Keyvan Hashtrudi-Zaad, Queen's University

Research

Biomechanics Haptics Stability Telerobotics Analog Control Biosignal DC Motors Digital Control

Latest papers

Touching the tumor boundary: a pilot study on ultrasound-based virtual fixtures for breast-conserving surgery.
International journal of computer assisted radiology and surgery · 2025 · senior author
Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities.
Biomedical engineering online · 2023 · senior author
Considerations for at-home upper-limb rehabilitation technology following stroke: Perspectives of stroke survivors and therapists.
Journal of rehabilitation and assistive technologies engineering · 2023 · senior author

All 22 publications

Latest funding

ADVENTOR: Advanced Engineering and Training in Next-Generation Mobile Robotics for Human Spaces
NSERC · 2024 · Co-investigator
$150,000
Robotic Facility for Safe Human-in-the-Loop Rehabilitation
NSERC · 2024 · Principal investigator
$87,905
Robotically assisted real-time metabolomic navigation of breast conserving surgery
CIHR · 2019 · Co-investigator
$337,724

All 13 grants and awards

22 publications.

01

Touching the tumor boundary: a pilot study on ultrasound-based virtual fixtures for breast-conserving surgery.

Connolly L, Ungi T, Munawar A, Deguet A, Yeung C, Taylor RH, Mousavi P, Fichtinger G, Hashtrudi-Zaad K

International journal of computer assisted radiology and surgery2025Senior author

DOI: 10.1007/s11548-025-03342-z PMID: 40186716

02

Home-based upper limb stroke rehabilitation mechatronics: challenges and opportunities.

Forbrigger S, DePaul VG, Davies TC, Morin E, Hashtrudi-Zaad K

Biomedical engineering online2023Senior author

DOI: 10.1186/s12938-023-01133-8 PMID: 37424017

03

Considerations for at-home upper-limb rehabilitation technology following stroke: Perspectives of stroke survivors and therapists.

Forbrigger S, Liblong M, Davies TC, DePaul V, Morin E, Hashtrudi-Zaad K

Journal of rehabilitation and assistive technologies engineering2023Senior author

DOI: 10.1177/20556683231171840 PMID: 37124709

04

Simultaneous localization and calibration for electromagnetic tracking systems.

Sadjadi H, Hashtrudi-Zaad K, Fichtinger G

The international journal of medical robotics + computer assisted surgery : MRCAS2016

DOI: 10.1002/rcs.1670 PMID: 26018294

05

Needle deflection estimation: prostate brachytherapy phantom experiments.

Sadjadi H, Hashtrudi-Zaad K, Fichtinger G

International journal of computer assisted radiology and surgery2014

DOI: 10.1007/s11548-014-0985-0 PMID: 24531917

06

Surface EMG force modeling with joint angle based calibration.

Hashemi J, Morin E, Mousavi P, Hashtrudi-Zaad K

Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology2013Senior author

DOI: 10.1016/j.jelekin.2012.10.011 PMID: 23273763

07

A Comparative Approach to Hand Force Estimation using Artificial Neural Networks.

Mobasser F, Hashtrudi-Zaad K

Biomedical engineering and computational biology2012Senior author

DOI: 10.4137/becb.s9335 PMID: 25288896

08

EMG-force modeling using parallel cascade identification.

Hashemi J, Morin E, Mousavi P, Mountjoy K, Hashtrudi-Zaad K

Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology2012Senior author

DOI: 10.1016/j.jelekin.2011.10.012 PMID: 22284759

09

Enhanced multi-site EMG-force estimation using contact pressure.

Hashemi J, Morin E, Mousavi P, Hashtrudi-Zaad K

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference2012Senior author

DOI: 10.1109/embc.2012.6346619 PMID: 23366580

10

Development of a dynamic model for bevel-tip flexible needle insertion into soft tissues.

