I finished my BSc in Control engineering at the Amirkabir University of Technology – Tehran Polytechnic in 2016. I started my MSc program in the same major at the K.N Toosi University of Technology – Tehran in October 2016. People at ARAS SR group were working on a haptic training system for eye surgery (ARASH: ASiST) when I joined in. Together we finished implementing the system and successfully tested it on some artificial cases. In my thesis, I explained the implementation process of the electronic and software design of the haptic consoles. Furthermore, I proposed three cooperative control schemes to help with the training process. Further information about the project can be visited on Surgical Robotics group and ARASH: ASiST page.