FUM Center of Advanced Rehabilitation and Robotics Research

We bridge the imagination and reality

Fum Robotics

About us

The Robotics Laboratory of Ferdowsi University of Mashhad (FUM Robotics) was established in 2010. As one of the most comprehensive centers for multi-disciplinary robotics research in Iran, our lab is dedicated not only to education and research, but also addressing industrial needs. The Center is led by Professor Alireza Akbarzadeh and is composed of academic faculty and researchers, providing undergrad, MSs, and PhD students with necessary tools to enhance their knowledge and working expertise in this field. The laboratory currently encompasses four specialized interdisciplinary working groups in the fields of medical and rehabilitation robotics, industrial robotic arms, robotic simulators, and mobile platforms. These fields in turn employ the collaborative output of dynamic design and modeling, optimization, control and construction. The lab provides space for on-site robot design, with a dedicated workshop and conference room, and is able to accommodate over 30 attendees. High quality research and productivity is evidenced by satisfactory execution of contracts with a value of 26 billion Rials during the last 6 years. We are one of the most vigorous and highly-equipped robotics laboratories in the country, benefiting from the cooperation of the University's soft computing hub and providing close communication with other researchers in Iranian universities and abroad. Our ambition is to create a focal point for advanced robotics studies by providing world-class research and teaching.

Research Topics

FUM ExoSkeleton - II

  • Enabling paraplegics to stand up and walk autonomously
  • Extensive sensor usage and an advanced control system
  • A modular design allowing the user to independently put on and remove each piece
  • Weight is lee than 22 kg
  • Max speed of 0.5m/s
  • Adjustable for different size users
  • Battery Life on a single charge, 2 hours continuously walk or 8 hours intermittently
  • Can comfortably be worn while seated in a wheelchair
  • FUM Exoskeleton - I

    a hard, laminated plastic shell that provides the weight-bearing support. Most countries report a rapid increase in ageing population worldwide. Elderly people normally have physical deterioration and frailty, imposing a heavy burden on the social health care system. In addition, each year, approximately 15 million people suffer from a stroke worldwide and 5 million of these individuals are left with a permanent disability. In this regard, an increasing trend has emerged in using robots for medical purposes. Rehabilitative robotics is an area in the interface of medical and engineering fields, with a variety of different robotic applications, one of which is the use of robotic exoskeleton in rehabilitation.

    FUM Hexa

    Supporting ambulatory functions in the elderly or patients with gait impairment Hip Exoskeleton for Assistance (HEXA) is a wearable robotic system for assistive technology and rehabilitation engineering, primarily developed to help patients with lower limb disabilities to restore or improve their walking ability. The robot consists of two 70 BLDC with Harmonic Drive gearbox, each for either hip; driving the two metal links which are placed parallel to the human thigh and fastened with Velcro straps. HEXA assists disabled people regain their locomotion with significant reduction of the therapists’ physical burden.

    FUM Knee Exoskeleton

  • Ability to carry human weight
  • Can be equipped by EMG signals
  • Built in SEA actuator and high stiffness. Its open control architecture is ideal for research applications
  • FUM Knee Physio

    Knee rehabilitation enabling game based therapy One specific area in medical robotics is joint rehabilitation. Knee rehabilitation therapy is a very important procedure to recover function after knee injury or surgery. The treatment objective is to reduce knee adhesion and regain adequate joint motion and flexibility. The key to successful knee rehabilitation requires regular exercises in a very controlled manner. Along this lines, 1DOF Lower-limb rehabilitation robot has been designed and constructed at FUM Robotics lab. Capable of using EMG signals, a variety of cognitive games can be employed and integrated with the system to assist the therapist in adjusting the rehabilitation process according to the medical progress of the user.

    FUM Foot Sensor

    Foot Sensor


    Electromyography (EMG) is a device for evaluating and recording a series of electrical signals that emanate from body muscles The EMG device is responsible for recording the electrical movements of the muscle during expansion and contraction. The EMG system designed in FUM Robotics Lab is a 16-channel board based on active electrodes. The hardware features of this system are as follows:The EMG device is responsible for recording the electrical movements of the muscle during expansion and contraction. The EMG system designed in FUM Robotics Lab is a 16-channel board based on active electrodes. The hardware features of this system are as follows:

    Recent Publications

    • Assist-As-Needed control of a hip exoskeleton based on a novel strength index

      Naeim Naghavi- Alireza Akbarzadeh- S. Mohammad Tahamipour-Z.- Iman Kardan

    • Parametric design and multi-objective optimization of a general 6- P US parallel manipulator

      S. Nader Nabavi- Morteza Shariatee- Javad Enferadi- Alireza Akbarzadeh

    • Robotic hand: A review on linkage-driven finger mechanisms of prosthetic hands and evaluation of the performance criteria

      S. Reza Kashef- Samane Amini- Alireza Akbarzadeh

    • Inverse dynamics analysis of a general spherical star-triangle parallel manipulator using principle of virtual work

      Javad Enferadi- Alireza Akbarzadeh Tootoonchi

    • Robust Output Feedback Assistive Control of a Compliantly Actuated Knee Exoskeleton

      Iman Kardan- Alireza Akbarzadeh

    • For more information about latest articles,
      See Also Alireza Akbarzadeh and Iman Kardan