Research Interest

Students for Leg Exoskeleton Development Project - BTech, MTech Students may apply, Rehabilitation Robotics, Design and Control of Hand and Leg Exoskeletons using EMG/EEG signal with Touch/Force/Angular sensor, Current Project with potential PhD Opening for: Development of active or passive leg exoskeleton based on series elastic actuation for assistance of elderly humans, Intelligent Sensors:, Experimental Study, Mobile Robotics-Assembly, Modelling and Control, Human Hand Biomechanics:, Redundancy Resolution of Human Fingers while performing Activities of Daily Living, Nano and Micro robotics, Virtual Instrumentation:, Signal Processing and Manipulation, Student Research Projects:, Students can apply for internship for working towards (i) Intelligent Cane, (ii) Ball Plate Control, Disaster Robotics:, Design, Development and Control of Rescue Robots, Visual Servoing:, Ball Plate Balancing System using Realtime Vision Feedback, Medical Robotics:, Real-Time Control of Active Flexible Needle for Percutaneous Intervention, Robotic Surgery, Teleoperated Master-Slave Robotic Surgery based on Haptics Feedback.

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Research Papers

Peer Reviewed Journals
1. T. D. Tolasso, R. Gupta, M. Felix Orlando and Y. V. Hote, “Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm”, in International Journal of Intelligent Robotics and Applications, Springer, July 2024, (Accepted).
2. K. Halder and M. Felix Orlando, “Needle Steering Controller Design for Flexible Steerable Needle Utilizing Robust Backstepping Control Strategy,” in IEEE Transactions on Medical Robotics and Bionics, June 2024, (Accepted).
3. T. D. Tolasso, G. Manavaalan, M. Felix Orlando and Y. V. Hote, “Trajectory Tracking Control of Wheeled Mobile Robot Using Fuzzy Logic Controller with Optimal Parameters”, in Robotica, June 2024, (Accepted).
4. Bulbul Behera, M. Felix Orlando and R. S. Anand, "Prognosis of Tissue Stiffness through Multilayer Perceptron Technique with Adaptive Learning Rate in Minimal Invasive Surgical Procedures," IEEE Transactions on Medical Robotics and Bionics, vol. 6, no. 2, pp. 769-781, May 2024, [Q1, Impact Factor: 3.7].doi: 10.1109/TMRB.2024.3377371
5. Sarvesh Saini, M. Felix Orlando and P. M. Pathak "Adaptive Control of a Master-Slave based Robotic Surgical System with Haptic Feedback," IEEE Transactions on Automation Science and Engineering, vol. 20 (2), pp. 1125-1138, April 2023. [Q1, Impact Factor: 6.636]. doi: 10.1109/TASE.2022.3183179.
6. Sarvesh Saini, M. Felix Orlando and P. M. Pathak "Intelligent Control of Master-Slave based Robotic Surgical System," Journal of Intelligent & Robotic Systems, Springer, 105, Article number 94, pp. 1-20, June 28, 2022. [Q1, Impact Factor: 3.129]. doi.org/10.1007/s10846-022-01684-3.
7. S. Hans and M. Felix Orlando, ''Control of a Flexible Bevel-Tipped Needle using Super-Twisting Controller based Sliding Mode Observer'', Transactions, Elsevier Journal, 109, pp. 186-198, 2021. [Q1, Impact Factor: 5.468].
8. Eram Neha, M. Felix Orlando, Mohd Suhaib, and Yogesh Shrivastava, "An Effort for Resolving Redundancy of a Multi-finger Robotic hand in Straight line Motions," Journal of the Brazilian Society of Mechanical Sciences and Engineering, Springer, vol. 42, no. 600, 2020.[Q2, Impact Factor: 2.220].
9. M. Felix Orlando, Laxmidhar Behera, Ashish Dutta and Anupam Saxena, "Optimal Design and Redundancy Resolution of a Novel Robotic Two-Fingered Exoskeleton", IEEE Transactions on Medical Robotics and Bionics, pp. 59-75, vol. 2, no. 1, Feb 2020. DOI: 10.1109/TMRB.2020.2970114 [Q1, Impact Factor: 3.7].
10. S. Hans and M. Felix Orlando, "Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures", IEEE/CAA Journal of Automatica Sinica, vol. 7, no. 1, pp. 244-256, Jan 2020[Q1, Impact Factor: 6.167].
11. M. Felix Orlando and Tarun Podder, "Sliding Mode Control of a Shape Memory Alloy Actuated Active Flexible Needle," Robotica, vol. 36, pp. 1188-1205, May 2018, doi:10.1017/S0263574718000334 (Q2, Impact Factor: 2.088)
12. M. Felix Orlando , Laxmidhar Behera, Tomayo Tamei, Tomohiro Shibata, Ashish Dutta and Anupam Saxena," On Redundancy Resolution of the Human Thumb, Index and Middle Fingers in Cooperative Object Translation," Robotica, vol. 35, Sep 2016, pp. 1992-2017, doi:10.1017/S0263574716000680 (Q2, Impact Factor: 2.088)
13. M. Felix Orlando , Ashish Dutta, Anupam Saxena, Laxmidhar Behera, Tomoya Tamei and Tomohiro Shibata, “Manipulability Analysis of Human Thumb, Index and Middle Finger in Cooperative 3D Rotational Movements of a Small Object”, Robotica, vol. 31, pp. 797-809, 2013. (Q2, Impact Factor: 2.088)
14. M. Felix Orlando , M. Kumar, P. Hutapea, Y. Yu, A. Dicker, T. Podder, “Development of Self-actuating Flexible Needle System for Surgical Procedures,” ASME Journal of Medical Devices, vol. 9, no. 2, pp. 1-2.020945 (Jun 01, 2015) (2 pages) Paper No: MED-15-1138; doi: 10.1115/1.4030221 020945. (Q2, Impact Factor: 0.582)
15. M. Felix Orlando , M. Kumar, K. Franz, P. Hutapea, A. Dicker, Y. Zhao, Y. Yu, T. Podder, “Control of Shape Memory Alloy Actuated Flexible Needle using Multimodal Sensory Feedbacks”, Journal of Automation and Control Engineering, vol. 3, no. 5, pp. 428-434, 2015.
16. Y. J. Zhao, B. Kohn, M. Honarwar, M. Felix Orlando , T. Podder, P. Hutapea, A. Dicker, Y. Yu, “3D Motion Planning for Robot-Assisted Active Flexible Needle Based on Rapidly-Exploring Random Trees”, Journal of Automation and Control Engineering, vol. 3, no. 5, pp. 360-367, 2015.

