Institute of Mechanics

Position: Assoc. Professor

Department: Mechatronics

Room number: 208

Phone: +359 2 979 6427

E-mail: veneva@imbm.bas.bg

Scientific degrees, institution, year:

Fields of Research:

Biomechatronics; Rehabilitation Robotics;

H&S Design and control of robotic systems, Exoskeletons;

Human Robot Interfaces; Haptic  devices; Motion Capturing and Virtual Reality communication devices and interfaces.

Recent Publications:

• Venev, P., Chakarov, D. and Veneva, I., "Joint Stiffness Adjustment of a Pneumatic Driven Exoskeleton. In Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH 2023), pages 361-368, ISBN: 978-989-758-668-2; ISSN: 2184-2841, DOI: 10.5220/0012119200003546, 2023

• Veneva, I., Venev, P., Katsarov, G. Angelova, S., "Rehabilitation device with rotary pneumatic actuator, 2023, 14 National Conference with International Participation ELECTRONICA 2023, 1-3 June 2023, Sofia, Bulgaria, Conference Proceedings, Technically Co-Sponsored by IEEE

• Veneva, I., Venev, P., Chakarov, D. and Katsarov, G., "Device for Electrical Acupuncture Stimulation,", 2022 13th National Conference with International Participation (ELECTRONICA), 2022, pp. 1-4, doi: 10.1109/ELECTRONICA55578.2022.9874427.

• Chakarov, D., Veneva, I., Venev, P. and Tsveov, M., "Design and Experiments of a Pneumatic Powered Exoskeleton for Rehabilitation and Training,", 2022 13th National Conference with International Participation (ELECTRONICA), 2022, pp. 1-4, doi: 10.1109/ELECTRONICA55578.2022.9874414.

• Venev, P., Veneva, I., Katsarov, G., Chakarov, D., Rehabilitation Device for Lower Limbs Through Virtual Training and Electrical Acupuncture Stimulation. In: Robotics in Natural Settings. CLAWAR 2022., Lecture Notes in Networks and Systems, vol 530. Springer, Cham. Published 25 August 2022, pp 560–571

• Venev P., Veneva, I., Chakarov, D. Pneumatic control system for exoskeleton joint actuation. Biosystems and Biorobotics, 27, Springer Nature, 2021, ISSN:21953562, DOI:10.1007/978-3-030-69547-7_56, 345-350.

• Chakarov, D., Veneva, I., Venev P. Simulation and experiments of a hybrid actuated exoskeleton for assistanceand rehabilitation. Series on Bimechanics, 35, 2, БАН, 2021, ISSN:1313-2458, 21-29.

• Chakarov, D., Veneva, I., Venev, P., Tsveov M. Evaluation of the capabilities of a hybrid driven exoskeleton in passive mode of interaction. Pros of the 18th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2021, SciTePress, 2021, ISBN:978-989758522-, DOI:10.5220/0010569004420449, 442-449

• Dimitar Chakarov, Ivanka Veneva, Mihail Tsveov, Pavel Venev. Study of a Hybrid Actuated Exoskeleton for Upper Limb Rehabilitation, Proc. of the 17th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2020; Virtual; France, Volume 1, pp. 498-505, 2020, Copyright c 2020 by SCITEPRESS – Science and Technology Publications, Lda., ISBN: 978-989-758-442-8.

• Chakarov, D., Tsveov, M., Veneva, I., Venev, P. (2019) Modeling and simulations of an upper limb exoskeleton designed for rehabilitation and training. Приета за публикуване в материалите на Международната научна конферинция „МАТHMODEL 2019“, 11-14.12.2019, Боровец.

• Raikova R., Angelova S., Veneva I., Christov I. (2019) Experimental investigation of electromyographic activities of upper limb muscles without and with a passive exoskeleton with 4 degrees of freedom. International Journal of Bioautomation, 23(3), 343-354.

