Journal Articles
Masoud Karimi, Mojtaba Ahmadi, “iLeAD: Adaptive Shared Control in Exoskeletal Assistive Devices via Deep Reinforcement Learning,” IEEE Transactions on Artificial Intelligence, Vol. 7(25), pp. 1–13, 2025.
N. Berezny, M. Ahmadi, “Improving Robotic Force Control Performance in Devices with Force Measurement Error and Modelling Error,” IEEE Transactions on Instrumentation and Measurement, Vol. 74, 2025.
S. Sadat Hosseini, A. Samiei, M. Ahmadi, “Genetic Algorithm-Optimized Feature Selection for sEMG-IMU Fusion Improves Intention Detection in AI-Driven Robotic Walking System,” IEEE Transactions on Medical Robotics and Bionics, Vol. 7(3), pp. 1212–1224, 2025.
Hussein Naser, Hashim Mohammad, Mojtaba Ahmadi, “Assistive Payload Transportation Using Quadrotors with Human Physical Interaction,” Results in Engineering, Vol. 25, 2025.
H.S. Hosseini, Nader Joojili, Mojtaba Ahmadi, “LLMT: A Transformer-based Multi-Modal Lower Limb Human Motion Prediction Model for Assistive Robotics Applications,” IEEE Access, Vol. 12, pp. 82730–82741, 2024.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “Precision Robotic Deburring with Simultaneous Registration and Machining for Improved Accuracy, Quality, and Efficiency,” Robotics and Computer-Integrated Manufacturing, Vol. 88, pp. 1–19, 2024.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “Improved Accuracy and Contact Stability in Robotic Contouring with Simultaneous Registration and Machining,” IEEE Transactions on Control Systems Technology, Vol. 32(4), pp. 1140–1155, 2023.
Mohammadreza Dehghani, Ryan A. McKenzie, Rishad A. Irani, Mojtaba Ahmadi, “Robot-mounted Sensing and Local Calibration for High-Accuracy Manufacturing,” Robotics and Computer-Integrated Manufacturing, Vol. 79, pp. 1–14, 2023.
Wade R. MacMillan, Rishad A. Irani, Mojtaba Ahmadi, “Planar Image-Space Trajectory Planning Algorithm for Contour Following in Robotic Machining,” CIRP Journal of Manufacturing Science and Technology, Vol. 42, pp. 1–11, 2023.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “Precision Robotic Deburring with Simultaneous Registration and Machining for Improved Accuracy, Quality, and Efficiency,” Robotics and Computer-Integrated Manufacturing, 2023.
Nicholas Berezny, Mojtaba Ahmadi, “Interpolating across the Impedance/Admittance Spectrum with Unified Interaction Control,” Discover Mechanical Engineering (Springer), pp. 1–24, 2023.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “Fast and Robust Inverse Kinematics of Serial Robots Using Halley’s Method,” IEEE Transactions on Robotics, Vol. 38(5), pp. 2768–2780, 2022.
Al-Mai, M. Ahmadi, “Novel Calibration Methodologies for Compliant, Multi-Axis, Fiber-Optic Based Force/Torque Sensors,” IEEE Transactions on Instrumentation and Measurement, Vol. 22(22), pp. 21727–21734, 2022.
Masoud Karimi, Mojtaba Ahmadi, “A Reinforcement Learning Approach in Assignment of Task Priorities in Kinematic Control of Redundant Robots,” IEEE Robotics and Automation Letters, Vol. 7(2), pp. 850–857, 2022.
Richard Beranek, Masoud Karimi, Mojtaba Ahmadi, “A Behavior-Based Reinforcement Learning Approach to Control Walking Bipedal Robots under Unknown Disturbances,” IEEE/ASME Transactions on Mechatronics, pp. 1–11, 2021.
Grael Miller, Rishad A. Irani, Mojtaba Ahmadi, “Application of Mechanistic Force Models to Features of Arbitrary Geometry at Low Material Removal Rate,” International Journal of Advanced Manufacturing Technology, Vol. 117(9), pp. 2741–2754, 2021.
O. Al-Mai, J. Albert, M. Ahmadi, “Development and Characterization of Compliant FBG-Based Shear and Normal Force Sensing Elements for Biomechanical Applications,” IEEE Sensors Journal, Vol. 20(10), pp. 5176–5186, 2020.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “Using Neural Networks for Fast Numerical Integration and Optimization,” IEEE Access, Vol. 8, pp. 84519–84531, 2020.
