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zhaoyang's profile picture 2016


Zhaoyang Chen


Zhaoyang chen

September, 2016- February, 2018  Columbia University  Master of Science in Mechanical Engineering

September, 2018-present vanderbilt university, Ph.D. student

Colette's Profile

Education Information

  • 2016 - Present: Ph.D Candidate, Mechanical Engineering, A.R.M.A. Research Laboratory, Vanderbilt University
  • 2011 - 2015: B. Sc. in Mechanical Engineering, Massachusetts Institute of Technology (MIT)

Research Interest:

  • Surgical Robotics
  • Biologically Inspired (Soft) Robotics
  • Minimally Invasive Surgery

Previous Research:

  • "Tissue tensionning to limit water infiltration during high pressure water jet debridement", BioInstrumentation Laboratory, MIT
  • "Soft Robotic Direct Cardiac Compression Device", BioDesign Laboratory, Wyss Institute, Harvard University
  • "Low Cost Manufacturing of Soft Robotic Technology", BioDesign Laboratory, Wyss Institute, Harvard University


  • 2011-2015: United World Colleges (UWC) Davis Scholarship
  • 2016-2017: Vanderbilt Engineering Graduate Fellowship

Contact Information:

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Rashid Yasin

Education Information


Master of Science, Mechanical Engineering, University of California Los Angeles 2014
Bachelor of Science, Engineering Sciences, Harvard College 2012

Contact Information
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Current Projects
Robotic Exploration of Unstructured Environments
Middle Ear Robotic Surgery
Cochlear Implant Surgery


  • Yasin, R., Wang, L., Abah, C., & Simaan, N. (2018). Using continuum robots for force-controlled semi autonomous organ exploration and registration. In Medical Robotics (ISMR), 2018 International Symposium on (pp. 1-6). IEEE.
  • Simaan, N., Yasin, R. M., & Wang, L. (2018). Medical Technologies and Challenges of Robot-Assisted Minimally Invasive Intervention and Diagnostics. Annual Review of Control, Robotics, and Autonomous Systems1, 465-490.
  • Salman, H., Ayvali, E., Srivatsan, R.A., Ma, Y., Zevallos, N., Yasin, R., Wang, L., Siman, N. and Choset, H. (2017). Trajectory-optimized sensing for active search of tissue abnormalities in robotic surgery. IEEE Conference on Robotics and Automation (ICRA).
  • Chalasani, P., Wang, L., Yasin, R., Simaan, N., & Taylor, R. H. (2018). Preliminary Evaluation of an Online Estimation Method for Organ Geometry and Tissue Stiffness. IEEE Robotics and Automation Letters3(3), 1816-1823.
  • Wang, L., Chen, Z., Chalasani, P., Yasin, R. M., Kazanzides, P., Taylor, R. H., & Simaan, N. (2017). Force-controlled exploration for updating virtual fixture geometry in model-mediated telemanipulation. Journal of Mechanisms and Robotics9(2), 021010.
  • Yasin, R., Aiello, G. & Simaan, N (2017). Exploring Reflected Light Intensity to Estimate Depth of the Basal Turn in Cochlear Implant Surgery. In The Hamlyn Symposium on Medical Robotics.
  • Yasin, R., O'Connell, B. P., Yu, H., Hunter, J. B., Wanna, G. B., Rivas, A. et al. (2017). Steerable Robot-assisted Micromanipulation in the Middle Ear: Preliminary Feasibility Evaluation. Otology & Neurotology, 38(2), 290–295.
  • O'Connell, B., Yu, H., Rivas, A., Hunter, J., Yasin, R., Wanna, G. B. et al (2016). Steerable Robot Assisted Micro-Manipulation in the Middle Ear: Preliminary Feasibility Evaluation. In Combined Otolaryngology Society Meeting (COSM). Chicago, Illinois.
  • Wang, L., Chen, Z., Chalasani, P., Yasin, R. M., Kazanzides, P., Taylor, R. H. et al. (2016). Force-Controlled Exploration for Updating Virtual Fixture Geometry In Model-Mediated Telemanipulation. Journal of Mechanisms and Robotics, In press.

