- Developed Two Robotic Courses:

1. Bio-Medical Robotics

2. Intelligent Control of Robotic Systems

- EEN-614 Bio-Medical Robotics

- EEN-596 Intelligent Control of Robotic Systems

1. K. Halder, M. Felix Orlando (2024). Development of Fuzzy Controller for a Flexible Bevel-Tip Needle in Percutaneous Interventional Procedures. In: Vinjamuri, R. (eds) Discovering the Frontiers of Human-Robot Interaction. Springer, Cham. https://doi.org/10.1007/978-3-031-66656-8_9
2. NPTEL Course on Robotics and Control: Theory and Practice. (27 Jan 2020 onwards)

Peer Reviewed Journal Articles

1. 1. Kaushik Halder, Tithi Biswas, M. Felix Orlando, Yiran Zheng, and Tarun Podder, "Overall Survival Prediction Utilizing Support Vector Machine with Cluster Partitioning Methodology for NSCLC Patients Treated with SBRT," International Journal of Radiation Oncology, Biology, Physics, Volume 120, Issue 2, e56 - e57 doi:  10.1016/j.ijrobp.2024.07.1902
   2. Kaushik Halder, Tarun Podder, M. Felix Orlando, Yiran Zheng, Michael Mix, and Tithi Biswas, "A Combined Machine Learning Model for Predicting Pneumonitis of NSCLC Patients Treated with SBRT," International Journal of Radiation Oncology*Biology*Physics, Volume 120, Issue 2, Supplement, 2024, Page e56, ISSN 0360-3016, doi: 10.1016/j.ijrobp.2024.07.1901
   3. Bulbul Behera, M. Felix Orlando and R. S. Anand, "Prediction of Puncturing Events through LSTM for Multilayer Tissue," Biomedical Physics & Engineering Express 10 065041, vol. 10, no. 6, 02 October 2024, doi: 10.1088/2057-1976/ad844c
   4. Tesfaye D. Tolasso, R. Gupta, M. Felix Orlando and Yogesh. V. Hote, “Redundancy Resolution of a Mobile Manipulator Using Learning Based Algorithm”, in International Journal of Intelligent Robotics and Applications, Springer, Jan. 2024,  https://doi.org/10.1007/s41315-024-00360-z
   5. Tesfaye D. Tolossa, Kaushik Halder, G. Manavaalan, Hitendra Kumar Verma, Shyam Sundar Parswal, Nishant Jorwal, M. Felix Orlando and Yogesh. V. Hote, "Trajectory Tracking Control of a Mobile Robot Using Fuzzy Logic Controller with Optimal Parameters," Robotica, pp. 1-24, 2024. doi: 10.1017/S0263574724001140 
   6. Kaushik Halder and M. Felix Orlando, "Needle Steering Controller Design for Flexibble Steerable Needle Utilizing Robust Backstepping Control Strategy," IEEE Transactions on Medical Robotics and Bionics, vol. 6, no. 3, pp. 1256-1269, Aug. 2024, doi: 10.1109/TMRB.2024.3421593 [Q1, Impact Factor: 3.7].
   7. 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
   8. 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
   9. 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
   10. S. Hans and M. Felix Orlando, ''Control of a Flexible Bevel-Tipped Needle using Super-Twisting Controller based Sliding Mode Observer'', ISA Transactions, Elsevier Journal, 109, pp. 186-198, 2021. [Q1, Impact Factor: 5.468].
   11. 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].
   12. 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].
   13. 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].
   14. 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)
   15. 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)
   16. 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)
   17. 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)
   18. 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.
   19. 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.

Peer Reviewed Conference Proceedings   

1. Bulbul Behera, Pranav Baraskar and M. Felix Orlando, "Prediction of Seat-off towards assistance for Sit-to-Stand movement by RBFN," 5th International Conference on Recent Advances in Mechanical Engineering Research and Development (ICRAMERD-2024) (Accepted).

2. Bulbul Behera, M. Felix Orlando and R. S. Anand, "Maximizing the Prediction Accuracy of Needle Deflection by Random Forest through Bayesian Approach," 2024 3rd International Conference on Data, Decision and Systems (IEEE-ICDDS), Bangalore, December 5-7, 2024 (Accepted).

