics Conference (WHC), Jun. 2015, pp. 260–265.
[72] S. Parastegari, E. Noohi, B. Abbasi, and M. Zefran, “A failsafe object handover controller,” in 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016, pp. 2003–2008.
[73] A. Yavolovsky, M. Zefran, and A. P. Sistla, “DecisionTheoretic Monitoring of CyberPhysical Systems,” in Runtime Verification, ser. Lecture Notes in Computer Science. Springer, Cham, Sep. 2016, pp. 404–419.
[74] S. Parastegari, B. Abbasi, E. Noohi, and M. Zefran, “Modeling human reaching phase in humanhuman object handover with application in robothuman handover,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sep. 2017, pp. 3597–3602.
[75] Bahareh Abbasi, Mehdi Sharifzadeh, Ehsan Noohi, Sina Parastegari, and Milos Zefran, “Grasp Taxonomy for Robot Assistants Inferred from Finger Pressure and Flexion,” in International Symposium on Medical Robotics (ISMR), 2019.