• Chakarov, D., Veneva, I., Tsveov, M., Mitrouchev, P., Venev, P., Design of a two arms exoskeleton as haptic device for virtual reality applications, (2019) Lecture Notes in Mechanical Engineering, pp. 252-262. DOI: 10.1007/978-3-030-12346-8_25

• Veneva, I., Chakarov, D., Tsveov, M., Venev, P., (2019) Exoskeleton with Soft Actuation and Haptic Interface, Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. pp. 410-414, Springer, Cham

• Chakarov, D., Tsveov, M., Veneva, I., Venev, P., Development of an upper limb exoskeleton for rehabilitation and training, (2018) Series on Biomechanics, 32 (4), pp. 11-18.

• M. Tsveov, P. Venev, D. Chakarov, I. Veneva. Simulations and experimental evaluation of an active orthosis for interaction in virtual environments. 13th National Congress Theoretical and Applied Mechanics, 6th – 10th September 2017, Sofia, Bulgaria. «MATEC Web of Conferences Journal“, 2018

• D. Chakarov, I. Veneva, M. Tsveov, P. Venev. Powered upper limb orthosis actuation system based on pneumatic artificial muscles, Journal of Theoretical and Applied Mechanics, Sofia, Vol. 48 No. 1 (2018) pp. 23-36

• Veneva, I., Chakarov, D., Tsveov, M., Venev, P., (2019) Exoskeleton with Soft Actuation and Haptic Interface, Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. pp. 410-414, Springer, Cham

• Veneva, I., Chakarov, D. Tsveov, M., Trifonov, D., Zlatanov, E., Venev, P., Active Assistive Orthotic system: (Exoskeleton) enhancing movement, Handbook of Research on Biomimetics and Biomedical Robotics.", IGI Global eEditorial Discovery pp.48-75, 2017

• Chakarov, D., Veneva, I., Tsveov, M., Trifonov, D., Adjusting the Natural Stiffness of a Pneumatic Powered Exoskeleton Designed as a Virtual Reality Haptic Device, Int. Journal of Advanced Robotic Systems, SAGE Open Access, 2017:1-13, IF: 0.987, ISSN: 1729-8814, Online ISSN: 1729-8814, DOI: 10.1177/1729881417739432

• Angelova, S., Ribagin, S., Raikova, R., Veneva, I., Power frequency spectrum analysis of surface EMG signals of upper limb muscles during elbow flexion – A comparison between healthy subjects and stroke survivors, Journal of Electromyography and Kinesiology, vol.38, 2018, pp. 7-16, IF: 1.51, (SJR): 0.984, ISSN: 10506411, DOI.org/10.1016/j.jelekin.2017.10.013,

• Tsveov M., I. Veneva, D. Chakarov, Trifonov, D., Human body active orthosis as haptic device for interaction in virtual environments. Series on BIOMECHANICS, Vol.29, No.2-3, 2015, ISSN 1313-2458, pp.101-108

• Chakarov, D., Ivanka Veneva, Tsveov, M.,Dimitar Trifonov, А New Exoskeleton Arm as Haptic Device for Human Embodiment in Virtual Environment, 12. Magdeburger Maschinenbau-Tage, 30. September - 01. Oktober 2015 , Otto-von-Guericke-Universität Magdeburg, CD ISBN: 978-3-944722-26-9,

• Chakarov D., Tsveov, M., Veneva I. and Mitrouchev, P., Adjustable Compliance Joint with Torsion Spring for Human Centred Robots. International Journal of Advanced Robotic Systems, 2015, 12:0, pp. 1-8, doi: 10.5772/61931. Impact Factor: 0.526.

• Chakarov D., Veneva I., Tsveov M., A New Upper Limb Exoskeleton For Human Interaction With Virtual Environments And Rehabilitation Tasks, CD Pros. of the 10th International Conference Mechatronic Systems and Materials (MSM 2014), 7-10.07.2014, Opole, Poland. (In printing of Acta Mechanica et Automatica, p-ISSN:1898-4088, e-ISSN:2300-5319.

• Chakarov D., Veneva I., Tsveov M., Tiankov T., Trifonov D., New Exoskeleton Arm Concept Design and Actuation for Haptic Interaction with Virtual Objects, Journal of Theoretical and Applied Mechanics, Sofia, 2013, vol. 44, No. 4, pp. 3–14, ISSN 0861-6663, http://www.imbm.bas.bg/tm/jtam/files/44-4/3-14.pdf

• Veneva I., Chakarov D., Tsveov M., Trifonov D., Shterev K., Active Orthotic Devices. Integration with Virtual Reality, Sixth EUCogIII Members Conference, "Cognitive Systems: Present and future in the research, industry and funding landscape", Genoa, 17-18 October 2014.