3. Kaushik Halder, M. Felix Orlando and R. S. Anand, “AI-Driven Control of Flexible Bevel-tip Needles in Minimally Invasive Surgery Utilizing Adaptive Multi-Layer Perceptron Architecture,” IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES 2024). (Accepted).

4. Kaushik Halder and M. Felix Orlando, “Trajectory Tracking Controller Design for a Ball-Plate Balancing System using ANFIS,” IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES 2024). (Accepted). 

5. Kaushik 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), Romania, 2024, pp. 539-544. (BEST PAPER AWARD). 

6. Bulbul 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), Romania, 2024, pp. 63-68.

7. 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, India, 2024, pp. 329-334. doi: 10.1109/ICPEICES62430.2024.10719150 

8. Bulbul Behera, M. Felix Orlando, and R. S. Anand, "Prediction of Bevel-Tip Needle Deflection using CART based Decision Tree," IEEE 3rd International Conference on Power, Control and Computing Technologies (ICPC2T-2024), NIT Raipur, India, 2024, pp. 769-774.

9. Kaushik Halder, M. Felix Orlando, and R. S. Anand, "Trajectory Tracking Controller Design for Percutaneous Interventional Procedures," IEEE 3rd International Conference on Power, Control and Computing Technologies (ICPC2T-2024), NIT Raipur, India, 2024, pp. 775-780. 

10. Tesfaye Deme Tolossa, Penta Manohar, Allamsetti Jahnavi, Tejavath Bhavsingh, Siripangi Sai Teja, Yogesh Jangir, and M. Felix Orlando, "Fault Detection and Analysis for a Mobile Robot using Radial Basis Function Network," IEEE 3rd International Conference on Power, Control and Computing Technologies (ICPC2T-2024), NIT Raipur, India, 2024, pp. 745-750.

11. S. Hans, P. Bansal, G. Mathur, K. Nathwani, and 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. 283-292, 2024, Springer, Cham. https://doi.org/10.1007/978-3-031-58181-6_24

12. Samsaptak Ghosh, M. Felix Orlando and Sohom 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), Kerala, India, 2023, pp. 1-8, doi: 10.1109/RASSE60029.2023.10363541

13. Samsaptak Ghosh, Dheeraj Etta, M. Felix Orlando and Sohom 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

14. Ujjwal Gupta, Samsaptak Ghosh, M. Felix Orlando and Sohom 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

15. 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

16. Saumitro Kumar Kuri, Kaushik 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

17. Sarvesh Saini, Kaushik 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.

18. Kaushik 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

19. Kaushik 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

20. Chirayu Asati, Nitika 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. 1-6, doi: 10.1109/RO-MAN46459.2019.8956328

21. Sarvesh 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 (Awarded Kawamura Award for Best Indian Robotics Students to Mr. Sarvesh Saini)

22. 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, pp. 1-6, doi: 10.1109/RO-MAN46459.2019.8956434

23. Nisha Agarwal, Ankur Yadav, Arjun 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, 8-12, July 2019, pp. 1008-1012.

24. Samsaptak 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, 8-12, July 2019, pp. 808-813.

25. Parmita Mondal, Madhusree Mondal, Samsaptak Ghosh and M. Felix Orlando, "Force Control of an Index Finger Exoskeleton for Rehabilitation of Stroke Patients", IEEE-Applied Signal Processing Conference (IEEE-ASPCON), Kolkata, 7-9 Dec, 2018, pp. 183-187. 

26. M. Felix Orlando, P. Prem Kumar, Laxmidhar Behera, "Redundancy Resolution of an Index Finger Exoskeleton using Self Organizing Map", IEEE/ASME Advanced Intelligent Mechatronics (IEEE/ASME-AIM) 2018, Auckland, New Zealand, 9-12 July 2018, pp. 863-868.

27. Aman Malhotra, Prasant Shekar Singh, Krishna and M. Felix Orlando, "Design, Fabrication and Control of a Smart Flexible Needle For Minimal Invasive Surgical Procedures", IEEE/ASME Advanced Intelligent Mechatronics (IEEE/ASME-AIM) 2018, Auckland, New Zealand, 9-12 July 2018, pp. 226-231.

28. M. Felix Orlando, S. Hans, Aviral Singhai, Arjun Gupta, Ankur Yadav, Aman Malhotra, Prashant Sekhar and Krishna, "Inverse Kinematic Control of a Shape Memory Alloy Actuated Smart Needle for Percutaneous Intervention", IEEE-TENCON 2017, Penang, Malaysia, 5-8 Nov 2017, pp. 1159-1164. 

