Dr. M. Felix Orlando - Department of Electrical Engineering,Indian Institute of Technology Roorkee
Dr. M. Felix Orlando
Felix O.M. Joseph Assistant professor m.orlando@ee.iitr.ac.in (+91)1332284864 Website
Areas of Interest
  • Student Research Projects:, Students can apply for internship for working towards (i) Intelligent Cane, (ii) Ball Plate Control, Medical Robotics:, Real-Time Control of Active Flexible Needle for Percutaneous Intervention, Rehabilitation Robotics:, Design and Control of Hand and Leg Exoskeletons using EMG/EEG signal with Touch/Force/Angular sensor, Disaster Robotics:, Design, Development and Control of Rescue Robots, Robotic Surgery, Teleoperated Master-Slave Robotic Surgery based on Haptics Feedback, Human Hand Biomechanics:, Redundancy Resolution of Human Fingers while performing Activities of Daily Living, Intelligent Sensors:, Experimental Study, Visual Servoing:, Ball Plate Balancing System using Realtime Vision Feedback, Virtual Instrumentation:, Signal Processing and Manipulation
Professional Background
FromPeriodPositionOrganisation
2015-01-01OngoingAssistant ProfessorIndian Institute of Technology Roorkee
Multiple Posts
FromPeriodPositionOrganisation
2017-01-012 years Faculty In-charge for B.Tech. ProjectIndian Institute of Technology Roorkee
2019-01-011 year Faculty-In-charge of Departmental WebsiteIndian Institute of Technology Roorkee
2020-08-31OngoingDepartmental PhD Interview Chairman for Instrumentation and Signal Processing Group.Indian Institute of Technology, Roorkee
2020-08-31OngoingDepartmental Faculty In-Charge of BTech Project of Final Year Students. Indian Institute of Technology, Roorkee
2020-08-31OngoingDepartmental Board Member of Industry Oriented Program (IOP) Project for Third Year Students.Indian Institute of Technology, Roorkee
2020-08-31OngoingDepartmental Faculty In-Charge for Educational Tour of BTech Students. Indian Institute of Technology, Roorkee
Honors and Awards
AwardInstituteYear
Invited Speaker for online FDP on "Mechatronics, Robotics and Automation" OP Jindal University2020
Associate EditorIEEE International Conference RO-MAN 2020, Italy2020
Co-Coordinated with Prof. Pathak for TEQIP III two week Training Workshop on "Robotics & Automation"Indian Institute of Technology Roorkee2020
Invited Speaker for online TEQIP III Sponsored One-Week Online Course on "Technological Innovations and Challenges in Biomedical Instrumentation"GBPIET Pauri, Uttarakhand2020
Organized a Special Session on Medical RoboticsIEEE International Conference on RO-MAN 2019, India2019
Course Coordinator for AICTE Sponsored Short Term Course on "Robotics and Control" during 1-5 July19Indian Institute of Technology Roorkee2019
Invited Talk on Powered Exoskeleton WorkshopDRDO-DIPAS Delhi2019
Kawamura Award for Best Indian Robotics StudentsIEEE International Conference on RO-MAN 20192019
KeyNote SpeakerNCRIETS 2019 National Conference, JBIT Dehradun2019
Associate EditorIEEE International Conference on RO-MAN 2019, India2019
Invited Talk on Robotics and Autonomy WorkshopIndian Institute of Technology Kanpur (9-10 December 2018)2018
Invited Talk on DISASTER ROBOTICSKorea Institute of Science and Technology (KIST), South Korea (15-20 October 2018)2018
Session Chair - Rehabilitation Robotics SessionIEEE/ASME Conference on Advanced Intelligent Mechatronics (AIM) 2018, Auckland, New Zealand2018
Session Chair - Medical Robotics SessionIEEE/ASME Conference on Advanced Intelligent Mechatronics (AIM) 2018, Auckland, New Zealand2018
Session ChairINDICON 2017, Indian Institute of Technology Roorkee2017
GIAN Course on ROBOTIC SYSTEMS MODELING AND CONTROLIndian Institute of Technology Roorkee (11-15 December 2017)2017
SERB Early Career Research AwardMHRD, Government of India2017
Session Chair43rd Annual Conference of the IEEE Industrial Electronics Society (IECON17), Beijing, China2017
Board Member of Student Technical Committee on RoboticsIndian Institute of Technology Roorkee2017
Session Chair11th International Conference on "Industrial and Information Systems 2016 (ICIIS2016)2016
Session ChairICCSCE 2016 IEEE Conference, Penang, Malaysia2016
IEEE RAS MemberIEEE Robotics and Automation Society2014
ASME MemberAmerican Society of Mechanical Engineers2014
IEEE MemberInstitute of Electrical and Electronics Engineers2014
Educational Details
DegreeSubjectUniversityYear
Postdoctoral FellowshipReal-Time Control of Surgical Needles for Percutaneous InterventionCase Western Reserve University, USA2015
PhDElectrical EngineeringIndian Institute of Technology Kanpur, India2013
Master of EngineeringRobotics and Human Computer InteractionKorea Institute of Science and Technology, University of Science and Technology, South Korea2006
Bachelor of EngineeringInstrumentation and Control EngineeringUniversity of Madras, India2004
Sponsored Research Projects
TopicFunding AgencyStart DatePeriod
