Publications

• Thesis: 2024, Design and Implementation of Model-Based and Learning Control for Rehabilitation Parallel Robots: Advancements and Performance Evaluation
  Publication date: 19/12/2024
  Author: Rafael José Escarabajal Sánchez,
  Director/s: Valera Fernández, Ángel; Vallés Miquel, Marina

• Paper: 2024, Sensor-Based Identification of Singularities in Parallel Manipulators,
  Journal: Actuators, Number , Volume 13, Pagess: –
  DOI: https://doi.org/10.3390/act13050168 – HANDLE: https://riunet.upv.es/handle/10251/220290
  Authors: Pulloquinga-Zapata, José Luis; Ceccarelli, M.; Mata Amela, Vicente; Valera Fernández, Ángel
  

• Thesis: 2023, A new index for detecting and avoiding Type II singularities for the control of non-redundant parallel robots
  Publication date: 15/05/2023
  Author: José Luis Pulloquinga Zapata,
  Director/s: Mata Amela, Vicente; Valera Fernández, Ángel

• Paper: 2023, A Type II singularity avoidance algorithm for parallel manipulators using output twist screws,
  Journal: Mechanism and Machine Theory, Number , Volume 183, Pagess: –
  DOI: https://doi.org/10.1016/j.mechmachtheory.2023.105282 – HANDLE: http://hdl.handle.net/10251/204370
  Authors: Pulloquinga-Zapata, José; Escarabajal-Sánchez, Rafael José; Valera Fernández, Ángel; Vallés Miquel, Marina; Mata Amela, Vicente
  

• Paper: 2023, Admittance controller complemented with real-time singularity avoidance for rehabilitation parallel robots,
  Journal: Mechatronics, Number , Volume 94, Pagess: –
  DOI: https://doi.org/10.1016/j.mechatronics.2023.103017 – HANDLE: http://hdl.handle.net/10251/200862
  Authors: Pulloquinga-Zapata, José Luis; Escarabajal-Sánchez, Rafael José; Vallés Miquel, Marina; Díaz-Rodríguez, Miguel; Mata Amela, Vicente; Valera Fernández, Ángel
  

• Paper: 2023, Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot,
  Journal: Robotics, Number , Volume 12, Pagess: –
  DOI: https://doi.org/10.3390/robotics12060154 – HANDLE: http://hdl.handle.net/10251/205848
  Authors: Valera Fernández, Ángel; Vargas-Riaño, Julio Hernando; O. Agudelo-Varela
  

• Paper: 2023, Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives,
  Journal: IEEE Transactions on Robotics, Number , Volume 39, Pagess: –
  DOI: https://doi.org/10.1109/TRO.2023.3238136 – HANDLE: http://hdl.handle.net/10251/200923
  Authors: Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina; Castillo-García, Fernando J.
  

• Paper: 2023, Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises,
  Journal: IEEE Robotics and Automation Letters, Number , Volume 8, Pagess: –
  DOI: https://doi.org/10.1109/LRA.2023.3281884 – HANDLE: http://hdl.handle.net/10251/201738
  Authors: Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José; Zamora-Ortiz, Pau; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina
  

• Paper: 2023, Model-Based Control of a 4-DOF Rehabilitation Parallel Robot with Online Identification of the Gravitational Term,
  Journal: Sensors, Number , Volume 23, Pagess: –
  DOI: https://doi.org/10.3390/s23052790 – HANDLE: http://hdl.handle.net/10251/202749
  Authors: Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José Luis; Mata Amela, Vicente; Valera Fernández, Ángel; Díaz-Rodríguez, Miguel
  

• Paper: 2022, A Computationally Efficient Musculoskeletal Model of the Lower Limb for the Control of Rehabilitation Robots: Assumptions and Validation,
  Journal: Applied Sciences, Number 5, Volume 12, Pagess: 2654- 2670
  DOI: https://doi.org/10.3390/app12052654 – HANDLE:
  Authors: Farhat, Nidal; Zamora-Ortiz, Pau; David Reichert; Mata Amela, Vicente; Page Del Pozo, Alvaro Felipe; Valera Fernández, Ángel
  

• Paper: 2022, Gravitational Base Parameters Identification for a Knee Rehabilitation Parallel Robot,
  Journal: International Journal on Advanced Science, Engineering and Information Technology, Number 2, Volume 12, Pagess: 501- 507
  DOI: https://doi.org/10.18517/ijaseit.12.2.15289 – HANDLE:
  Authors: Pulloquinga-Zapata, José; Escarabajal-Sánchez, Rafael José; Mata Amela, Vicente; Valera Fernández, Ángel; Ivan Zambrano; Andrés Rosales
  

• Thesis: 2022, Synthesis of the Complete Inverse Kinematic Model of Non-Redundant Open-Chain Robotic Systems using Groebner Basis Theory
  Publication date: 28/01/2022
  Author: José Guzmán Giménez,
  Director/s: Valera Fernández, Ángel

