Publications

Research output

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Publications

S. Phamornsuwana, S. Nisar (2026). Vehicle-Embedded Vibrotactile Haptic Feedback for Improved Driving Safety in Power Wheelchairs. IEEE Transactions on Neural Systems and Rehabilitation Engineering.
F. Mehmood, M. Javed, S. Nisar (2026). Above- vs. Below-Cushion: Effects of Vibrotactile Source Placement on Tactile Sensitivity and Perceived Driving Assistance. ACM Augmented Humans (AHs) 2026.
K. H. Joshi, R. M. Suarez Flores, M. A. Zahid, S. Nisar (2026). Wearable vs. World-Grounded Haptics for Space Teleoperation: A VR-Based Comparative Analysis of Kinesthetic Feedback for Fine Telemanipulation. 31st Int. Symposium on Artificial Life and Robotics (AROB 2026).
S. Shukla, S. Nisar (2026). A Low-Cost Three-Layer Sensing Architecture for Reflexive Grip Control in Prosthetic and Robotic Hands. 31st Int. Symposium on Artificial Life and Robotics (AROB 2026).
Q. Q. Ayun, K. Meitani, S. Nisar (2026). Design and Development of a Compact Tendon-Driven Soft Robotic Glove for Hand Rehabilitation. 31st Int. Symposium on Artificial Life and Robotics (AROB 2026).
M. G. Chandramohan, K. Meitani, G. G. Nanayakkara, S. Nisar (2026). Design and Development of Mode-Switching Linear–Rotary Actuation Mechanism for Enhanced Versatility of Closed-Chain Bipedal Legs. 31st Int. Symposium on Artificial Life and Robotics (AROB 2026).
L. Peters, A. Majumder, S. Nisar (2026). Addressing Ergonomic and Kinematic Limitations in Lower-Limb Exoskeleton Biomechanical Design. Proc. 43rd Annual Conf. of the Robotics Society of Japan (RSJ).
K. Meitani, S. Nisar (2025). Materials and Methods for Designing 3D-Printed Soft Robot Grippers in Low-Hardness TPU (60A–70A). IEEE Access, vol. 13, pp. 210465–210473.
R. M. Suarez Flores, K. K. C., S. Nisar (2025). Design of an Electromagnetically Modulated Resistance Mechanism to Realize Compact Passive Force-Feedback Wearable Devices. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS) 2025, pp. 13949–13954.
M. A. Zahid, R. M. Suarez Flores, K. K. C., A. Majumder, K. Meitani, S. Nisar (2025). Developing a Haptic-Enabled Mixed-Reality System for Fine Robotic Telemanipulation Training. Proc. 43rd Annual Conf. of the Robotics Society of Japan (RSJ 2025).
P. Suriyasomboon, R. M. Suarez Flores, S. Nisar (2025). Design and Development of a Bio-Inspired Anthropomorphic Finger for Dexterous Robotic Hands. 9th Int. Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM) 2025.
K. H. Joshi, K. Coleman, S. Nisar (2025). Comparative Analysis of Haptic Feedback in VR-Based Spacecraft Berthing Procedures Using a World-Grounded Device. Proc. 43rd Annual Conf. of the Robotics Society of Japan (RSJ 2025).
M. G. Chandramohan, J. A. G. Nanayakkara, S. Nisar (2025). Bridging Efficiency and Versatility: Design of a Parallel Five-Bar Leg Architecture for Bipedal Robots. Proc. 43rd Annual Conf. of the Robotics Society of Japan (RSJ 2025).
K. K. C., R. M. Suarez Flores, A. Majumder, K. Meitani, M. A. Zahid, S. Nisar (2025). HaptLinX: Mixed-Reality Framework for Precision-Task Training Utilizing a Vibrotactile Haptic Glove. IEEE World Haptics Conference (WHC) 2025 — Poster.
K. K. Karan, S. Nisar (2025). Design and Evaluation of a Non-Adhesive Wearable Electrotactile Haptic Device for the Palmar Hand Region. 11th Int. Conf. on Control, Automation and Robotics (ICCAR) 2025, pp. 322–327.
