· Faculty Member, Dept. of Mech. Eng., K. N. Toosi Univ. of Technology, Tehran, Iran, 1997-Present.
· Chair, International Conference on Robotics and Mechatronics (ICRoM), 2018-Present.
· Chair, Robotics Society of Iran, 2011-2018.
· Chair, Robotics and Control Centre of Excellence, 2011-Present.
· Teaching Excellence Award, K. N. Toosi Univ. of Technology, 2010.
· Associate Editor, Int Jour of Robotics, , 2010-Present.
· Research Excellence Award, K. N. Toosi Univ. of Technology, 2007.
· Teaching Excellence Award, K. N. Toosi Univ. of Technology, 2007.
· Member of the Board and Managing Director, Dana Incorporation, Tehran, Iran, 2001-2004.
· Deputy Principal, Dept. of Mech. Eng., K. N. Toosi Univ. of Technology, Tehran, Iran, 1998-2001.
· Lecturer, Dept. of Mech. Eng., Iran University of Science & Technology, Tehran, 1990-1991.
· Member of the Board and Project Manager, Industrial Research Institute, Tehran, Iran, 1987-1990.