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  • 2016 - 2021: Ph.D. in Mechanical Engineering, Vanderbilt University, Nashville, TN
  • 2012 - 2016: B.Sc. in Mechanical Engineering, University of Tennessee, Knoxville, TN


  • NSF Graduate Research Fellowship (2016)

Research Interests

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


Refereed Journal Articles

  1. A. L. Orekhov, E. Z. Ahronovich and N. Simaan, "Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots With General String Encoder Routing," in IEEE Transactions on Robotics, 2023. [arXiv] [video]
  2. G. L. H. Johnston, A. L. Orekhov, and N. Simaan, "Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms," ASME Journal of Mechanisms Robotics, Jan. 2023. [video]
  3. C. Abah, A. L. Orekhov, G. L. H. Johnston, N. Simaan "A Multi-Modal Sensor Array for Human-Robot Interaction and Confined Spaces Exploration Using Continuum Robots," IEEE Sensors Journal, vol. 22, no. 4, pp. 3585-3594, Feb 2022. [video]
  4. G. Del Giudice, A. L. Orekhov, J. Shen, K. Joos, N. Simaan. “Investigation of Micro-motion Kinematics of Continuum Robots for Volumetric OCT and OCT-guided Visual Servoing,” IEEE/ASME Transactions on Mechatronics, 2020.
  5. A. L. Orekhov and N. Simaan, “Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints,” ASME Journal of Mechanisms and Robotics, vol. 11, p. 051003, Oct. 2019. [video]
  6. 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. [video]

Refereed Conference Papers

  1. A. L. Orekhov, N. Simaan "Solving Cosserat Rod Models via Collocation and the Magnus Expansion," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 2020. [arXiv]
  2. G. L. H. Johnston, A. L. Orekhov, N. Simaan, "Kinematic Modeling and Compliance Modulation of Redundant Manipulators Under Bracing Constraints," 2020 IEEE International Conference on Robotics and Automation (ICRA), May 2020. [arXiv]
  3. 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,” 2019 IEEE International Conference on Robotics and Automation (ICRA), May 2019. [video]
  4. 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]
  5. 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.
  6. 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.
  7. 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.
  8. 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]


  1. A. L. Orekhov, G. L. H. Johnston, C. Abah. "An In-Situ Collaborative Robot for Manufacturing in Confined Spaces," 2021 ASME Student Mechanisms and Robotics Design Competition, Aug. 2021. (1st Place Prize)  [link]
  2. A. L. Orekhov, J. Seo, N. Simaan. "Kinematics and Shape Sensing of a Collaborative Continuum Robot," IROS 2020 workshop on "Application-Oriented Modelling and Control of Soft Robots,"  Nov. 2020. (2nd Place Poster Prize) [pdf]
  3. 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. [pdfvideo]