A Three-Loop Model-Following Control Structure: Theory and Implementation. International Journal of Control. 83:97–104.. 2010.
Simple two degree of freedom structures and their properties. Robotica. 24:365–372.. 2006.
Simple Robust Control Structures Based on the Model-Following Concept - A Theoretical Analysis. International Journal of Robust and Nonlinear Control.. 2010.
Multi-loop model-based control structure for robot manipulators. Robotica. 23:491–499.. 2005.
A method of improving the dynamic response of 3D force/torque sensors. Mechanical Systems and Signal Processing. 68-69:366–377.. 2016.
A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators. Solid State Phenomena. 147-149:1–6.. 2009.
Hybrid model-based force/position control: theory and experimental verification. Robotica. 24:775–783.. 2006.
Forward-model-based control system for robot manipulators. Robotica. 22:155–161.. 2004.
A Two-Loop Implicit Force/Position Control Structure, Based on a Simple Linear Model: Theory and Experiment. IEEE International Conference on Robotics and Automation. :2232–2237.. 2006.
A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators. The 4th International Conference Mechatronic Systems and Materials. :3–4.. 2008.
Hexa Platform as Active Environment System. International Workshop on Robot Motion and Control.. 2009.