R. M. Suarez Flores, S. Nisar (2025). Design and Performance Analysis of a Single-Port Bidirectional Soft Actuator and Its Integration Into a Versatile 3-Finger Robot Gripper. IEEE Access, vol. 13, pp. 30127–30136.
N. N. Ranadive, C. W. McGregor, S. Nisar (2025). Training Core Muscle Endurance With Vibrotactile Haptic Feedback. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
C. W. McGregor, J. Char, F. Haque, S. Nisar (2025). Realization of an Auto-Calibrating Squeeze Haptic Feedback Device for Supernumerary Robotic Fingers. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
F. Haque, J. Char, C. W. McGregor, S. Nisar (2025). Realization of a Supernumerary Robotic Finger for Grasping and Its Evaluation with Vibrotactile and Squeeze Haptic Feedback. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
G. J. A. G. Nanayakkara, P. Suriyasomboon, S. Nisar (2025). Minimalist IMU-Based Glove for Real-Time Finger Tracking for Robot Teleoperation. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
X. Wang, S. Nisar, F. Matsuno (2021). Robust Grasp Detection with Incomplete Point Cloud and Complex Background. Advanced Robotics, vol. 35, no. 10.
K. Chamnongthai, T. Endo, S. Nisar, F. Matsuno, K. Fujimoto, M. Kosaka (2019). Fingertip Force Learning with Enhanced Haptic Sensation Using Stochastic Resonance. IEEE World Haptics Conference (WHC) 2019, pp. 539–544.
M. S. Hussain, U. Asgher, S. Nisar, V. Socha, A. Shaukat, J. Wang, T. Feng, R. Z. Paracha, M. A. Khan (2024). Enhanced Accuracy with Segmentation of Colorectal Polyp using NanoNetB and Conditional Random Field Test-Time Augmentation. Frontiers in Robotics and AI, vol. 11.
P. Eisele, S. Nisar, F. Haas (2024). A Conceptual Examination of an Additive Manufactured High-Ratio Coaxial Gearbox. Artificial Life and Robotics, vol. 29, no. 1, pp. 416–422.
N. Chirachongcharoen, S. Nisar (2024). Human-Gait Type Recognition without Pre-Training: An Adaptive Fuzzy-Based Approach for Locomotion-Assistance Devices. Artificial Life and Robotics, vol. 29, no. 1, pp. 389–397.
F. Shabani, S. Nisar, F. Matsuno (2022). Human-Centered Design of a Wearable Kinesthetic Haptic Device for Surgical Teleoperation. Artificial Life and Robotics, vol. 28, no. 1, pp. 253–263.
F. Shabani, S. Nisar, H. Philamore, F. Matsuno (2021). Haptic vs. Visual Neurofeedback for Brain Training: A Proof-of-Concept Study. IEEE Transactions on Haptics, vol. 14, no. 2, pp. 297–302.
S. Nisar, A. Hameed, N. Kamal, O. Hasan, F. Matsuno (2020). Design and Realization of a Robotic Manipulator for Minimally Invasive Surgery with Replaceable Surgical Tools. IEEE/ASME Transactions on Mechatronics, vol. 25, no. 6, pp. 2754–2764.
S. Nisar, M. O. Martinez, T. Endo, F. Matsuno, A. M. Okamura (2019). Effects of Different Hand-Grounding Locations on User Performance with a Wearable Kinesthetic Haptic Device. IEEE Robotics and Automation Letters (RA-L), vol. 4, no. 2, pp. 351–358 · Presented at IEEE ICRA 2019.
S. Nisar, T. Endo, F. Matsuno (2018). Design and Optimization of a 2-DoF Planar Remote Center of Motion Mechanism for Surgical Manipulators with Smaller Footprint. Mechanism and Machine Theory, vol. 129, pp. 148–161.
S. Nisar, T. Endo, F. Matsuno (2017). Design and Kinematic Optimization of a 2-DoF Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators. ASME Journal of Mechanisms and Robotics, vol. 9, no. 3, 031013.