N. Berezny, D. Dowlatshahi, M. Ahmadi, “Feasibility of a 1-DOF Linear Robot for Bed-bound Stroke Rehabilitation,” ASME Journal of Medical Devices, 2020.
Grael Miller, Rishad Irani, Mojtaba Ahmadi, “The Application of Mechanistic Cutting Force Models for Deburring,” International Journal of Advanced Manufacturing Technology, Vol. 115(1–2), pp. 199–212, 2020.
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “A Numeric Derivation for Fast Regressive Modeling of Manipulator Dynamics,” Mechanisms and Machine Theory, 2020.
O. Al-Mai, M. Ahmadi, J. Albert, “Design, Development and Calibration of a Lightweight, Compliant 6-Axis Optical Force/Torque Sensor,” IEEE Sensors Journal, Vol. 18(17), pp. 7005–7014, 2018.
Stephanie Eng, O. Al-Mai, M. Ahmadi, “A 6-DoF, Wearable, Compliant Shoe Sensor for Gait Analysis,” IEEE Transactions on Instrumentation and Measurement, Vol. 67(11), pp. 2714–2722, 2018.
I. Zammar, I. Mantegh, M. Saiful Huq, A. Yousefpour, M. Ahmadi, “A Three-Dimensional Transient Model for Heat Transfer in Thermoplastic Composites during Continuous Resistance Welding,” Advanced Manufacturing: Polymer and Composites Science, Vol. 3(1), pp. 32–41, 2017.
O. Al-Mai, M. Ahmadi, J. Albert, “A Compliant 3-Axis Fiber-Optic Force Sensor for Biomechanical Measurement,” IEEE Sensors Journal, Vol. 17(20), pp. 6549–6557, 2017.
Colin Miyata, Jennifer Baba, Kyle Chisholm, Mojtaba Ahmadi, “A Limb Compliant Sensing Strategy for Safe Robot Collision Avoidance,” IEEE/ASME Transactions on Mechatronics, Vol. 21(2), pp. 674–682, 2016.
R. Beranek, M. Ahmadi, “A Learning Behavior Based Controller for Maintaining Balance in Robotic Locomotion,” Journal of Intelligent and Robotic Systems, Vol. 82, pp. 189–205, 2016.
A. Morbi, M. Ahmadi, “Safely Rendering Small Impedances in Admittance-controlled Haptic Devices,” IEEE/ASME Transactions on Mechatronics, Vol. 21(3), pp. 1272–1280, 2016.
Beranek, H. Fung, M. Ahmadi, “Disturbance Compensation in Bipedal Locomotion Using Ground Reaction Force Feedback and Centroidal Moment Pivot (CMP),” International Journal of Robotics and Automation, Vol. 30(3), pp. 1–20, 2015.
Ayron Catteau, Mojtaba Ahmadi, “A Wearable Computer Vision System for Measuring Shoe Position and Orientation,” Measurement (Elsevier), Vol. 75, pp. 273–283, 2015.
S. El-Huq, R. Forrester, M. Ahmadi, P. Straznicky, “Magnetic Actuators Characterization of a UAV System,” IEEE/ASME Transactions on Mechatronics, Vol. 20(4), pp. 342–355, 2015.
H. Xie, J. Shang, M. Ahmadi, “Adaptive Control Strategies for Quadruped Robot on Unperceived Sloped Terrain,” International Journal of Robotics and Automation, Vol. 30(4), pp. 1–20, 2015.
H. Xie, M. Ahmadi, J. Shang, “A Novel Approach for Quadruped Trotting Based on Virtual Model Control,” Journal of Systems and Control Engineering, Vol. 229(4), pp. 342–355, 2015.
Ali Morbi, Mojtaba Ahmadi, Adrian Chan, Robert Langlois, “A Stability-Guaranteed Assist-As-Needed Controller for Powered Orthoses,” IEEE Transactions on Control Systems Technology, Vol. 22(2), pp. 745–752, 2014.
Robert Forrester, Saif Huq, Mojtaba Ahmadi, Paul Straznicky, “Magnetic Signature Attenuation of an Unmanned Aircraft System for Aeromagnetic Survey,” IEEE/ASME Transactions on Mechatronics, Vol. 19(4), pp. 1436–1446, 2014.
K. Chisholm, K. Klumper, F.A. Mullins, M. Ahmadi, “Design of a Task Oriented Haptic Gait Rehabilitation Robot,” International Journal of Mechatronics, Vol. 24(8), pp. 1083–1091, 2014.