Research Papers

Peer Reviewed Conference Proceedings
1. K. Halder and , M. Felix Orlando , “Design and Development of Robust Force Control Strategy of a Hand Exoskeleton for Grasping Assistance,” IEEE 28th International Conference on System Theory, Control and Computing (ICSTCC-2024) (Accepted).
2. B. Behera, M. Felix Orlando and R. S. Anand, “Multilayer Perceptron Technique based Predictive Model for Bevel-Tip Needle Deflection in Percutaneous Interventions,” IEEE 28th International Conference on System Theory, Control and Computing (ICSTCC-2024) (Accepted).
3. Samsaptak Ghosh, M. Felix Orlando and Sohom Chakrabarty, "Design and Development of a Web-APP Based User Interface to Control and Operate an Automated Mobile Robot," IEEE 3rd International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES), Delhi Technological University, (Orally Presented).
4. K. Halder, M. Felix Orlando and R. S. Anand, “Trajectory Tracking Controller Design for Percutaneous Interventional Procedures,” IEEE Third International Conference on Power, Control and Computing Technologies (ICPC2T-2024), pp. 775-780 (Received Best Paper Award).
5. T. D. Tolossa, P. Manohar, A. Jahnavi, T. Bhavsingh, S. Teja, Y. Jangir, Y. V. Hote, and M. Felix Orlando , “Fault Detection and Analysis for a Mobile Robot using Radial Basis Function Network,” IEEE Third International Conference on Power, Control and Computing Technologies (ICPC2T-2024), pp. 745-750.
6. B. Behera, M. Felix Orlando and R. S. Anand, “Prediction of Bevel-Tip Needle Deflection using CART based Decision Tree,” IEEE Third International Conference on Power, Control and Computing Technologies (ICPC2T-2024), pp. 769-774.
7. S. Hans, P. Bansal, G. Mathur, K. Nathwani, M. Felix Orlando , “Experimental Evaluation of Needle Tip Prediction Using Kalman Filtering Approach. In: Kaur, H., Jakhetiya, V., Goyal, P., Khanna, P., Raman, B., Kumar, S. (eds) Computer Vision and Image Processing. CVIP 2023. Communications in Computer and Information Science, vol 2009, pp. 282-293, Springer, Cham. https://doi.org/10.1007/978-3-031-58181-6_24
8. S. Ghosh, M. Felix Orlando and S. Chakrabarty, “A Collision Response Model of an Ackermann Vehicle with Combined Longitudinal and Lateral Velocity,” IEEE International Conference on Recent Advances in Systems Science and Engineering (RASSE-2023), pp. 1-8, doi: 10.1109/RASSE60029.2023.10363541
9. S. Ghosh, D. Etta, M. Felix Orlando and S. Chakrabarty, “Design and development of a collision avoidance system for an Automated Mobile Robot,” IEEE 7th International Conference on Computer Applications in Electrical Engineering-Recent Advances (CERA-2023), IIT Roorkee, pp. 1-6, doi: 10.1109/CERA59325.2023.10455604
10. U. Gupta, S. Ghosh, M. Felix Orlando and S.Chakrabarty, “Structural Design and Analysis of an AMR Chassis for Industrial Payload Transportation,” IEEE 7th International Conference on Computer Applications in Electrical Engineering-Recent Advances (CERA-2023), IIT Roorkee, pp. 1-6, doi: 10.1109/CERA59325.2023.10455671
11. G. Manavaalan, S. Karon, R. Krishna, M. Lokeshwar Raj, P. Hema Priya, and M. Felix Orlando , “Development and Control of a Four-Wheel Drive Holonomic Mobile Robot,” IEEE 7th International Conference on Computer Applications in Electrical Engineering-Recent Advances (CERA-2023), IIT Roorkee, pp. 1-6, doi: 10.1109/CERA59325.2023.10455377