• Veneva I, Ferreira N., Adaptive System for Control of Active Ankle-Foot Orthosis and Gait Analysis, Mathematical Methods in Engineering, Springer Netherlands 2014, pp 153-163, ISBN: 978-94-007-7182-6 (Print) 978-94-007-7183-3, http://link.springer.com/chapter/10.1007/978-94-007-7183-3_14

• Veneva I., Vanderborght, B., Lefeber, D., Cherelle, P., Propulsion System with Pneumatic Artificial Muscles for Powering Ankle-Foot Orthosis, Journal of Theoretical and Applied Mechanics, Sofia, 2013, vol. 43, No. 4, pp. 3–16, ISSN 0861-6663, IF: 0.45

• Veneva I., Design of Upper Limb Exoskeleton Actuated with Pneumatic Artificial Muscles, 12th National Congress on Theoretical and Applied Mechanics, 23-26 September 2013, Saints Constantine and Helena, Varna, Bulgaria.

• Veneva I., Design and study of Upper Limb Exoskeleton Actuated with Pneumatic Artificial Muscles, Proceedings of the 9-th Baltic- Bulgarian Conference ICBBM 2013,  june 17-21 Riga, Latvia, pp 78-88,  ISBN 978-9934-8409-0-6

• Veneva I., New Propulsion System with Pneumatic Artificial Muscles, 16th International Conference on Climbing and Walking Robots (CLAWAR 2013), Sydney, Australia, 14-17 July 2013, pp. 221-229, ISBN: 978-981-4525-52-7,

• Veneva I., Computer Models for Gait Identification and Analysis Using Autonomous System for Control and Monitoring, Proceedings of the 10^th IASTED International Conference on Biomedical Engineering „BioMed 2013”, 13-15 February, ISBN: 978-0-88986-942-4, Innsbruck, Austria, 2013, pp. 221-227, http://www.actapress.com/Abstract.aspx?paperId=454907

• Veneva I., Kiriazov, P., Gait Identification and Analysis using Autonomous System for Control and Monitoring, Proceedings of the Technical University of Sofia, vol. 62, Issue 1, pp.219-228, International Conference Automatics’2012, FA, Sozopol, Bulgaria, June 1-4, (2012), (ISSN: 1311-0829)

• Veneva I., Data management in gait analysis using autonomous system for control and monitoring, (2011), Series on Biomechanics, vol. 26, No. 1-2, pp. 77-83, ISSN: 1313-2458

• Kiriazov, P., Veneva I., Karastanev, S., Controlability criteria in designing human assistive devices, (2011), Series on Biomechanics, vol. 26, No. 1-2, pp. 71-76, ISSN: 1313-2458

• Kiriazov, P., Nikolova, G., Veneva, I., Intelligent Control Design in Robotics and Rehabilitation, Lecture Notes in Computer Science: Intelligent Robotics and Applications Part II, vol. 7102/2011, pp. 307-316, Springer-Verlag Berlin Heidelberg (2011) (ISBN: 978-3-642-25488-8), (SJR (SCOPUS) = 0.034)http://www.springerlink.com/content/8mv6228313x21801/

• Kiriazov, P., Nikolova, G., Veneva, I., Zlatov N., Control strategy and structure identification for efficient motion rehabilitation, In: Philippe Bidaud, Mohammad O Tokhi, Christophe Grand and Gurvinder S Virk (Eds.), FIELD ROBOTICS, World Scientific Publishing Co Pte. Ltd., Singapore, pp. 11-18 (2011) (ISBN: 978-981-4374-27-9), http://eproceedings.worldscinet.com/9789814374286/9789814374286_0002.html,

• Kiriazov, P., Veneva, I., On System Identification and Control Design of Vehicles and Platforms with Active Suspension, Proceedings of the Applied Vehicle Technology Panel AVT-170 RSM-025 Active Suspension Technologies for Military Vehicles and Platforms (NATO Conference), Sofia, Bulgaria, 16-20 May 2011, pp.4.1–4.10, http://www.rto.nato.int/abstracts.aspx

