Research output

Publications.

Papers, patents and workshop contributions on tactile sensing, human–robot touch and medical robotics.

2026

  1. ICRA2026
    ICRAConference

    Contributing Factors in Human-Robot Handshake: Compliance, Hand Grip, and Synchrony

    Adnan Saood, Adriana Tapus

    2026 IEEE International Conference on Robotics and Automation (ICRA) · 2026

    BibTeX
    @inproceedings{saood2026handshake,
  title={Contributing Factors in Human-Robot Handshake: Compliance, Hand Grip, and Synchrony},
  author={Saood, Adnan and Tapus, Adriana},
  booktitle={2026 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2026}
}

2025

  1. ICRA2025
    ICRAConference

    "Oh! It's Fun Chatting with You!" A Humor-aware Social Robot Chat Framework

    Heng Zhang, Juan José García Cárdenas, Xiaoxuan Hei, Adnan Saood, Adriana Tapus

    2025 IEEE International Conference on Robotics and Automation (ICRA) · 2025

    Abstract

    This work introduces a framework for social robots that can engage in humor-aware conversations, enhancing the naturalness and engagement of human-robot interactions.

    BibTeX
    @inproceedings{zhang2025humor,
  title={"Oh! It's Fun Chatting with You!" A Humor-aware Social Robot Chat Framework},
  author={Zhang, Heng and Garc{\'i}a C{\'a}rdenas, Juan Jos{\'e} and Hei, Xiaoxuan and Saood, Adnan and Tapus, Adriana},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2025},
  organization={IEEE}
}
  2. ICSR2025
    ICSRConference

    Diaphragmatic Breathing Guidance Using a Humanoid Robot with a Soft Robotic Haptic Interface for Anxiety Reduction

    Adnan Saood, Yang Liu, Adriana Tapus

    Social Robotics · 2025

    BibTeX
    @incollection{saood2025diaphragmatic,
  title={Diaphragmatic Breathing Guidance Using a~Humanoid Robot with a~Soft Robotic Haptic Interface for~Anxiety Reduction},
  author={Saood, Adnan and Liu, Yang and Tapus, Adriana},
  booktitle={Social Robotics},
  volume={3},
  pages={247--257},
  year={2025},
  publisher={Springer Nature Singapore}
}
  3. ICSR2025
    ICSRConference

    Human Hand Shape and Grasping Behavior Estimation using a Humanoid Hand with a Tactile Interface

    Adnan Saood, Adriana Tapus

    2025 17th International Conference on Social Robotics (ICSR) · 2025

    Abstract

    This work introduces a novel method for estimating both human hand geometry and grasping style using a tactile sensory humanoid hand. The research represents a significant advancement in enabling more natural and intuitive physical human-robot interaction through touch.

    BibTeX
    @inproceedings{saood2025hand,
  title={Human Hand Shape and Grasping Behavior Estimation using a Humanoid Hand with a Tactile Interface},
  author={Saood, Adnan and Tapus, Adriana},
  booktitle={2025 17th International Conference on Social Robotics (ICSR)},
  year={2025},
  organization={Springer}
}

2024

  1. Humanoids2024
    HumanoidsConference

    Designing a Haptic Interface for Enhanced Non-Verbal Human-Robot Interaction: Integrating Heart and Lung Emotional Feedback

    Adnan Saood, Yang Liu, Heng Zhang, Adriana Tapus

    2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids) · 2024

    Abstract

    This paper focuses on creating a haptic interface for humanoid robots to convey emotional feedback through heart and lung simulations, enhancing non-verbal interaction and emotional connection between humans and robots.

    BibTeX
    @inproceedings{saood2024designing,
  title={Designing a Haptic Interface for Enhanced Non-Verbal Human-Robot Interaction: Integrating Heart and Lung Emotional Feedback},
  author={Saood, Adnan and Liu, Yang and Zhang, Heng and Tapus, Adriana},
  booktitle={2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)},
  pages={772--778},
  year={2024},
  organization={IEEE}
}
  2. Patent2024
    Patent

    Focused Ultrasound Sonication with Mechanical and Electronic Steering along a Computed Trajectory

    Adnan Saood, Jonathan Vappou, Florent Nageotte, Benoit Larrat

    2024 · EP Patent EP4445859A1; licensed by Therasonic, a CEA Neurospin spin-off, in 2026

