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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]