Journals, Conferences and Patents

Praveen Kumar, M., Mohammed, B.M., Anees, P., Bhivraj, S., Muthusamy, R., Irfan, H., Lamal, S., and Zweiri, Y., Aerial Manipulation of Long Objects Using Adaptive Neuro-Fuzzy Controller Under Battery Variability, Scientific Reports (Accepted), (Q1, IF: 3.8), 2025.

Kachole, S., Huang, X., Naeini, F.B., Muthusamy, R., Makris, D. and Zweiri, Y., 2024. Bimodal SegNet: Fused instance segmentation using events and RGB frames. Pattern Recognition, 149, p.110215. 2024

Muthusamy, P. K., Suthar, B., Muthusamy, R., Garratt, M., Pota, H., Seneviratne, L., & Zweiri, Y. (2023). Self-organising BFBEL Control System for a UAV under Wind Disturbance. IEEE Transactions on Industrial Electronics., doi: 10.1109/TIE.2023.3285922, (Q1, IF: 8.2), 2023.

Faris, O., Muthusamy, R., Renda, F., Hussain, I., Gan, D., Seneviratne, L., & Zweiri, Y.,”. Proprioception and exteroception of a soft robotic finger using neuromorphic vision-based sensing”, Soft Robotics, (Q1, IF: 7.8), 2023.

Faris,Faris, O., Alyammahi, H., Suthar, B., Muthusamy, R., Shah, U.H., Hussain, I., Gan, D., Seneviratne, L. and Zweiri, Y., 2023. Design and experimental evaluation of a sensorized parallel gripper with optical mirroring mechanism. Mechatronics, 90, p.102955,  (Q1, IF: 3.4), 2023.

F. B. Naeini, S. Kachole, R. Muthusamy, D. Makris and Y. Zweiri, "Event Augmentation for Contact Force Measurements," in IEEE Access, vol. 10, pp. 123651-123660, (Q1, IF: 3.5), 2022.

Ayyad, A., Halwani, M., Swart, D., Muthusamy, R., Almaskari, F. and Zweiri, Y., 2023. Neuromorphic vision based control for the precise positioning of robotic drilling systems. Robotics and Computer-Integrated Manufacturing, 79, p.102419, (Q1, IF: 10.1), 2022.

P. k. Muthusamy, M. Garratt, H. R. Pota and R. Muthusamy, "Realtime Adaptive Intelligent Control System for Quadcopter UAV with Payload Uncertainties," in IEEE Transactions on Industrial Electronics, doi: 10.1109/TIE.2021.3055170, (Q1, IF: 8.2), 2021.

Huang, X., Halwani, M., Muthusamy, R., Ayyad, A., Swart, D., Seneviratne, L., Gan, D. and Zweiri, Y., 2022. Real-time grasping strategies using event camera. Journal of Intelligent Manufacturing, 33(2), pp.593-615., (Q1, IF: 7.1), 2021.

Shah, U.H., Muthusamy, R., Gan, D., Zweiri, Y. and Seneviratne, L., 2021. On the design and development of vision-based tactile sensors. Journal of Intelligent & Robotic Systems, 102, pp.1-27., (Q1, IF: 3.0), 2021.

Muthusamy, R., Ayyad, A., Halwani, M., Swart, D., Gan, D., Seneviratne, L. and Zweiri, Y., 2021. Neuromorphic eye-in-hand visual servoing. IEEE Access, 9, pp.55853-55870. (Q1, IF: 3.5), 2021.

Muthusamy, R., Huang, X., Zweiri, Y., Seneviratne, L. and Gan, D., 2020. Neuromorphic event-based slip detection and suppression in robotic grasping and manipulation. IEEE Access, 8, pp.153364-153384., doi: 10.1109/ACCESS.2020.3017738, (Q1, IF: 3.745) 2020.

Huang X, Muthusamy R, Hassan E, Niu Z, Seneviratne L, Gan D, Zweiri Y , “Neuromorphic Vision Based Contact-Level Classification in Robotic Grasping Applications” Sensors,  20, no. 17 (2020): 4724, (Q1, IF: 3.275), 2020.

D. Ortenzi, R.Muthusamy, A. Freddi, A. Monteriù, V. Kyrki, “Dual-arm cooperative manipulation under joint limit constraints” Robotics and Autonomous Systems, (Q1, IF: 3.7 ), 2017.

Foresi, G., A. Freddi, V. Kyrki, A. Monteriù, R. Muthusamy, D. Ortenzi, and D. Proietti Pagnotta. "An avoidance control strategy for joint-position limits of dual-arm robots." IFAC-PapersOnLine, 50, no. 1: 1056-1061., 2017.

R. J. Wai and R. Muthusamy, "Design of Fuzzy-Neural-Network-Inherited Backstepping Control for Robot Manipulator Including Actuator Dynamics," in IEEE Transactions on Fuzzy Systems, vol. 22, no. 4, pp. 709-722, doi: 10.1109/TFUZZ.2013.2270010, (Q1, IF: 12.2), 2014.

 R. J. Wai and R. Muthusamy,  "Fuzzy-Neural-Network Inherited Sliding-Mode Control for Robot Manipulator Including Actuator Dynamics," in IEEE Transactions on Neural Networks and Learning Systems, vol. 24, no. 2, pp. 274-287, doi: 10.1109/TNNLS.2012.2228230, (Q1, IF: 14.2), 2013.