29. 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 - 1 Nov 2017, pp. 2846-2851. 

30. M. Felix Orlando, Sparsh Gupta, Ankita Puwar, Chetanya Rastogi, Vishrut, Rahul, Avishek, “Classification of Extension and Flexion Positions of Thumb, Index and Middle Fingers using EEG Signal”, 6^th IEEE International Conference on Control System, Computing and Engineering (IEEE-ICCSCE 16), Penang, Malaysia, Nov. 25-27, 2016, pp. 298-303.

31. M. Felix Orlando, P.  Hutapea, A. Dicker, Y. Yu, T. Podder, “Closed Loop Control of a Robot Assisted Smart Flexible Needle for Percutaneous Intervention”, 37^th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Milano, Italy, Aug. 25-29, 2015, pp. 3663-3666.

32. 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”, 36^th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Chicago, US, Aug. 26-30, 2014, pp. 357-360.

33. 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”, 36^th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Chicago, US, Aug. 26-30, 2014, pp. 380-383.

34. 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,” 35^th Annual International conference on IEEE Engineering in Medicine and Biology Society(IEEE-EMBS), 2013, pp. 338-341.

35. 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 30^th Annual Conference of the Robotics Society of Japan (RSJ), September 17-20, 2012, pp. 1-6.

36. 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 29^th Annual Conference of the Robotics Society of Japan (RSJ), Shibaura, September 7-9, 2011, pp. 1-6.

37. M. Felix Orlando, H. Akolkar, A. Dutta, A. Saxena and L. Behera, "Optimal design and control of a thumb exoskeleton”, IEEE TENCON, Fukuoka, Japan, 2010. pp. 1492-1497.

38. 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, 2010, pp. 72-77.

39. M. Felix Orlando and Oh Young Hwan, “Robot arm control using optimized pinch grasp posture based on object shape”, Proc. 37^th Korea Institute of Electrical Engineers, 1, 2006, 1929-1930.

Peer Reviewed Extended Abstracts

1. Kaushik Halder, M. Felix Orlando, Y. Zheng, Tithi Biswas and Tarun Podder, "Determination of Most Influential Clinical and Dosiomic Inputs for the AI-based Prediction of NSCLC Recurrence", AAPM, July 21-24, 2024, USA (Accepted).
2. M. Felix Orlando, M. Kumar, Y. Yu, T. Podder, “Effects of Tissue Interference on Electromagnetic Sensor and Ultrasound Imaging Sensing for Robot Guided Needle Interventions,” Medical Physics, 42,3596, 2015; http://dx.doi.org/10.1118/1.4925550
3. M. Felix Orlando, P. Hutapea, Y. Yu, T. Podder, “Prostate HDR Brachytherapy with Multichannel Robotic System,” Medical Physics, 42,3534, 2015; http://dx.doi.org/10.1118/1.4925215
4. . Felix Orlando, P. Hutapea, T. Podder, Y. Yu, “Experimental Evaluation of Coordinated Control Scheme of a Robot Guided Active Flexible Needle with US and EM Sensory Feedbacks,” World Congress on Medical Physics and Biomedical Engineering (WC2015), 2015. (Accepted for Oral Presentation).

Poster Presentations

1. M. Felix Orlando, M. Kumar, P. Hutapea, Y. Yu and Tarun Podder, "Development of Shape Memory Alloy Actuated Smart Needles with Closed-Loop Control System Using Imaging and EM Sensor Feedbacks for Percutaneous Interventions," Case Scientific Retreat, University Hospitals, Case Western Reserve Unversity, 2-3 July 2014. 

2. S. Hans and M. Felix Orlando, "Control of a Flexible Needle for Therapeutic Procedures," Workshop on Next Level Innovation in Robotics and Autonomy, IIT Kanpur, 9-10 December 2018.

3. Samsaptak Ghosh and M. Felix Orlando, "Force Control of an Index Finger Exoskeleton," Workshop on Next Level Innovation in Robotics and Autonomy, IIT Kanpur, 9-10 December 2018.

Patent

1. T. Podder and M. Felix Orlando, “A Novel Active Flexible Needle for Medical Interventions,” Filed as IP at Case Western Reserve University on 6^thFeb 2015.