    BibTeX
    @misc{saood2024focused,
  title={FOCUSED ULTRASOUND SONICATION WITH MECHANICAL AND ELECTRONIC STEERING ALONG A COMPUTED TRAJECTORY},
  author={SAOOD, Adnan and VAPPOU, Jonathan and NAGEOTTE, Florent and LARRAT, Benoit},
  year={2024},
  note={EP Patent EP4445859A1; licensed by Therasonic, a CEA Neurospin spin-off, in 2026}
}

2023

  1. Conference2023
    Conference

    Design of Robotic Trajectories for Volumetric Ultrasound-induced Blood-Brain Barrier Permeabilization

    Adnan Saood, Florent Nageotte, Benoit Larrat, Jonathan Vappou

    International Symposium on Therapeutic Ultrasounds, Lyon, France, mai 2023 · 2023

    BibTeX
    @inproceedings{saood2023design,
  title={Design of Robotic Trajectories for Volumetric Ultrasound-induced Blood-Brain Barrier Permeabilization},
  author={Saood, Adnan and Nageotte, Florent and Larrat, Benoit and Vappou, Jonathan},
  booktitle={International Symposium on Therapeutic Ultrasounds, Lyon, France, mai 2023},
  year={2023}
}
  2. Conference2023
    Conference

    Implementation of a Volumetric Blood-Brain Barrier Permeabilization Robotic Platform

    Adnan Saood, Maciej Bednarczyk, Benoit Larrat, Jonathan Vappou, Florent Nageotte

    Computer and Robot-Assisted Surgery (CRAS), Paris, France, septembre 2023 · 2023

    BibTeX
    @inproceedings{saood2023implementation,
  title={Implementation of a Volumetric Blood-Brain Barrier Permeabilization Robotic Platform},
  author={Saood, Adnan and Bednarczyk, Maciej and Larrat, Benoit and Vappou, Jonathan and Nageotte, Florent},
  booktitle={Computer and Robot-Assisted Surgery (CRAS), Paris, France, septembre 2023},
  year={2023}
}

2021

  1. Journal2021
    Journal

    COVID-19 lung CT image segmentation using deep learning methods: U-Net versus SegNet

    Adnan Saood, Iyad Hatem

    BMC Medical Imaging · 2021

    DOI
    BibTeX
    @article{saood2021covid,
  title={COVID-19 lung CT image segmentation using deep learning methods: U-Net versus SegNet},
  author={Saood, Adnan and Hatem, Iyad},
  journal={BMC Medical Imaging},
  volume={21},
  pages={1--10},
  year={2021},
  publisher={BioMed Central},
  doi={10.1186/s12880-020-00529-5}
}

2018

  1. ICASSDA2018
    ICASSDAConference Best Paper Award

    Two Proposed Indoor Multi-Cameras Positioning Systems Compared to Classical Geometry System

    Adnan Saood, Nada Salman, Ali Alreyahi, Iyad Hatem

    2018 International Conference on Computational Approach in Smart Systems Design and Applications (ICASSDA) · 2018

    DOI
    Abstract

    Positioning systems in indoor environments are of a great concern in automation and robotics domains where performing critical tasks requires precision. However, to make these systems widely applicable they must be cost-effective. The objective of this paper is to develop two different 3D positioning systems based on neural networks and adaptive neuro-fuzzy techniques. Sample images of a recognizable object were taken using three low-cost cameras as training and testing data for these systems. Positioning results of the proposed systems are compared with results of the classical geometrical method. The results show positioning errors on the scale of millimeters and the neural network system produces the smallest error.

    BibTeX
    @inproceedings{saood2018two,
  url={https://ieeexplore.ieee.org/abstract/document/8477636},
  doi={https://doi.org/10.1109/ICASSDA.2018.8477636},
  title={Two Proposed Indoor Multi-Cameras Positioning Systems Compared to Classical Geometry System},
  author={Saood, Adnan and Salman, Nada and Alreyahi, Ali and Hatem, Iyad},
  booktitle={2018 International Conference on Computational Approach in Smart Systems Design and Applications (ICASSDA)},
  pages={1--6},
  year={2018},
  organization={IEEE}
}