12. S. Kumar Kuri, K. Halder, and M. Felix Orlando , “SOM Network with Weighted Least Norm Matrix Based Redundancy Resolution for a 5-DOF Spatial Robotic Manipulator,” IEEE 7th International Conference on Computer Applications in Electrical Engineering-Recent Advances (CERA-2023), IIT Roorkee, pp. 1-6, doi: 10.1109/CERA59325.2023.10455512
13. S. Saini, K. Halder, M. Felix Orlando and P. M. Pathak, “Neuro-Adaptive Control of a Master-Slave Robotic System,” Eighth IEEE Indian Control Conference (IEEE-ICC), Chennai, India, 14-16 December, 2022, pp. 224-229. doi: 10.1109/ICC56513.2022.10093256.
14. K. Halder, M. Felix Orlando and R. S. Anand, “Adaptive Neuro Fuzzy Inference Based Control of a Flexible Bevel-Tip Needle for Minimal Invasive Surgical Procedures,” Eighth IEEE Indian Control Conference (IEEE-ICC), Chennai, India, 14-16 December 2022, pp. 163-168. doi: 10.1109/ICC56513.2022.10093409
15. K. Halder, M. Felix Orlando and R. S. Anand, “Fuzzy Based Control of a Flexible Bevel-Tip Needle for Percutaneous Interventions,” 31st IEEE International Conference on Robot and Human Interactive Communication (IEEE-ROMAN), Napoli, Italy, Aug. 29-Sep. 2, 2022, pp. 852-857, doi: 10.1109/RO-MAN53752.2022.9900829.
16. C. Asati, N. Meena and M. Felix Orlando , “Development of an Intelligent Cane for Visually Impaired Human Subjects,” 28th IEEE International Conference on Robot and Human Interactive Communication (IEEE-ROMAN), 14-18 October 2019, pp. 1-5, Doi: 10.1109/RO-MAN46459.2019.8956328
17. S. Saini, P. M. Pathak and M. Felix Orlando , “Bondgraph Modelling for the Master-Slave Robotic Teleoperation System,” 28th IEEE International Conference on Robot and Human Interactive Communication (IEEE-ROMAN), 14-18 October 2019, pp. 1-6, Doi: 10.1109/RO-MAN46459.2019.8956409 (Received Best Indian Student Paper Award).
18. S. Hans and M. Felix Orlando , “Continuous Sliding Mode Control of Bevel-Tip Needle for Percutaneous Interventions,” 28th IEEE International Conference on Robot and Human Interactive Communication (IEEE-ROMAN), 14-18 October 2019. Doi: 10.1109/RO-MAN46459.2019.8956434
19. N. Agarwal, A. Yadav, A. Gupta and M. Felix Orlando , “Real-time Needle Tip Localization in 2D Ultrasound Images using Kalman Filter,” IEEE/ASME Advanced Intelligent Mechatronics, (IEEE/ASME-AIM) 2019, HongKong, 08-12, July 2019, pp. 1008-1012.
20. S. Ghosh and M. Felix Orlando , “Continuous Joint Angle Estimation of an Index Finger Exoskeleton using Online EEG Signal,” IEEE/ASME Advanced Intelligent Mechatronics (IEEE/ASME-AIM) 2019, HongKong, 08-12, July 2019, pp. 808-813.
21. P. Mondal, M. Mondal, S. Ghosh and M. Felix Orlando , “Force Control of an Index Finger Exoskeleton for Rehabilitation of Stroke Patients,” IEEE-ASPCON (Applied Signal Processing Conference) 2018, Kolkata, India, 07-09 Dec 2018, pp. 183-187.
22. M. Felix Orlando , P. Prem Kumar, L. Behera, “Redundancy Resolution of an Index Finger Exoskeleton using Self Organizing Map,” IEEE-AIM (Advanced Intelligent Mechatronics) 2018, Auckland, New Zealand, 09-12 July 2018, pp. 863-868.
23. A. Malhotra, P. Shekar Singh, Krishna and M. Felix Orlando , “Design, Fabrication and Control of a Smart Flexible Needle For Minimal Invasive Surgical Procedures,” IEEE-AIM (Advanced Intelligent Mechatronics) 2018, Auckland, New Zealand, 09-12 July 2018, pp. 226-231.
