Amin Fakhari, PhD

Bio:

Amin Fakhari's research interests span robotics, feedback control systems, dynamical systems, optimal control, and mechatronics. His work focuses on robotic dexterous manipulation and grasping, force and compliant interaction control, task and motion planning, and robotic hand/gripper design. His research aims to advance reliable and robust human–robot collaboration in complex environments and to expand the capabilities of robots in real-world applications.

 

Education:

• Ph.D. in Mechanical Engineering, Isfahan University of Technology, 2015
• Visiting Research Scholar, Department of Mechanical Engineering, Stony Brook University, 2013
  
  

Professional Experience:

• Assistant Professor of Practice, Department of Mechanical Engineering, Stony Brook University, 2021-Present
• Assistant Professor, Department of Mechanical Engineering, SUNY Korea, 2017-2019
  
  

Recent Publications:

• C. Saldarriaga, A. Fakhari, I. Kao, “Dynamic Response of Redundant Robot Manipulators under Impedance Control with Null-Space Control,” Robotica, 2026.
• M. Boroji, V. Danesh, I. Kao, A. Fakhari, “Motion Planning for Object Manipulation by Edge-Rolling,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024.
• J. Best and A. Fakhari, “Development of a Novel Impedance-Controlled Quasi-Direct-Drive Robotic Hand,” arXiv, 2024.
• A. Fakhari, A. Patankar and N. Chakraborty, “Motion and Force Planning for Manipulating Heavy Objects by Pivoting,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
• A. Fakhari, A. Patankar, J. Xie and N. Chakraborty, “Computing a Task-Dependent Grasp Metric Using Second-Order Cone Programs,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.
• A. Patankar, A. Fakhari and N. Chakraborty, “Hand-Object Contact Force Synthesis for Manipulating Objects by Exploiting Environment,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.
  
  

Recent Awards:

• Excellence in Teaching Award, CEAS, Stony Brook University, 2025
• TREES (Teachers Rated Excellent Educators by their Students) Award, CEAS, Stony Brook University, 2025
  
  

Professional Memberships & Service:

•  Serving as a reviewer for more than 70 manuscripts submitted to top-tier robotics conferences and journals, including IEEE ICRA, IEEE/RSJ IROS, IEEE RA-L, IEEE T-RO, ASME JMR, and IJRR.
• Reviewer Board Member of Journal of Robotics (MDPI, Switzerland), 2019 – 2023.

Overview:

Amin Fakhari's research interests span robotics, feedback control systems, dynamical systems, optimal control, and mechatronics. His work focuses on robotic dexterous manipulation and grasping, force and compliant interaction control, task and motion planning, and robotic hand/gripper design. His research aims to advance reliable and robust human–robot collaboration in complex environments and to expand the capabilities of robots in real-world applications.

For more details, refer to Amin Fakhari Research Website.