Development of an Active Self-Actuating Smart Needle for Image-Guided Percutaneous Interventions.Early Career Research Award, SERB, (DST) Gov. of India, (2017-2020)2017-01Ongoing
Development and Control of a Novel Hand ExoskeletonSRIC, IIT Roorkee (2016-2019)2016-01Ongoing
Memberships
  • IEEE, Member
  • IEEE Robotics and Automation Society, Member
  • ASME, Member
  • The Robotics Society, Member
Teaching Engagements
TitleCourse CodeClass NameSemester
Applied InstrumentationEEN-208EE 2nd Year Core CourseSpring
Introduction to RoboticsEEN-683Departmental Elective CourseAutumn
Bio-Medical RoboticsEEN-614Program Elective CourseSpring
Artificial Neural NetworksEEN-351BTech ElectiveAutumn
Engineering Analysis and DesignEEN-291Core CourseAutumn
Intelligent Sensors and InstrumentationEEN-524MTech CoreSpring
Instrumentation LaboratoryEEN-523MTech CoreAutumn
Projects and Thesis Supervised
Title of ProjectNames of Students
Automatic Resting State Networks LabellingRajat Negi
Intelligent control of a cane for physically challenged peopleChirayu Asati and Nitika Thurwal
Prediction of Needle in Medical Images using Kalman FilteringArjun Gupta, Ankur Yadav and Nisha Agarwal
Study and Control of a Biped Robot using Intelligent Control (GOLD MEDAL WINNING PROJECT)Aayushi Shrivastava
Ball Plate Balancing SystemPratik Asai and Nakul
Needling System for Cancer Treatment (GOLD MEDAL WINNING PROJECT)Aman Malhotra, Prashant Sekar Singh and Krishna
Understanding of Image Advertisement using Deep Learning MethodsAnmol Singhai, Aman Maghan and Pranav Rai
Surgical Needle Development.Aviral Singhi, Ankur Kumar Yadav, Arjun Gupta
Index Finger Exoskeleton Control Using Inverse Kinematic ControlNainee Kumari and Sahiti Bagam
Research Scholar Groups
Scholar NameInterest
Surender HansPassive Needle Control
Saiket MondalRehabilitation Robotics
Sarvesh SainiMedical Robotics: Teleoperation
Samsaptak GhoshHand Exoskeleton Control
PHDs Supervised
TopicScholar NameStatus of PHDRegistration Date
Percutaneous Needle Intervention ControlSurender HansO2016-01
TBAKaushik HalderO2020-01
Rehabilitation RoboticsSaiket MondalO2019-01
TBATesfaye Deme TolossaO2020-01
Hand Exoskeleton Force Control using FPGA InterfaceSamsaptok GhoshO2018-01
Tele-operated Surgical RobotSarvesh SainiO2017-01
ECG Signal Processing and AnalysisVarsha Tomar (M. Tech)O2016-01
Robust Control of a Ball Plate System using Vision FeedbackVivek Soni (M. Tech)O2016-01
Estimation of Stress, Strain and Temperature of a Shape Memory Alloy Wire using Extended Kalman FiltVaibhav Gautham (M. Tech)O2016-01
Automatic Resting State Networks LabellingRajat Negi (M. Tech)O2018-01
Area Estimation of Satellite Images using Machine LearningSanchit Agarwal (M. Tech)O2018-01
Application of Online EEG Signal for BCIGaurav Bansal (M. Tech)O2018-01
Visits to outside institutions
Institute VisitedPurpose of VisitDate
Global Academy of Technology, BangaloreTo conduct 5 days workshop on "Robotics and Control"2020-08-31
Participation in short term courses
Couse NameSponsored ByDate
Modelling and Control of RobotsMechanical and Industrial Engineering2016-01
Courses or Conferences Organised
Conference NameSponsored ByDate
Workshop on "Robotics and Control"Global Academy of Technology Bangalore2020-08
QIP Course on Robotics and ControlAICTE, Government of India2019-01
GIANMHRD, Government of India2017-01
Special Lectures Delivered
TitlePlaceDate
Robotics: Modelling and ControlCoimbatore Institute of Technology2019-01
Medical RoboticsJB Institute of Technology, Dehradun2019-01
Robotics in MedicineJB Institute of Technology, Dehradun2019-01
Hand Exoskeleton: Design, Control and Redundancy ResolutionIndian Institute of Technology Kanpur2018-01
Hand Exoskeleton: Design, Development and ControlKorea Institute of Science and Technology, Seoul, South Korea2018-01
Image Guided Percutaneous Cancer Interventions by Active Flexible NeedleIndian Institute of Technology Kanpur2018-01
Disaster Robotics in IndiaKorea Institute of Science and Technology, Seoul, South Korea2018-01
Advanced RoboticsDefense Institute of Advance Technology, Pune2018-01
Introduction of Robotics and Advanced RoboticsCollege of Engineering Roorkee2018-01
Model Based Control of Robot ManipulatorsCoimbatore Institute of Technology2017-01
EMG based Neural Control of Hand ExoskeletonIndian Institute of Technology Kanpur2012-01
Cooperative Human Finger Motion Analysis and Optimal Design of a Three-Finger ExoskeletonIIT Roorkee2016-01
National International Collaboration
TopicOrganisation
Whole Body Exoskeleton for Power Augmentation with DRDO (Under Process).DRDO, India
Innovation in teaching - Includes Term-Projects, LabView-Based Experiments as Laboratory works.
Other work - Nil.
Extension tasks - Research Paper Publications.
Separate summary - This course will include topics of Medical Robotics and Rehabilitation Robotics.
Self appraisal