24. M. Felix Orlando et al., “Inverse Kinematic Control of a Shape Memory Alloy Actuated Smart Needle for Percutaneous Intervention,” IEEE-TENCON 2017, Penang, Malaysia, 05-08 Nov 2017, pp. 1159-1164.
25. M. Felix Orlando , “Development of Closed Loop Coordinated Control of a Robot Guided SMA Actuated Flexible Active Needle with Multimodal Sensory Feedbacks,” 43rd IEEE International Conference on Industrial Electronics Society, 2017, (IEEE-IECON 17), Beijing, China, 29 Oct - 01 Nov 2017, pp. 2846-2851.
26. M. Felix Orlando , S. Gupta, A. Puwar, C. Rastogi, Vishrut, Rahul, Avishek, “Classification of Extension and Flexion Positions of Thumb, Index and Middle Fingers using EEG Signal,” 6th IEEE International Conference on Control System, Computing and Engineering (IEEE-ICCSCE 16), Penang, Malaysia, Nov. 25-27, 2016, pp. 298-303.
27. M. Felix Orlando , P. Hutapea, A. Dicker, Y. Yu, T. Podder, “Closed Loop Control of a Robot Assisted Smart Flexible Needle for Percutaneous Intervention,” 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Milano, Italy, Aug. 25-29, 2015, pp. 3663-3666.
28. M. Felix Orlando , K. Franz, K, Y. Luan, Y. L. Zhao, N. V. Datla, P. Hutapea, A. Dicker, Y. Yu, T. Podder, “Development of a coordinated controller for robot-assisted shape memory alloy actuated needle for prostate brachytherapy,” 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Chicago, USA, Aug. 26-30, 2014, pp. 357-360.
29. Y. J. Zhao, M. Felix Orlando , K. Franz, K, N. V. Datla, Y. D. Zhang, T. Podder, P. Hutapea, A. Dicker, Y. Yu, “Path Planning for Robot-Assisted Active Flexible Needle using Improved Rapidly-Exploring Random Tree,” 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Chicago, USA, Aug. 26-30, 2014, pp. 380-383.
30. J. Ngeo, T. Tamei, T. Shibata, M. Felix Orlando , L. Behera, A. Saxena and A. Dutta, “Control of an Optimal Finger Exoskeleton based on Continuous Joint-angle Estimation from EMG signal,” 35th Annual International conference on IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Osaka, Japan, July 03-07, pp. 338-341, 2013.
31. M. Felix Orlando , Dutta. A, Saxena. A, Behera. L, Shibata. T and Tamei. T, 2012, “Hybrid Control of a three finger hand exoskeleton based on EMG and inverse kinematics model,” The 30th Annual Conference of the Robotics Society of Japan (RSJ), September 17-20, 2012, pp.1-6.
32. M. Felix Orlando , Dutta. A, Saxena. A, Behera. L, Shibata. T and Tamei. T, 2011, “Design and development of a three finger hand exoskeleton,” The 29th Annual Conference of the Robotics Society of Japan (RSJ), Shibaura, Japan, September 07-09, 2011.
33. M. Felix Orlando o, H. Akolkar, A. Dutta, A. Saxena and L. Behera, “Optimal design and control of a thumb exoskeleton,” IEEE TENCON, Fukuoka, Japan, pp. 1492-1497, 2010.
34. M. Felix Orlando , H. Akolkar, A. Dutta, A. Saxena and L. Behera, “Optimal design and control of a hand exoskeleton,” IEEE International Conference on Robotics, Automation and Mechatronics (IEEE-RAM), Singapore, pp. 72-77, 2010.
35. M. Felix Orlando and Y. H. Oh, “Robot arm control using optimized pinch grasp posture based on object shape,” Proc. 37th Korea Institute of Electrical Engineers (KIEE), South Korea, pp. 1929-1930, 2006.