Prior to ARMA Lab:

  • S Mikaiel, R Yasin, S Ross, MW Wahi-Anwar, J Simonelli, D Lu, K Sung, T-C Tsao, HH Wu. Imaging Assessment and Feasibility of a Hydrostatically Actuated Robotic Systems for Real-Time MRI-Guided Interventions. Proceedings ISMRM Twenty-Third Scientific Sessions, 2015, p4142.
  • Y.C. Chang, B Berry-Pusey, R Yasin, N Vu, B Maraglia, A.X. Chatzijoannou, and T.C. Tsao. An Automated Mouse Tail Vascular Access System by Vision and Pressure Feedback. IEEE/ASME Transactions on Mechatronics. Vol 10. 2014
  • Yasin, R., Mikaiel, S., Sung, K., Lu, D., Wu, H., Tsao, T.C. "A Hydrostatically Actuated Robotic System for Real-time MRI-guided Interventions"  10th Interventional MRI Symposium 2014, Leipzig, Germany.
  • Frech, Abraham., Orozco, D., Davoudi, K., Ding, C., Field, R., Yasin, R., Roche, E., Holland, D., Walsh, C. "Laparoscopic Device for Direct and Indirect SuctionJ. Med. Devices 7(3), 2013.


Medical and flexible robotics


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  • 2016 - present: Ph.D. in Mechanical Engineering, Vanderbilt University, Nashville, TN
  • 2012 - 2016: B.Sc. in Mechanical Engineering, University of Tennessee, Knoxville, TN

Research Interests

  • Design and control of robots for surgery
  • Modeling of continuum robots


  • NSF Graduate Research Fellowship (2016)

Refereed Journal Articles

  1. A. L. Orekhov and N. Simaan, “Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints,” Journal of Mechanisms and Robotics, vol. 11, p. 051003, Oct. 2019. [video]
  2. A. L. Orekhov, C. B. Black, J. Till, S. Chung, and D. C. Rucker, “Analysis and Validation of a Teleoperated Surgical Parallel Continuum Manipulator,” IEEE Robotics and Automation Letters, vol. 1, pp. 828-835, July 2016.

Refereed Conference Papers

  1. G. L. H. Johnston, A. L. Orekhov, N. Simaan, "Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints," IEEE International Conference on Robotics and Automation, May 2020. (accepted).
  2. C. Abah, A. L. Orekhov, G. L. H. Johnston, P. Yin, H. Choset, and N. Simaan, “A Multi-modal Sensor Array for Safe Human-Robot Interaction and Mapping,”IEEE International Conference on Robotics and Automation, May 2019. [video]
  3. C. Abah, A. L. Orekhov, and N. Simaan, “Design Considerations and Redundancy Resolution for Variable Geometry Continuum Robots,” in 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 767-774, May 2018. [video]
  4. A. L. Orekhov, V. A. Aloi, and D. C. Rucker, “Modeling parallel continuum robots with general intermediate constraints,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 6142-6149, May 2017.
  5. K. O. Butler, A. L. Orekhov, J. Childs, and C. Rucker, “A Rigid Mechanism With Uniform, Variable Curvature,” Journal of Medical Devices, vol. 10, p. 030953, Sept. 2016.
  6. A. L. Orekhov, C. E. Bryson, J. Till, S. Chung, and D. C. Rucker, “A surgical parallel continuum manipulator with a cable-driven grasper,” in 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 5264-5267, Aug. 2015.
  7. J. Till, C. E. Bryson, S. Chung, A. Orekhov, and D. C. Rucker, “Efficient computation of multiple coupled Cosserat rod models for real-time simulation and control of parallel continuum manipulators,” in 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5067-5074, May 2015. 

Book Chapters

  1. A. L. Orekhov, C. Abah, and N. Simaan, “Snake-like robots for minimally invasive, single-port, and intraluminal surgeries,” in The Encyclopedia of Medical Robotics, vol. 1, pp. 203-243, World Scientific, Aug. 2018. [arXiv]

Workshop Presentations

  1. A. L. Orekhov, G. L. H. Johnston, C. Abah, H. Choset, and N. Simaan, “Towards Collaborative Robots with Sensory Awareness: Preliminary Results Using Multi-Modal Sensing,” in ICRA 2019 workshop "Physical human-robot interaction: a design focus," May 2019. [video]






nima sarli


  • 2013 - 2018: PhD. in Mechanical Engineering, Vanderbilt University, Nashville, TN
  • 2011 - 2013: MSc. in Mechanical Engineering, Northeastern University, Boston, MA
  • 2008 - 2011: MSc. in Mechanical Engineering, Amirkabir University of Tech. (Tehran Polytechnic), Tehran, Iran
  • 2004 - 2008: BSc. in Mechanical Engineering, Amirkabir University of Tech. (Tehran Polytechnic), Tehran, Iran

Research Interests

  • Medical Robotics
  • Robotics & Control
  • Telerobotics



  • Stability and Transparency Analysis of Discrete-Time Time-Delayed Bilateral Teleoperation
  • AFM-Based Nano-telemanipulation Design
  • Stick-Slip Piezo-Actuator Modeling & Control Design
  • Stable Multi-User Interaction with Cooperative Haptic Virtual Environments


