Contact Point identification in robot assembly strategies under uncertainty. - C. J. Tsaprounis; Nikos A. Aspragathos (Robotica, 1998)

Sliding mode with adaptive estimation force control of robot manipulators interacting with an unknown passive environment. - C. J. Tsaprounis; Nikos A. Aspragathos (Robotica, 1999)

Adaptive Tracking Controller for Rigid-Link Elastic-Joint Robots with Link Acceleration Estimation. - C. J. Tsaprounis; Nikos A. Aspragathos (J. Intell. Robotic Syst., 2000)

A linear differential formulation of friction forces for adaptive estimator algorithms. - C. J. Tsaprounis; Nikos A. Aspragathos (Robotica, 2001)