• Paper: 2022, Turmell-Meter: A Device for Estimating the Subtalar and Talocrural Axes of the Human Ankle Joint by Applying the Product of Exponentials Formula,
  Journal: Bioengineering, Number , Volume 9, Pagess: 199-1- 199-35
  DOI: https://doi.org/10.3390/bioengineering9050199 – HANDLE:
  Authors: O. Agudelo-Varela; Vargas-Riaño, Julio Hernando; Valera Fernández, Ángel
  

• Paper: 2021, Automatic selection of the Groebner Basis monomial order employed for the synthesis of the inverse kinematic model of non-redundant open-chain robotic systems,
  Journal: Mechanics Based Design of Structures and Machines, Number , Volume , Pagess: 1- 22
  DOI: https://doi.org/10.1080/15397734.2021.1899829 – HANDLE:
  Authors: Guzmán Giménez, José; Valera Fernández, Ángel; Mata Amela, Vicente; MIGUEL ÁNGEL DÍAZ RODRÍGUEZ
  

• Paper: 2021, Experimental analysis of Type II singularities and assembly change points in a 3UPS+RPU parallel robot,
  Journal: Mechanism and Machine Theory, Number , Volume 158, Pagess: 104242-
  DOI: https://doi.org/10.1016/j.mechmachtheory.2020.104242 – HANDLE:
  Authors: Pulloquinga-Zapata, José; Mata Amela, Vicente; Valera Fernández, Ángel; Zamora-Ortiz, Pau; Díaz-Rodríguez, Miguel; Ivan Zambrano
  

• Paper: 2021, Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots,
  Journal: Mathematics, Number , Volume 9, Pagess: 773-
  DOI: https://doi.org/10.3390/math9070773 – HANDLE:
  Authors: Zamora-Ortiz, Pau; Javier Carral-Alvaro; Valera Fernández, Ángel; Pulloquinga-Zapata, José; Escarabajal-Sánchez, Rafael José; Mata Amela, Vicente
  

• Paper: 2021, Navigation of Autonomous Light Vehicles Using an Optimal Trajectory Planning Algorithm,
  Journal: Sustainability, Number 1233, Volume 13, Pagess: 1- 23
  DOI: https://doi.org/10.3390/su13031233 – HANDLE:
  Authors: Valera Fernández, Ángel; Valero Chuliá, Francisco José; Vallés Miquel, Marina; Besa Gonzálvez, Antonio José; Mata Amela, Vicente; Llopis-Albert, Carlos
  

• Paper: 2020, Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces,
  Journal: Mechatronics, Number , Volume 69, Pagess: 1- 13
  DOI: https://doi.org/10.1016/j.mechatronics.2020.102382 – HANDLE:
  Authors: Valero Chuliá, Francisco José; Díaz-Rodríguez, Miguel; Vallés Miquel, Marina; Besa Gonzálvez, Antonio José; Bernabeu Soler, Enrique Jorge; Valera Fernández, Ángel
  

• Paper: 2020, Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives,
  Journal: Multidisciplinary Journal for Education, Social and Technological Sciences, Number 2, Volume 7, Pagess: 30- 44
  DOI: https://doi.org/10.4995/muse.2020.13907 – HANDLE:
  Authors: Escarabajal-Sánchez, Rafael José; ABU-DAKKA, FARES JAWAD MOHD; Pulloquinga-Zapata, José; Mata Amela, Vicente; Vallés Miquel, Marina; Valera Fernández, Ángel
  

• Paper: 2020, Passive Exercise Adaptation for Ankle Rehabilitation Based on Learning Control Framework,
  Journal: Sensors, Number 21, Volume 20, Pagess: 1- 23
  DOI: https://doi.org/10.3390/s20216215 – HANDLE:
  Authors: Abu-Dakka, Fares J.; Valera Fernández, Ángel; Escalera, Juan A.; Abderrahim, Mohamed ; Page Del Pozo, Alvaro Felipe; Mata Amela, Vicente
  

• Paper: 2020, Synthesis of the Inverse Kinematic Model of Non-Redundant Open-Chain Robotic Systems Using Groebner Basis Theory,
  Journal: Applied Sciences, Number 8, Volume 10, Pagess: 1- 22
  DOI: https://doi.org/10.3390/app10082781 – HANDLE:
  Authors: Guzmán-Giménez, José; Valera Fernández, Ángel; Mata Amela, Vicente; Díaz-Rodríguez, Miguel Ángel
  

• Paper: 2019, Event based distributed kalman filter for limited resource multirobot cooperative localization,
  Journal: Asian Journal of Control, Number 4, Volume 21, Pagess: 1531- 1546
  DOI: https://doi.org/10.1002/asjc.2141 – HANDLE:
  Authors: MARÍN PANIAGUA, LEONARDO JOSÉ; Soriano Vigueras, Ángel; Vallés Miquel, Marina; Valera Fernández, Ángel; Albertos Pérez, Pedro