I. Zammar, I. Mantegh, S. Huq, A. Yousefpour, M. Ahmadi, “Intelligent Thermal Control of Resistance Welding of Fiberglass Laminates for Automated Manufacturing,” IEEE/ASME Transactions on Mechatronics, Vol. 10(3), pp. 1069–1078, 2014.
Patricia G. Zarzar, Mojtaba Ahmadi, “An Insole for Measurement of the Complete Ground Reaction Forces and Center of Pressure,” Measurement (Elsevier), 2014.
Ahmed Alsenadedy, Mojtaba Ahmadi, Andy Adler, “Surface-based Electrical Imaging for Tactile Sensing Applications in 3D Space,” IEEE Sensors Journal, 2013.
Ali Morbi, Mojtaba Ahmadi, Avinom Nativ, “Preliminary Experiments with an Omnidirectional Mobile Robot for Gait Rehabilitation,” International Journal of Mechatronics and Automation, Vol. 3(4), pp. 247–262, 2013.
K. Klumper, A. Morbi, R. Beranek, K. Chisholm, M. Ahmadi, R. Langlois, “Orientation Sensing and Control of ATLAS, A Novel Motion Simulation Platform,” Mechatronics, Vol. 22(8), pp. 1112–1123, 2012.
R. Beranek, A. Morbi, M. Ahmadi, “Fuzzy Control of a Log Carrying Robot on Tree-Filled Steep-Sloping Terrains,” Paladyn, Journal of Behavioral Robotics, Vol. 3(1), pp. 35–44, 2012.
M. Kornel, A. Khan, M. Ahmadi, “An Adaptive Neuro-Fuzzy Inference System for Estimating the Number of Vehicles for Queue Management at Signalized Intersections,” Transportation Research, Part C, Vol. 19C(1), pp. 1033–1047, 2011.
A. Guigue, M. Ahmadi, R. Langlois, J.M. Hayes, “Pareto Optimality and Multi-objective Trajectory Planning for a 7DOF Redundant Manipulator,” IEEE Transactions on Robotics, Vol. 26(6), pp. 1094–1099, 2010.
A. Guigue, M. Ahmadi, J.M. Hayes, R. Langlois, “A Dynamic Programming Approximation to the Multi-objective Deterministic Finite Horizon Optimal Control Problems,” SIAM Journal on Control and Optimization, Vol. 48(4), pp. 2581–2599, 2009.
M. Ahmadi, M. Buehler, H. Michalska, “Control and Stability Analysis of Limit Cycles in a Hopping Robot,” IEEE Transactions on Robotics, Vol. 23(3), pp. 553–563, June 2007.
M. Ahmadi, M. Buehler, “Controlled Passive Dynamic Experiments with ARL Monopod II,” IEEE Transactions on Robotics, Vol. 22(5), pp. 947–986, Oct. 2006.
D. Orchard, M. Ahmadi, F.C. Tang, “Application of Java & VRML Visualisation Tools in Store Release Wind Tunnel Testing,” The Aeronautical Journal, Vol. 109(1101), pp. 569–576, Nov. 2005.
M. Ahmadi, M. Jaber, F.C. Tang, “High-Performance Multi-Body Collision Detection for the Real-time Control of a CTS System,” Transactions of the Canadian Society for Mechanical Engineering (CSME), Special Edition, Vol. 29(2), pp. 163–177, 2005.
M. Ahmadi, M. Buehler, “Stable Control of a Simulated One-Legged Running Robot with Hip and Leg Compliance,” IEEE Transactions on Robotics and Automation, Vol. 13(1), pp. 96–104, Feb. 1997.
P. Gregorio, M. Ahmadi, M. Buehler, “Design, Control and Energetics of an Electrically Actuated Legged Robot,” IEEE Transactions on Systems, Man and Cybernetics, Vol. 27(4), pp. 626–634, Aug. 1997.
Refereed Conference Papers
H. Nasser, M, H. Mohamed, M. Ahmadi, “Adaptive Gain Nonlinear Observer for External Wrench Estimation in Human-UAV Physical Interaction”, IEEE International Conference on Robotics and Automation, ICRA 2025 (Submitted).