T. Hassan, A. Hameed, S. Nisar, N. Kamal, O. Hasan (2016). Al-Zahrawi: A Telesurgical Robotic System for Minimally Invasive Surgery. IEEE Systems Journal, vol. 10, no. 3, pp. 1035–1045.
M. Yaqoob, S. R. Qaisrani, M. Waqas, Y. Ayaz, S. Iqbal, S. Nisar (2015). Design and Control of a Haptic Enabled Robotic Manipulator. International Journal of Advanced Robotic Systems, vol. 12, 109.
S. Nisar, O. Hasan (2019). Telesurgical Robotics and a Kinematic Perspective. Advanced Methodologies and Technologies in AI, Computer Simulation, and Human-Computer Interaction, IGI Global, pp. 1112–1126.
S. Nisar, O. Hasan (2019). State of the Art and Key Design Challenges of Telesurgical Robotics. Advanced Methodologies and Technologies in AI, Computer Simulation, and Human-Computer Interaction, IGI Global, pp. 1100–1111.
S. Nisar, O. Hasan (2018). State of the Art and Key Design Challenges of Telesurgical Robotics. Encyclopedia of Information Science and Technology (4th ed.), IGI Global, pp. 6872–6881.
S. Nisar, O. Hasan (2018). Telesurgical Robotics: A Kinematic Perspective. Encyclopedia of Information Science and Technology (4th ed.), IGI Global, pp. 6882–6893.
S. Nisar, O. Hasan (2015). Telesurgical Robotics. Encyclopedia of Information Science and Technology (3rd ed.), IGI Global, pp. 5482–5490.
S. Nisar, O. Hasan (2012). Slip Ring Device with Hollow Inner Core. Patent No. 142708 (829/2012), IPO Pakistan — Granted.
H. K. Qureshi, S. Nisar (2013). Battery Charger and a Counter. Patent No. 172/2013, IPO Pakistan — Granted.
T. Hassan, S. Nisar, O. Hasan (2012). Mechanical Interface for Virtual Laparoscopic Surgical Simulator. Patent No. 773/2012, IPO Pakistan — Granted.
K. Meitani, S. Nisar (2026). Spatial Stiffness Tuning in Monolithic FDM-Printed TPU Enhances Locomotion in Soft Crawling Robots. IEEE Access.
K. Meitani, S. Nisar (2025). 3D Printing of High-Fidelity Monolithic Soft Robotic Grippers Using Highly Flexible TPU. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
K. H. Joshi, P. Suriyasomboon, R. M. Suarez Flores, S. Nisar (2025). AI-Powered Autonomous Wheelchair with Zero-Shot Obstacle Detection and Navigation Assistance for Enhanced Mobility. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
A. Majumder, S. Nisar (2025). Achieving Real-Time Gait Recognition for Lower-Limb Exoskeletons Through Feature Selection and Model Evaluation at Reduced Window Sizes. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
R. M. Suarez Flores, Karan K. C., S. Nisar (2025). Design and Evaluation of a Wearable Electromagnetic Tendon-Driven Module for Kinesthetic Haptic Feedback. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
A. Thapliya, M. Kirwan, G. G. Nanayakkara, A. Powell, C. Chamzas, S. Nisar (2025). Design and Realization of a Surgical Manipulator Based on 2-DoF Remote-Center-of-Motion Planar Mechanism. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
C. Welcher, K. McCrudden, R. M. Suarez Flores, Y. Zheng, L. Fichera, S. Nisar (2025). Design of a Modular 6-DoF Robotic Surgical Instrument with Tool Modularity and Decoupled Degrees of Freedom. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
A. Villalejo Cota, R. M. Suarez Flores, S. Nisar (2025). Design of a Multi-Link Minimally Actuated Serial Robot Upper-Limb Exoskeleton. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
P. Suriyasomboon, A. Majumder, R. M. Suarez Flores, S. Nisar (2025). Evaluation of Haptic Feedback Modalities for Enhanced Locomotor Stability in Lower-Limb Prosthetic Training. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
K. Meitani, G. G. Nanayakkara, R. M. Suarez Flores, S. Nisar (2025). Finite Element Analysis of Highly-Flexible 3D Printable TPU: Evaluation of Material Properties and Hyperelastic Parameters of 60A and 70A Grades. 30th Int. Symposium on Artificial Life and Robotics (AROB) 2025.