- Bio-Medical Robotics Course is to be taught first time in India.

Instructional tasks - Tutorials, Term-Projects and Laboratory Experiments.
Comments - Yet to receive.
Process development - To Include.
Particulars of course - Bio-Medical Robotics
Books Authored

NPTEL Course on Robotics and Control: Theory and Practice. (27 Jan 2020 onwards)

Refereed Journal Papers

 

  1. 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.[Impact Factor: 1.755].
  2. Surender Hans and M. Felix Orlando, ''Control of a Flexible Bevel-Tipped Needle using Super-Twisting Controller based Sliding Mode Observer'', ISA Transactions, Elsevier Journal, (In Press), [Q1, Impact Factor: 4.305].
  3. 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
  4. Surender 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: 5.129].
  5. 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 (Impact Factor: 1.509)
  6. 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 (Impact Factor: 1.509)
  7. 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. (Impact Factor: 1.509)
  8. 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. (Impact Factor: 0.805)
  9. 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.
  10. 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. 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
  2. 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)
  3. Surender 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
  4. 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.
  5. 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.
  6. 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. 
  7. 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.
  8. 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.
  9. M. Felix Orlando, Surender 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. 
  10. 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
  11. 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”, 6th IEEE International Conference on Control System, Computing and Engineering (IEEE-ICCSCE 16), Penang, Malaysia, Nov. 25-27, 2016, pp. 298-303.
  12. M. Felix Orlando, P.  Hutapea, A. Dicker, Y. Yu, T. Podder, “Closed Loop Control of a Robot Assisted Smart Flexible Needle for Percutaneous Intervention”, 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Milano, Italy, Aug. 25-29, 2015, pp. 3663-3666.
  13. 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”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Chicago, US, Aug. 26-30, 2014, pp. 357-360.
  14. 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”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Chicago, US, Aug. 26-30, 2014, pp. 380-383.
  15. 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,” 35th Annual International conference on IEEE Engineering in Medicine and Biology Society(IEEE-EMBS), 2013, pp. 338-341.
  16. 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 30th Annual Conference of the Robotics Society of Japan (RSJ), September 17-20, 2012, pp. 1-6.
  17. 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 29th Annual Conference of the Robotics Society of Japan (RSJ), Shibaura, September 7-9, 2011, pp. 1-6.
  18. 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.
  19. 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.
  20. M. Felix Orlando and Oh Young Hwan, “Robot arm control using optimized pinch grasp posture based on object shape”, Proc. 37th Korea Institute of Electrical Engineers, 1, 2006, 1929-1930.

 

Peer Reviewed Extended Abstracts

  1. 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
  1. 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
  1. M. 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. Surender 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 6thFeb 2015. 
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