• Kiriazov, P., Veneva, I., Motion Control Concepts in Designing Human Assistive Devices, Proceedings of the 3rd European Conference Technically Assisted Rehabilitation - TAR 2011, Berlin, Germany, March 17 - 18, (2011), (ISSN 2192-161X), pp. 1-4, http://www.tar-conference.eu/documents/paper-and-poster/poster-session/15-Kriazov.pdf

• Boiadjiev T., Zagurski K., ..., Veneva I., Identification of the Bone Structure during the Automatic Drilling In the Orthopedic Surgery, Mechanics Based Design of Structures and Machines, (2011), Taylor & Francis, vol.39, Issue 2, pp. 285-302, Print ISSN: 1539-7734 http://www.informaworld.com/smpp/content~db=all?content=10.1080/15397734.2011.550863

• Veneva I., Device for Control of Active Ankle-Foot Orthosis and Monitoring System for Gait Analysis, (2010), Journal of Theoretical and Applied Mechanics, vol. 40, No. 4, pp. 81–92, ISSN: 0861-6663,  http://www.imbm.bas.bg/tm/jtam/files/81-92.pdf

• Veneva I., Control System for Active Ankle-Foot Orthosis and Gait Analysis, Proceedings of the 17th Congress of the European Society of Biomechanics (ESB2010), Edinburgh, Scotland, UK, 4-8 July 2010, CD

• Veneva I., Adaptive System for Control of Active Ankle-Foot Orthosis and Gait Analysis, Proceedings of the 3rd International Conference on Mathematical Methods in Engineering (MME'2010), Coimbra, Portugal, UK, 21-24 October 2010, CD

• Veneva I., Boiadjiev G., Kiriazov P., Adaptive Control System for Active Ankle-Foot Orthosis for Ankle Assisting and Rehabilitation, Proceedings of the 13th World Congress of the International Society of Prosthetics and Orthotics "ISPO 2010",- Leipzig, Germany, 10-15 May 2010, pp.797-798

• Veneva I., Intelligent device for control of active ankle-foot orthosis, Proceedings of the 7th IASTED International Conference on Biomedical Engineering „BioMed 2010", 17-19 February, ISBN: Book: 978-0-88986-827-4, CD: 978-0-88986-828-1, Innsbruck, Austria, 2010, pp. 100-105,

• Veneva I., Boiadjiev G., Control System for Data Acquisition and Processing of Ankle-Foot Orthosis, Proceedings of the 9th IFAC Symposium on Robot Control "SYROCO'09", 9-12 September- Gifu, Japan, pp. 745-750, (2009)

• Veneva I., Design and Implementation of Device for Control of Active Ankle-Foot Orthosis, Proceedings of the 11th National Congress on Theoretical and Applied Mechanics, 2-5 September, Borovets, Bulgaria, CD published ISSN: 1313-9665, (2009)

• Boiadjiev G., Delchev K., Kiriazov P., Veneva I., Mathematical Model of Mechanical Tree-like 5 DOF System Dynamics based on the Orthogonality Principle, Proceedings of the 11th National Congress on Theoretical and Applied Mechanics, 2-5 September, Borovets, Bulgaria, CD published ISSN: 1313-9665, (2009)

• Veneva I., Active ankle-foot orthosis control, Proceedings of International Conference "Progress in Motor Control VII", 23 25 July, Marseille, France, pp.192(2009)

• Veneva I., Autonomous Adaptive System For Actuation, Data Acquisition And Control Of Active Ankle-Foot Orthosis, Proceedings of the 10th International Robotics Conference, Sozopol, Bulgaria,(in press), (2009)

• Kiriazov P., Zlatov N., Milusheva S., Nikolova G., Kalaidjieva M., Veneva I., Antonova R., Tochev D. and Kouzmanov L. Biomechanics And Technically Assisted Rehabilitation, Proceedings of the 10th International Robotics Conference, Sozopol, Bulgaria, (in press), (2009)

• Veneva I., Venev H., Multifunctional XYZ Machine, Proceedings of the 9th International Conference on Advanced Manufacturing Operations, 25-27 June, Kranevo, Bulgaria, pp.63-68, ISSN: 1313-4264, (2009)