R. M. Suarez Flores, N. Chirachongcharoen, F. Shabani, S. Nisar (2024). Grasp Anything: A Versatile Soft Robotic Grasping System with Zero-Shot Training. 29th Int. Symposium on Artificial Life and Robotics (AROB) 2024.
P. Suriyasomboon, R. M. Suarez Flores, H. Kawakami, S. Nisar (2024). Design of an Anthropomorphic Robot Hand to Replicate Human Hand Movements. 29th Int. Symposium on Artificial Life and Robotics (AROB) 2024.
P. Suriyasomboon, R. M. Suarez Flores, S. Nisar (2024). Design and Development of a Bio-Inspired Lower-Limb Prosthesis with Real-Time Haptic Feedback. Int. Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM) 2024 — Best Paper Award.
K. M. Swami, K. Hosotani, F. Shabani, S. Nisar (2024). World-Grounded vs. Wearable: A Comparative Analysis of Kinesthetic Haptic Feedback Devices for Fine Telemanipulation Tasks in Virtual Reality. 29th Int. Symposium on Artificial Life and Robotics (AROB) 2024.
N. Chirachongcharoen, S. Nisar (2024). Design Optimization and Imitation Learning Control of a Lower-Limb Robotic Exoskeleton. 42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024.
J. Char, K. Meitani, G. G. Nanayakkara, N. Ranadive, A. Majumder, F. Haque, N. Prévost, S. Nisar (2024). Design and Development of an Automated Agarose Gel Gradient-Forming System. 42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024.
Q. Ge, R. M. Suarez Flores, S. Nisar (2024). Effect of Taper and Chamber Shape on the Performance of a Bidirectional Soft Pneumatic Robot Finger. 42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024.
P. Suriyasomboon, R. M. Suarez Flores, S. Nisar (2024). Design of a 4-Degrees-of-Freedom Auto-Changeable Robotic Surgical Instrument. 42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024.
Karan K. C., S. Nisar (2024). Effects of Polarity and Signal Type on Electro-Tactile Feedback from Palmar Mechanoreceptors in Human Hand. 42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024.
G. G. Nanayakkara, K. Meitani, J. Char, F. Haque, N. Ranadive, A. Majumder, S. Nisar (2024). Determining the Minimal Number of Contact Points for Stable Grasping: An Investigation Using the Grasp Matrix and Quality Indices. 42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024.
S. Phamornsuwana, S. Nisar (2024). Studying Vehicle-Based Vibrotactile Haptic Feedback for Collision Avoidance on a Power Wheelchair. 42nd Annual Conf. of the Robotics Society of Japan (RSJ) 2024.
C. Manger, S. Nisar, A. Powell (2023). Design and Kinematic Analysis of a 5-Degrees-of-Freedom Robot-Assisted Surgery Instrument. 28th Int. Symposium on Artificial Life and Robotics (AROB) 2023.
R. M. Suarez Flores, B. Elsayed, S. Nisar (2023). Soft Pneumatic Gripper with Bidirectional Bending Using Single-Port Actuation. 28th Int. Symposium on Artificial Life and Robotics (AROB) 2023.
S. Phamornsuwana, S. Nisar (2023). Assisted-Wheelchair Navigation Using Haptic Assistance. 28th Int. Symposium on Artificial Life and Robotics (AROB) 2023.
N. Chirachongcharoen, S. Nisar (2023). An Adaptive Fuzzy-Based Algorithm to Recognize Human-Gait Type for Locomotion-Assistance Devices. 28th Int. Symposium on Artificial Life and Robotics (AROB) 2023.
S. Nisar, S. A. Khan (2022). Design of a Robotic Manipulator for THz Spectroscopy of Archaeological Objects of Arbitrary Shape and Size. 40th Annual Conf. of the Robotics Society of Japan (RSJ) 2022.
