Teleoperation of a Robot Using a Haptic Device with Different Kinematics. - César Peña; Rafael Aracil; Roque J. Saltarén (EuroHaptics, 2008)

Efficient human hand kinematics for manipulation tasks. - Salvador Cobos; Manuel Ferre; Miguel Angel Sánchez Urán; Javier Ortego; César Peña (IROS, 2008)

Bilateral controller design based on transparency in the state convergence framework. - Rafael Aracil; Manuel Ferre; José Maria Azorín; César Peña (IROS, 2009)

Bilateral control by state convergence based on transparency for systems with time delay. - Rafael Aracil; José Maria Azorín; Manuel Ferre; César Peña (Robotics Auton. Syst., 2013)