Research Interests

Interest Description
1.Robotics Exploring advanced algorithms and hardware solutions for controlling robotic systems.
2.Mechanism Design Designing and analyzing mechanical systems to achieve desired movements and functions.
3.Machine Learning Applying machine learning techniques to improve the performance and autonomy of robotic systems.

Achievements

Achievements
1- NPTEL Course on Robotics and Control: Theory and Practice (January 2020 Onwards)
2- NPTEL Course on Intelligent Control of Robotic Systems (Accepted to run from January 2025 Onwards)
3- Organized as Joint Secretary for IEEE sponsored 7th International Conference on Computer Applications in Electrical Engineering - Recent Advances (CERA-2023), Roorkee, Uttarakhand, India.
4- Fifteen Days Workshop on “Training on future skills technologies: Robotics and Automation”, 01-15 March 2020, with Prof. P. M. Pathak, Mechanical and Industrial Engineering Department, IIT Roorkee.
5 - Five Days Workshop on “Robotics and Control”, 04-08 November 2019, Global Academy of Technology Bangalore, India.
6 - AICTE Sponsored Lecture on “Robotics and Control”, 01-05 July 2019, with Prof. N. Sukavanam, IIT Roorkee, India.
7- Global Initiative of Academic Networks (GIAN) on “Robotic Systems Modeling and Control”, 11-15 December 2017, with Prof. Doik Kim, KIST, South Korea.