  • Sarli, N., "Design, Modeling & Control of Continuum Robots & Dexterous Wrists with Applications to Transurethral Bladder Cancer Resection.", PhD dissertation, Vanderbilt University, Sep 2018.
  • Sarli, N., Del Giudice, G., De, S., Dietrich, M. S., Herrell, S. D. and Simaan, N., "TURBot: a System for Robot-Assisted Transurethral Bladder Tumor Resection", IEEE/ASME Transactions on Mechatronics, Submitted.
  • Sarli, N., Noh, S. and Simaan, N., "Modeling and Performance Characterization of an Open-ended Wire-Driven Wrist Architecture for Robotic Minimally Invasive Surgery", Mechanism and Machine Theory, Submitted.
  • Sarli, N., Del Giudice, G., De, S., Dietrich, Mary S., Herrell, S. D. & Simaan, N. (2018). "Preliminary Porcine in vivo Evaluation of a Telerobotic System for Transurethral Bladder Tumor Resection & Surveillance". Journal of Endourology, vol. 32, no. 6, June 2018.
  • Sarli, N., Simaan, N. (2017). Minimal Visual Occlusion Redundancy Resolution of Continuum Robots in Confined Spaces . International Conference on Intelligent Robots and Systems (IROS2017).
  • Sarli, N., Marien, T., Mitchell, C. R., Giudice, G. D., Dietrich, M. S., Herrell, S. D. et al. (2016). Kinematic and Experimental Investigation of Manual Resection Tools for Transurethral Bladder Tumor Resection. The International Journal of Medical Robotics and Computer Assisted Surgery.
  • Sarli, N., Giudice, G. D., Herrell, D. S. & Simaan, N. (2016). A Resectoscope for Robot-Assisted Transurethral SurgeryASME Journal of Medical Devices 2(10), 020911.
  • Sarli, N., Giudice, G. D., Herrell, D. S. & Simaan, N (2016). A Resectoscope for Robot-Assisted Transurethral Surgery. In 2016 Design of Medical Devices Conference(DMD'2016). Minneapolis, MN, USA.
  • Giudice, G. D., Sarli, N., Herrell, S. D. & Simaan, N (2016). Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection. In International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (ASME IDETC/CIE2016). Charlotte,NC,USA.
  • Sarli, N., Marien, T., Herrell, S. D. & Simaan, N (2015). Characterization of resection dexterity in transurethral resection of bladder tumor: A kinematic study. In IEEE International Conference on Robotics and Automation (ICRA2015), pages 5324 - 5329.
  • Marien, T., Sarli, N., Mitchell, C., Del Giudice, G., Simaan, N. & Herrell, S. D (2015). Surgeon Resection Performance DuringTransurethral Resection of Bladder Tumor (TURBT): A Quantified Study. In 30th annual meeting of Engineering and Urology Society.
  • N., Sarli, S., M., Rezaei, S., S., Ghidary, M., Zareinejad, H., A., Talebi, M. Dehghan, On Stability and Transparency of a Time-Discretized Time-Delayed Impedance- Controlled Force-Reflecting Teleoperation. (IFAC2011)  (pdf)
  • N., Sarli, I., Kardan, S., Shiri, Ghidary, K., Baghestan, Robust H_Infinity and Mu-Synthesis Controller Design for an Underwater Unmanned Vehicle. Proc. 18th Annual International Conference on Mechanical Engineering, Iran (ISME2010)
  • S., Samadzade, M., H., Korayem, N., Sarli, M., Zareinejad, Stability in a Neural Network-Based Nano-telemanipulation through Adaptive Tuning of the Haptic Interface Dissipation. (Digest Journal of Nanomaterials & Biostructures)
  • S., Samadzade, M., Habibnejad, Korayem, N., Sarli, A Novel Approach for the Design of a 1-DOF Nano-Telemanipulation System Involving a Virtual Slave and Environment Based on Passivity and Coupled Stability Theory. Proc. ASME 2010 Int. Mechanical Engineering Cong. & Expo. (IMECE2010)
  • S., Samadzade, M., Habibnejad, Korayem, N., Sarli, AFM-Based Nano-Telemanipulation for Indenting on a Human Chromosome Using Sliding-Mode Impedance-Based Controller for the Slave. Proc. 17th Int. Conference on Biomedical Engineering, (ICBME2010)
  • R. Jaberzadeh Ansari, M. Zareinejad, S.M. Rezaei, K. Baghestan, N. Sarli, Stable multi-user interaction with cooperative haptic virtual environments by a modification of passive set-position modulation. (IET Control Theory & Applications)


  • Northeastern University Excellence Fellowship
  • Best Paper Award at 33th Annual meeting of Engineering and Urology Society, San Francisco, USA