Nicholas Berezny, Mojtaba Ahmadi, “Limb Endpoint Impedance Estimation with Domain Adaption and OpenSim,” Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 2024. (Published)
A. Abarghooei, M. Ahmadi, “Improvement of Image-based Lane Marker Detection Algorithm Using Sensor Fusion,” Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 2024. (Published)
A. Abarghooei, M. Ahmadi, “An Intelligent Emotional Real-time Learning Controller for High-speed Lane Keeping Assist System in Autonomous Vehicles,” Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 2024. (Published)
Hussein Naser, Hashim Mohammad, Mojtaba Ahmadi, “Adaptive Backstepping and FNTSMC for Aerial Cooperative Payload Transportation System with Human Physical Interaction,” Proceedings of the American Control Conference, 2024. (Accepted)
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “A Framework for Simultaneous Workpiece Registration in Robotic Machining Applications,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 5249–5255, 2023. (Published)
Arash Abarghooei, Mojtaba Ahmadi, “Driving Behaviour Detection Using Smart Steering Wheel: Supervised and Unsupervised Classification,” Proceedings of the IEEE Sensors Applications Symposium (SAS), pp. 1–6, 2023. (Published)
Steffan Lloyd, Rishad Irani, Mojtaba Ahmadi, “The Application of Mechanistic Cutting Force Models for Robotic Deburring,” Proceedings of the Modeling, Estimation and Control Conference, 2022. (Best Paper Award)
Hasti Khiabani, Mojtaba Ahmadi, “Classical Machine Learning Approach for EMG-Based Lower Limb Intention Detection for Human-Robot Interaction Systems,” Proceedings of the IEEE International Conference on Autonomous Systems, 2021. (Published)
Colin Miyata, Mojtaba Ahmadi, “Compliant Limb Sensing and Control for Safe Human Robot Interactions,” Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 7484–7490, 2019. (Published)
A.Zreiba, M. Ahmadi, A. Etemad, “Simulation of Human Balance Impairment on a Biped Robot,” Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published)
N. Berezny, D. Dowlatshahi, M. Ahmadi, “Interaction Control and Haptic Feedback for a Lower-limb Rehabilitation Robot with Virtual Environments,” Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published, Best Paper/Presentation Award)
O. Al-Mai, “Fiber-Optic Based, Force and Torque Compliant Sensing Calibration Strategies,” Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published)
C. Miyata, M. Ahmadi, “On the Development of a Compliant Sensor Shell for Use in Robot Safety,” Proceedings of the International Conference on Control, Dynamic Systems, and Robotics (CDSR), 2019. (Published)
N. Berezny, D. Dowlatshahi, M. Ahmadi, “Novel Concept of a Lower-limb Rehabilitation Robot Targeting Bed-bound Acute Stroke Patients,” Proceedings of the Canadian Medical and Biomedical Engineering Society Conference, May 2019. (Published)
M. Ahmadi, A.D.C. Chan, C. Davies, L. Frankel, A. Girouard, T.C. Graham, Y. Labiche, E. Lemaire, J. Stewart, C. Trudel, “Research and Education in Accessibility, Design, and Innovation: Integrating Post-Secondary Training in Accessibility,” Proceedings of the Canadian Engineering Education Association Conference, Vancouver, 2018. (Published)
Kyle Chisholm, Mojtaba Ahmadi, “Virtual Force-Field Safety Net for Variable Passive Elastic Leg Joint Limits with a Gait Rehabilitation Robot,” International Conference on Control, Dynamic Systems, and Robotics, 2016. (Published, Invited Abstract)
Colin Miyata, Mojtaba Ahmadi, “On the Use of Force Control with Compliant Sensing for Robot Safety,” International Conference on Control, Dynamic Systems, and Robotics, 2016. (Published, Invited Abstract)
Christiane Courtemanche, Mojtaba Ahmadi, “Pilot Data on the Performance of Vibrotactile Actuators for Use with Assistive Devices,” International Conference on Control, Dynamic Systems, and Robotics, 2016. (Published, Invited Abstract)
K. Chisholm, K. Klumper, M. Ahmadi, “Lower-Extremity Gait Rehabilitation Robotic System,” Proceedings of the Canadian Society for Mechanical Engineering International Congress, Toronto, Canada, June 2014. (Published)
Iraj Mantegh, Imad Zammar, Mojtaba Ahmadi, Ali Yousefpour, “Thermal Control of Continuous Resistance Welding of Fiberglass Laminates for Automated Manufacturing,” ASME International Design Engineering Technical Conferences, 2013. (Published)
A. Morbi, M. Ahmadi, A. Nativ, “GaitEnable: An Omnidirectional Robotic System for Gait Rehabilitation,” IEEE International Conference on Mechatronics and Automation, Aug. 2012. (Published), (Best paper award finalist).