Haddadi A, Hashtrudi-Zaad K

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference2011Senior author

DOI: 10.1109/iembs.2011.6091845 PMID: 22256068

ADVENTOR: Advanced Engineering and Training in Next-Generation Mobile Robotics for Human Spaces

Co-investigatorNSERC2024Collaborative Research and Training Experience

Principal investigators: Wu, Amy AR

Keywords: collaborative robots; human-robotic interaction; human studies; intelligent systems; mechatronics; mobile robotics; robot ethics; social robotics; technology and society; unstructured environments

$150,000

Robotic Facility for Safe Human-in-the-Loop Rehabilitation

Principal investigatorNSERC2024Research Tools and Instruments

Principal investigators: Hashtrudi-Zaad, Keyvan

Keywords: Biomechanics; Control Systems; Haptics; Human-in-the-loop; Interaction Safety; Post-stroke rehabilitation; Rehabilitation Robot; Stability; Telerobotics; Therapist Intent

$87,905

Robotically assisted real-time metabolomic navigation of breast conserving surgery

Co-investigatorCIHR2019Collaborative Health Research Projects (NSERC partnered)

Principal investigators: Fichtinger, Gabor; Morris, Michael R; Berman, David M; Engel, Cecil J; Mousavi, Parvin; Takats, Zoltan

Keywords: Breast Cancer; Mass Spectrometry; Metabolomic Imaging; Robotics; Surgery; Surgical Navigation

$337,724

Fundamental Solutions for High-Fidelity Human Haptic Interaction

Principal investigatorNSERC2018Discovery Grants Program - Individual

Principal investigators: Hashtrudi-Zaad, Keyvan

Keywords: haptics; telerobotics; digital control; analog control; stability; passivity; dc motors; biomechanics; biosignal; dynamics

$322,000

A system for multi-parametric real-time analysis of tissue properties

Co-investigatorNSERC2018Research Tools and Instruments

Principal investigators: Mousavi, Parvin

$150,000

Research Platform for Medical Education Informatics

Co-investigatorNSERC2017Research Tools and Instruments

Principal investigators: Fichtinger, Gabor

$149,992

Control Systems Design for Stable Telerobotic and Haptic Interactions

Principal investigatorNSERC2013Discovery Grants Program - Individual

Principal investigators: HashtrudiZaad, Keyvan

$145,000

High-Density Surface Electromyography Sensing Facility

Principal investigatorNSERC2012Research Tools and Instruments - Category 1 (<$150,000)

Principal investigators: HashtrudiZaad, Keyvan

$49,940

Contol systems design for stable transparent teleoperation

Principal investigatorNSERC2008Discovery Grants Program - Individual

Principal investigators: HashtrudiZaad, Keyvan

$125,000

Force sensing system for high-performance teleoperation

Principal investigatorNSERC2006Research Tools and Instruments - Category 1 (<$150,000)

Principal investigators: HashtrudiZaad, Keyvan

$8,500

From CIHR, NSERC and SSHRC funding decisions: CIHR since 2008, NSERC since 1991 and SSHRC since 1998, including their latest published competition results.

Frequent collaborators

Electrical and Computer Engineering
School of Computing
Cardiology
Critical Care Medicine

Co-authors at Queen's University, colored by department. Thicker lines mean more shared papers; select anyone to open their profile and their own map.

Evelyn Morin

Electrical and Computer Engineering

9 shared papers, latest 2023

Parvin Mousavi

School of Computing

6 shared papers, latest 2025

Purang Abolmaesumi

Cardiology

5 shared papers, latest 2009

Gabor Fichtinger

School of Computing

3 shared papers, latest 2025

Vincent Depaul

Critical Care Medicine

1 shared papers, latest 2023

Write to this professor

A short, specific email works best. This draft uses one of their recent papers; replace the parts in brackets with your own details before sending.

Applying for

Paper to mentionMention their NSERC grant from 2024

Subject: Prospective PhD student: Biomechanics Dear Professor Hashtrudi-Zaad, My name is [your name], and I am a [your current degree or role] at [your institution]. I am applying for a PhD position starting in [term and year]. I read your paper "Touching the tumor boundary: a pilot study on ultrasound-based virtual fixtures for breast-conserving surgery." (2025), and it connects closely to my own work on [your research topic]. [One or two sentences on what you did and what you learned.] I also saw your NSERC-funded project "Robotic Facility for Safe Human-in-the-Loop Rehabilitation" (2024), and I would be glad to contribute to work in that direction. Are you accepting new PhD students for [term and year]? I have attached my CV and transcripts, and I would be glad to talk at a time that suits you. Thank you for your time. Kind regards, [your name]