• Венева И., Система за управление, събиране и обработка на данни на глезенно-стъпална ортеза, Автореферат, 38 стр., (2009)

• Karastoyanov D., Boyadjiev G., Boyadjiev T., Veneva I., Interactive Mechatronic System For Knee And Ankle Rehabilitation, Proceedings of International Conference "Automatics And Informatics'08", October 2008, pp. VI-5--VI-8

• Karastojanov D., Veneva I., Boiadjiev T., Boiadjiev G., Innovative module system for robotizing of orthopedic manipulations, Edition Machine Union, Year.ХІV, Vol.6, September 2008, ISSN1310-3946, pp. 41-46

• Veneva I., PID Control for Active Ankle-foot orthosis Positioning, Edition Machine Union, Year.ХІV, Vol.6, September 2008, ISSN1310-3946, pp. 52-57

• Veneva I., Antonova R., Zlatov N., Intelligent Control of ankle-foot complex with functional electrical stimulation, Proceedings of the 4th Virtual International Conference Innovative Production Machines and Systems (I*PROMS 2008), Cardiff University, Wales, 1-14 July, 2008, Elsevier (Oxford), pp.240-245, (2008)

• Veneva I., Boiadjiev G., Mathematical Model of Electromechanical Controlled Module in Orthopedics, Proceedings of the 6th International Conference on Bionics and Prosthetics, Biomechanics and Mechanics, Mechatronics and Robotics, Varna, Bulgaria, 2008, pp.22-26

• Veneva I., Toshev Y., Integrated Control of ankle-foot orthoses, Proceedings of the 1st International Conference on Computational Biomechanics and Biology, Pilzen, Czech Republic, 2007, CD published ISBN 987-80-7043-607-3

• Veneva I., Autonomous control system for gait analysis, Proceedings of the 9th International Robotics Conference, Varna, Bulgaria, 2007, pp. 230-236

• Veneva I., Toshev Y., Control algorithm for ankle-foot orthosis and applications, Proceedings of the 9th International Robotics Conference, Varna, Bulgaria, 2007, pp. 225-230

• Veneva I., Toshev Y., AVR's Fast Pulse Width Modulation for Direct Driving of Voice Coil Actuator, Edition Machine Union, Year ХІІІ, Vol.5, October 2006, ISSN1310-3946, pp. 3.1-3.6

• Veneva I., Toshev Y., (2006) Intelligent Active Ankle-Foot Orthosis, Proceedings of the 16th Annual Meeting of the European Orthopaedic Research Society, Bologna, Italy p.146

• Veneva I., Toshev Y., Integrated approach for active orthotic assistance of the ankle-foot complex, Proceedings of the 5th World Congress of Biomechanics, Munich, Germany, 2006, p. 93

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Recent Projects:

- Virtual Embodiment and Robotic Re-embodiment -VERE 257695 FP7 Project (2014-2015) - teem leader

- EUCogII, EUCogIII - European Network for the Advancement of Artificial Cognitive Systems, Interaction and Robotics - European Commission, 7th Research Framework Programme, 2009-2012.

- Convergent Science Network of biomimetic and biohybrid systems (CSN), 7th Research Framework Programme, 2009-2012,

- Development of New Types of Active Orthoses with Compliant Actuators, FWO Bilateral project with Vrije Universiteit Brussel, Belgium, (2013-2015)

- Construction o highly qualified young researchers in modern information technology optimization, pattern recognition and decision support" - European Social Fund and Bulgarian Ministry of Education, Youth and Science under Operative Program "Human Resources Development", Grant BG051PO001-3.3.04/40, (2010-2011).

- Biomechanical Models and Technically Assisted Devices for Human Body Rehabilitation (2009-2011)

Membership:

European Society of Biomechanics,

International Society for Prosthetics and Orthotics,

Bulgarian Society of Biomechanics,

Society of Automatics and Informatics

Honors:

Travel Award of the European Society of Biomechanics for the work entitled:„Control System for Active Ankle-Foot Orthosis and Gait Analysis",presented at 17th Congress of the European Society of Biomechanics (ESB2010), Edinburgh, Scotland, UK

Institute of Mechanics tel.: +359 2 973 31 40; e-mail: office@imbm.bas.bg