A. Alsenadedy, Y. Mamatjan, M. Ahmadi, A. Adler, “Characterization of Conductive Polymer for EIT-based Sensors,” International Conference on Electrical and Computer Systems, Aug. 2012. (Published)
M. Wells, M. Ahmadi, P. Straznicky, R. Forrester, “Reducing Magnetic Interference in a Geomagnetic Survey UAS through Modelling and Design Optimization,” IEEE Conference on Mechatronics and Automation, Aug. 2012. (Published)
R. Beranek, M. Ahmadi, “A Behaviour-based Locomotion Controller with Learning for Disturbance Compensation in Bipedal Robots,” IEEE International Conference on Robotics and Automation (ICRA), May 2012. (Published)
R. Beranek, H. Fung, M. Ahmadi, “A Walking Stability Controller with Disturbance Rejection Based on CMP Criterion and Ground Reaction Force Feedback,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept. 2011. (Published)
A. Morbi, M. Ahmadi, A.D.C. Chan, R. Langlois, “Comparing Continuous and Intermittent Assistance Controllers for Assistive Devices,” IEEE International Conference on Robotics and Automation (ICRA), May 2011. (Published), Best conference paper award
O. Barker, R. Beranek, M. Ahmadi, “Design of a 13 Degree-of-Freedom Biped Robot with a CAN-Based Distributed Digital Control System,” IEEE/ASME International Conference on Advanced Intelligent Mechatronics, July 2010. (Published)
I. Zammar, I. Mantegh, M. Ahmadi, “3D Predictive Model for Controlled Resistance Welding of Composites for Manufacturing Applications,” ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, 2009. (Published)
A. Morbi, M. Ahmadi, A.D.C. Chan, R. Langlois, “Assistance Regulation in Wearable Assistive Devices,” 32nd Conference of the Canadian Medical & Biological Engineering Society, May 2009. (Published), Best conference paper award.
M. Ahmadi, A. Guigue, M. Gibeault, F.C. Tang, “Mechatronic Design of Redundant Robotic Systems for Captive Trajectory Simulation Applications,” IASTED Conference on Control Applications, May 2008. (Published)
A. Guigue, M. Ahmadi, J. Hayes, R. Langlois, N. Tang, “A Dynamic Programming Approach to Redundancy Resolution with Multiple Criteria,” IEEE International Conference on Robotics and Automation (ICRA), 2007. (Published)
Patents and IP Activities
Mojtaba Ahmadi, Majid M. Moghaddam, Ben Wiebe, Sami Nassif-LaChappelle, Keyanna Coghlan, Mostafa Sattari, Jeffrey Hough, Eduardo Reis, “Optical Multi-Axis Force and Torque Sensor,” United States, Application No. 63/668,063, filed July 5, 2024. (Pending; base for SensuReal product)
M. Ahmadi, R. Irani, S. Lloyd, Mohammadreza Dehghanitafti, Ryan McKenzie, Wade MacMillan, Grael Miller, “Automated Workpiece Machining Based on Sensed Forces Between a Tool and a Surface of a Workpiece,” Virgin Islands (U.S.), filed May 31, 2024. (Pending)
Mojtaba Ahmadi, Soon Jung Bang, Nikolas Beaudin, Thomas Fikhelstein, Louis Gagnon Seguin, Omar Masaud, Darren O’Neil, Chantal Trudel, “System and Method for Providing Passenger Interfaces,” United States, Application No. 16/665710, filed Oct. 30, 2018. (Pending; projection-based interface for business jets, Bombardier project)
Ali Morbi, Mojtaba Ahmadi, Richard Beranek, “Control System and Device for Patient Assist (GaitEnable),” United States Patent US9907721B2, issued Mar. 6, 2018. (Granted; PCT international patent for a gait rehabilitation device ensuring HRI stability)
License: Sensor Based Precision Robotic Deburring (RoboDeb), Licensed to Arnprior Aerospace in 2023 via Carleton’s Industry Partnerships Office.
Chapters in Books
M. Moghadam and M. Ahmadi, “Bioinspiration and Robotics: Walking and Climbing Robots,” Chapter on Climbing robots, pp. 421-462, Edited by Maki Habib, ISBN 978-3-902613-15-8, in press, 2007.
M. Ahmadi and M. Buehler, “Preliminary Experiments with an Actively Tuned Passive Dynamic Running Robot,” in book: Experimental Robotics V, pp. 269-281, Springer-Verlag 1997.