Muthusamy, R., V. Kyrki, v.,  Muthusamy P. k., Taha T. ,  Hussain I., Yahya Zweiri Y., Domenico Prattichizzo D., Dongming Gan D.,” Strictly Decentralized Approaches for Multi-Robot Grasp Coordination” IEEE 19th International Conference on Automation Science and Engineering (CASE),  New Zeland, 2023. 

Muthusamy, R., Indave, J.M., Muthusamy, P.K., Hasan, E.F., Zweiri, Y., Kyrki, V. and Gan, D., 2019, July. Investigation and design of robotic assistance control system for cooperative manipulation. In IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) (pp. 889-895). IEEE, China, 2019.

Hussain, I., Anwar, M., Iqbal, Z., Muthusamy, R., Malvezzi, M., Seneviratne, L., Gan, D., Renda, F. and Prattichizzo, D., 2019, April. Design and prototype of supernumerary robotic finger (SRF) inspired by fin ray® effect for patients suffering from sensorimotor hand impairment. In 2nd IEEE International Conference on Soft Robotics (RoboSoft) (pp. 398-403). IEEE., South Korea, 2019.

Tariq, U., Muthusamy, R. and Kyrki, V., 2018, May. Grasp planning for load sharing in collaborative manipulation. In IEEE International Conference on Robotics and Automation (ICRA) (pp. 6847-6854). IEEE., Australia, 2018,

Araujo, A.C., Lima, A.M.N., Mattila, J.M. and Muthusamy, R., 2017, November. Model-based robotic hand tracking and gripper state determination. In Latin American Robotics Symposium (LARS) and 2017 Brazilian Symposium on Robotics (SBR) (pp. 1-6). IEEE. Brazil, 2017.

TStoyanov, T., Krug, R., Muthusamy, R. and Kyrki, V., 2016, October. Grasp envelopes: Extracting constraints on gripper postures from online reconstructed 3d models. In  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 885-892). IEEE.  South Korea, 2016.

Muthusamy, R. and Kyrki, V., 2016. ‘Performance metrics for robotic grasping system. In Procc. IEEE IROS Workshop Eval. Benchmarking Underactuated Soft Robot. Hands (IROS).,  South Korea, 2016.

Muthusamy, R., Bechlioulis, C.P., Kyriakopoulos, K.J. and Kyrki, V., 2015, May. Task specific cooperative grasp planning for decentralized multi-robot systems. In IEEE International Conference on Robotics and Automation (ICRA) (pp. 6066-6073). IEEE, USA , 2015.

Muthusamy, R. and Kyrki, V., 2014, December. Decentralized approaches for cooperative grasp planning. In 13th International Conference on Control Automation Robotics & Vision (ICARCV) (pp. 693-698). IEEE. Singapore, 2014.

R. Muthusamy and V. Kyrki, "Multi-Robot Coordination for Cooperative Manipulation in Decentralized Systems" Sixth EUCogIII Members Conference, Genoa, Italy, 2014.

Wai, R.J. and Muthusamy, R., 2014, February. Fuzzy-neural-network inherited backstepping control for robot manipulator. In IEEE International Conference on Industrial Technology (ICIT) (pp. 1-6). IEEE., South Korea. 2014.

Wai, R.J. and Muthusamy, R., Fuzzy-neural-network control for robot manipulator via sliding-mode design. In 9th Asian Control Conference (ASCC) (pp. 1-6). IEEE., Turkey, 2013.

Muthusamy, R.,  Tanzim, A., Tarek, T. and  Khalifa, A., Robotic Arm Gripper with Two-Part Finger Members, Dubai Future Foundation, U.S. Provisional Patent Application No. 63/737,091, 2024.  

Muthusamy, R.,  Tanzim, A., Mohamed, A., Tarek, T. and  Khalifa, Robotic System with Reconfigurable End Tools and Method for Precise Item stocking, storage and Retrieval, Dubai Future Foundation, U.S. Provisional Patent Application No. 63/737,084, 2024. 

Muthusamy, R., Karim, H., Tanzim, A., Tarek, T. and  Khalifa, A., Robotic Gripper and methods of operating the same, Dubai Future Foundation, U.S. Provisional Patent Application No. 63/737,078, 2024. 

Muthusamy, R., Alyammahi, H., Shah, M.U.H., Faris, O.F., Hussain, I., Zweiri, Y.H., Dongming, G.A.N. and Seneviratne, S.M., Robotic manipulator with camera and tactile sensing. Khalifa University of Science and Research (KUSTAR), U.S. Patent Application 17/900,770, 2023.

Ayyad, A.A.H., Muthusamy, R., Halwani, M.A.M., Zweiri, Y.H., Seneviratne, S.M. and Swart, A.D., Aerospace Holding Co LLC, Robotic manipulator with visual guidance & tactile sensing. Khalifa University of Science and Research (KUSTAR), U.S. Patent Application 17/900,843, 2023.

Muthusamy, R., Decentralized Grasp Coordination and Kinematic Control for Cooperative Manipulation, http://urn.fi/URN:ISBN:978-952-60-7872-4, Aalto University publication series DOCTORAL DISSERTATIONS, Finland, 2018.

Muthusamy, R., Intelligent Control Design of Multi-Axis Robot Manipulator, Master Thesis, Taiwan, 2013.