| Forward kinematic model improvement of a spherical parallel manipulator using an extra sensor H Saafi, MA Laribi, S Zeghloul Mechanism and Machine Theory 91, 102-119, 2015 | 51 | 2015 |
| Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity H Saafi, MA Laribi, S Zeghloul Robotica 33 (5), 1113-1130, 2015 | 50 | 2015 |
| Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device H Saafi, MA Laribi, S Zeghloul Robotics and Autonomous Systems 89, 40-50, 2017 | 32 | 2017 |
| Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor H Saafi, MA Laribi, S Zeghloul 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2014 | 21 | 2014 |
| On the development of a new master device used for medical tasks H Saafi, MA Laribi, S Zeghloul, M Arsicault Journal of Mechanisms and Robotics 10 (4), 044501, 2018 | 20 | 2018 |
| Forward kinematic model resolution of a special spherical parallel manipulator: Comparison and real-time validation H Saafi, MA Laribi, S Zeghloul Robotics 9 (3), 62, 2020 | 19 | 2020 |
| From physical modeling to real-time simulation: Feedback on the use of modelica in the engine control development toolchain Z Benjelloun-Touimi, MB Gaid, J Bohbot, A Dutoya, H Hadj-Amor, ... 8th Int. Modelica Conf., Dresden, Germany, 2011 | 18 | 2011 |
| Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use H Saafi, H Lamine Robotica, 1-15, 2019 | 15 | 2019 |
| Optimal design and evaluation of a dexterous 4 DoFs haptic device based on delta architecture P Célestin, S Houssem, L Med Amine, Z Said Robotica, 2018 | 14* | 2018 |
| Development of a spherical parallel manipulator as a haptic device for a tele-operation system: Application to robotic surgery H Saafi, MA Laribi, S Zeghloul, MY Ibrahim IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society …, 2013 | 14 | 2013 |
| Optimal haptic control of a redundant 3-RRR spherical parallel manipulator H Saafi, MA Laribi, S Zeghloul 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2015 | 13 | 2015 |
| Tele-operation control system for non-homothetic master/slave kinematics for minimally-invasive surgery H Saafi, MA Laribi, S Zeghloul, MY Ibrahim IECON 2013-39th Annual Conference of the IEEE Industrial Electronics Society …, 2013 | 13 | 2013 |
| Development of a novel hybrid haptic (nHH) device with a remote center of rotation dedicated to laparoscopic surgery M Meskini, H Saafi, A Mlika, M Arsicault, S Zeghloul, MA Laribi Robotica 41 (10), 3175-3194, 2023 | 9 | 2023 |
| Design-to-Workspace Synthesis of a Cable Robot Used in Legs Training Machine H Lamine, L Romdhane, H Saafi, S Bennour Robotica, 1-12, 2019 | 8 | 2019 |
| A new serial approach of the forward kinematic model of spherical parallel manipulators for real-time applications H Saafi, M Vulliez, S Zeghloul, MA Laribi Proceedings of the Institution of Mechanical Engineers, Part C: Journal of …, 2018 | 8 | 2018 |
| Serial Approach for Solving the Forward Kinematic Model of the DELTA Robot M Meskini, H Saafi, LM Amine, A Mlika, M Arsicault, S Zegloul Mechanism Design for Robotics: MEDER 2021 103, 305, 2021 | 5 | 2021 |
| Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery H Saafi, MA Laribi, S Zeghloul Mechanical Sciences 12 (1), 155-164, 2021 | 5 | 2021 |
| Optimal design of a new spherical parallel manipulator H Saafi, MA Laribi, M Arsicault, S Zeghloul 2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region …, 2014 | 5 | 2014 |
| Working Mode Study of a New Spherical Parallel Manipulator with an Unlimited Self Rotation Capability C Lahdiri, H Saafi, A Mlika IFToMM International Conference on Mechanisms, Transmissions and …, 2023 | 4 | 2023 |
| Med Amine Laribi, and Said Zeghloul." Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity." H Saafi Robotica 33, 1113-1130, 2015 | 4 | 2015 |