Research Interests

• Hybrid bimanual arm–hand manipulation
• Human-inspired bimanual coordination learning
• Contact-rich dexterity with tactile + compliance

Links

• Google Scholar

Selected Publications

• Mashood Mohsan, Basma Hasanen, Taimur Hassan, Lakmal Seneviratne, Irfan Hussain. ”A Wearable Thumb Device for On Tree Fruit Firmness Estimation with Vision-Based Tactile Sensing,” 2025. DOI: 10.1016/j.compag.2025.110593
• Naqash Afzal, Basma Hasanen, Lakmal Seneviratne, Oussama Khatib, Irfan Hussain. ”Friction-Scaled Vibrotactile Feedback for Real-Time Slip Detection in Manipulation using Robotic Sixth Finger,” 2025. DOI: 10.1017/S0263574725102841
• Basma Hasanen, Mashood Mohsan, Abdulaziz Alkayas, Federico Renda, Irfan Hussain. “Soft Vision-Based Tactile-Enabled SixthFinger: Advancing Daily Objects Manipulation for Stroke Survivors,” 2025. DOI: 10.1109/RoboSoft63089.2025.11020866
• Mashood Mohsan, Basma Hasanen, Taimur Hassan, Muhay U ddin, Naoufel Werghi, Lakmal Seneviratne, Irfan Hussain. ”SwishFormer for robust firmness and ripeness recognition of fruits using visual tactile imagery,” 2025. DOI: 10.1016/j.postharvbio.2025.113487
• Basma Hasanen, Bhivraj Suthar, Yahya Zweiri, Lakmal Seneviratne, Irfan Hussain. ”Design of Twisted String Actuated Flexure Joint for Supernumerary Robotic Arm for Bi-manual Tasks,” 2024. DOI: 10.1109/JSEN.2024.3422791
• Sjoerd Hendriks, Basma Hasanen, Naqash Afzal, Irfan Hussain, Muhammad Obaid. “Revolutionizing a Robotic Sixth Finger Design to Support Post-Stroke Adults,” 2024. DOI: 10.1109/RO-MAN60168.2024.10731448
• Taimur Hassan, Basma Hasanen, et al., ”Ophthalmoscope Application” US Patent Application US18/957,742, Nov. 2024.
• Mashood Mohsan, Basma Hasanen, et al., ”A Wearable Device Using Vision-Based Tactile Sensors To Detect Object Firmness”. US Patent Application US18/908,435, Oct. 2024.
• Mohammad I. Awad, Mohammed Ramadan, Basma Hasanen, et al. ”Infinite-rotation infinite-stiffness variable stiffness actuator (irisvsa) with application for compliant supernumerary robotic limb,“ US Patent No.: US12128553B2, Oct 2024.
• Basma Hasanen, Mohammad I. Awad, Mohamed Boushaki, Zenwei Niu, Mohammed Ramadan, Irfan Hussain. ”Novel Supernumerary Robotic Limb based on Variable Stiffness Actuators for Hemiplegic Patients Assistance," 2022 DOI: 10.1109/IROS47612.2022.9981932