S. Nisar (2021). Human-in-the-Loop-Truly: A New Approach to Achieve Haptic-Enabled Teleoperation in Safety-Critical Robotic Applications. 39th Annual Conf. of the Robotics Society of Japan (RSJ) 2021.
K. Hosotani, S. Nisar, T. Endo, F. Matsuno (2020). Design of a Wearable Hand-Grounded Kinesthetic Haptic Device for Multi-Directional Force Display. IEEE Haptics Symposium 2020.
X. Wang, S. Nisar, F. Matsuno (2020). Visible Cloud: A Novel Technique to Achieve Safer Grasp Perception Using Point Clouds. Joint Symposium of the Systems, Control and Information Engineers (SCIE) 2020.
F. Shabani, S. Nisar, H. Philamore, F. Matsuno (2019). Neuro-Hapband: A Portable Haptic Solution for Neurofeedback Therapy. IEEE World Haptics Conference (WHC) 2019 — Work-in-Progress.
S. Nisar, T. Endo, F. Matsuno, A. M. Okamura (2018). Design of a Wearable Kinesthetic Feedback Device to Study the Effects of Different Hand-Grounding Locations on User Performance. IEEE Haptics Symposium 2018 — Work-in-Progress.
S. Nisar, T. Endo, A. M. Okamura, F. Matsuno (2018). Design of a Novel Remote Center of Motion Mechanism for Surgical Manipulators with Smaller Footprint. 62nd Annual Conf. of the Institute of Systems, Control and Information Engineers (ISCIE) 2018.
S. Nisar, T. Endo, F. Matsuno (2016). A 2-Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators. 6th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS) 2016.
Karan K. C. (2025). Realizing Localized Electro-Tactile Haptic Feedback on Palmar Fingers via Non-Restrictive Palm-Based Transcutaneous Electrical Nerve Stimulation. Master's thesis, Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
N. Chirachongcharoen (2024). Human Gait-Type Recognition without Pre-Training Using Adaptive Machine Learning for Lower-Limb Exoskeleton. Master's thesis, Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
S. Phamornsuwana (2024). Vehicle-Based Vibrotactile Haptics for Power Wheelchair Driving and Safety Assistance. Master's thesis, Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
R. M. Suarez Flores (2024). Design and Development of Soft Actuators for Safer Robotic Grasping and Manipulation. Master's thesis, Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
K. M. Swami (2023). Effects of Haptic Feedback on User Performance for Fine Telemanipulation in VR Using a Wearable Robotic Glove. Master's thesis, Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
L. G. J. Catolos (2025). Design of a New Morphing-Type Electric Aircraft for Stable VTOL. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
F. Haque (2025). Design and Development of a Supernumerary Robotic Finger with Squeeze Haptic Feedback. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
A. Majumder (2025). Achieving Real-Time Gait Recognition for Lower-Limb Robotic Exoskeletons Through Feature Selection and Model Evaluation at Reduced Window Sizes. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
K. Meitani (2025). Design and Fabrication of 3D-Printable High-Fidelity Monolithic Soft Robotic Grippers with Highly-Flexible Thermoplastic Polyurethane (TPU). Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
G. G. Nanayakkara (2025). A Minimal-Contact Grasp Stability Framework for Robust Robotic Grasping. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
N. N. Ranadive (2025). Enhancing Well-Being Through Wearable Vibrotactile Haptic Feedback. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
C. E. Burtenshaw (2025). Integrating Myoelectrics with Virtual Reality for Leg Muscle Rehabilitation and Recovery. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
A. H. M. H. Ibrahim (2025). Markerless Real-Time AI Tracking of Robotic Surgical Tool Pose from Intraoperative Video. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
K. H. Joshi (2025). Wearable vs. World-Grounded: A VR-Based Comparative Analysis of Kinesthetic Haptic Feedback for Space Teleoperation. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
P. Suriyasomboon (2025). Design and Development of a Robotic Hand with Proprioception and Tactile Sensing for Human-like Grasping. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.
M. G. Chandramohan (2025). Making Humanoid Robots Stand Straight: Design of a Novel Robotic Leg Architecture Ensuring High Energy Efficiency and Versatility. Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar.