Vision-Based Hybrid Controller to Release a 4-DOF Parallel Robot from a Type II Singularity. - José L. Pulloquinga; Rafael J. Escarabajal; Jesús Ferrándiz; Marina Vallés; Vicente Mata; Mónica Urízar (Sensors, 2021)

Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws. - José L. Pulloquinga; Rafael J. Escarabajal; Marina Vallés; Ángel Valera; Vicente Mata (ARK, 2022)

Model-Based Control of a 4-DOF Rehabilitation Parallel Robot with Online Identification of the Gravitational Term. - Rafael J. Escarabajal; José L. Pulloquinga; Vicente Mata; Ángel Valera; Miguel Díaz-Rodríguez (Sensors, 2023)

Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives. - Rafael J. Escarabajal; José L. Pulloquinga; Ángel Valera; Vicente Mata; Marina Vallés; Fernando Jose Castillo-García (IEEE Trans. Robotics, 2023)

Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises. - Rafael J. Escarabajal; José L. Pulloquinga; Pau Zamora-Ortiz; Ángel Valera; Vicente Mata; Marina Vallés (IEEE Robotics Autom. Lett., 2023)

Experimental Analysis of Type II Singularities and Assembly Change Points in a 3UPS+RPU Parallel Robot. - José L. Pulloquinga; Vicente Mata; Angel Valera; Pau Zamora-Ortiz; Miguel Díaz-Rodríguez; Ivan Zambrano (CoRR, 2024)

A Type II Singularity Avoidance Algorithm for Parallel Manipulators using Output Twist Screws. - José L. Pulloquinga; Rafael J. Escarabajal; Angel Valera; Marina Vallés; Vicente Mata (CoRR, 2024)

Admittance Controller Complemented with Real-time Singularity Avoidance for Rehabilitation Parallel Robots. - José L. Pulloquinga; Rafael J. Escarabajal; Marina Vallés; Miguel Díaz-Rodríguez; Vicente Mata; Angel Valera (CoRR, 2024)

Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb. - Rafael J. Escarabajal; Pau Zamora-Ortiz; José L. Pulloquinga; Marina Vallés; Ángel Valera (IEEE Trans. Syst. Man Cybern. Syst., 2025)