Multirate sampling technique in digital control systems simulation. - Rafael Aracil; Agustín Jiménez Avello; Vicente Feliu (IEEE Trans. Syst. Man Cybern., 1984)

An adequate robot modelling for rapid and good 3D collision-free path planning. - Carlos Balaguer; Francisco José Rodríguez; José Manuel Pastor 001; Ernesto Gambao; Rafael Aracil; A. Barrrientos (Robotics, Mechatronics and Manufacturing Systems, 1993)

A Neural Network based Quality control System for steel Strip manufacturing. - Sergio Domínguez; Pascual Campoy; Rafael Aracil (AIRTC, 1994)

Planning collision-free paths in a three-dimensional partially known environment. - Carlos Balaguer; A. Oliver; Rafael Aracil; Antonio Barrientos (Adv. Robotics, 1994)

Reduction of free-space-loss for good and rapid 3D path planning of 6DOF robots. - Carlos Balaguer; Antonio Barrientos; Francisco José Rodríguez; Rafael Aracil; Eugenio Andrés Puente; U. Peter (J. Intell. Robotic Syst., 1995)

Telerobotic System for Live Power Lines Maintenance: ROBTET. - Luis F. Peñín; Rafael Aracil; Manuel Ferre; E. Pinto; Miguel Hernando 001; Antonio Barrientos (ICRA, 1998)

Human Behavior Modeling in Master-Slave Teleoperation with Kinesthetic Feedback. - Luis F. Peñín; A. Caballero; Rafael Aracil; Antonio Barrientos (ICRA, 1998)

Automated real-time visual inspection system for high-resolution superimposed printings. - Fernando Torres Medina; José M. Sebastián; Rafael Aracil; Luis M. Jiménez; Óscar Reinoso (Image Vis. Comput., 1998)

Robotized spraying of prefabricated panels. - Luis F. Peñín; Carlos Balaguer; José Manuel Pastor 001; Francisco José Rodríguez; Antonio Barrientos; Rafael Aracil (IEEE Robotics Autom. Mag., 1998)

Detector de colisiones para un sistema robotizado teleoperado para trabajos en tensión mediante visión artificial. - Francisco Manuel Sánchez; Rafael Aracil; José M. Sebastián; David García (Inteligencia Artif., 2000)

Dynamic analysis for a teleoperation system with time delay. - José Maria Azorín; Óscar Reinoso; José María Sabater; Raman P. Neco; Rafael Aracil (CCA, 2003)

Kinematics control of a 6 URS parallel platform working as an impedance display. - José María Sabater; José Maria Azorín; Nicolás M. García; Rafael Aracil; Roque J. Saltarén (CCA, 2003)

Real time video image processing for teleoperation: image blending and stereoscopy. - Manuel Ferre; Rafael Aracil; Manuel Navas; Juan A. Escalera (ETFA (2), 2003)

Parallel robots for autonomous climbing along tubular structures. - Rafael Aracil; Roque J. Saltarén; Óscar Reinoso (Robotics Auton. Syst., 2003)

Motion planning of a climbing parallel robot. - Miguel Almonacid; Roque J. Saltarén; Rafael Aracil; Óscar Reinoso (IEEE Trans. Robotics Autom., 2003)

Visual Servoing Techniques for Continuous Navigation of a Mobile Robot. - Nicolás García-Aracil; Óscar Reinoso; José Maria Azorín; Ezio Malis; Rafael Aracil (ICINCO (2), 2004)

Control Through State Convergence of Teleoperation Systems with Varying Time Delay. - José Maria Azorín; Óscar Reinoso; José María Sabater; Rafael Aracil (ICINCO (2), 2004)

Generalized control method by state convergence for teleoperation systems with time delay. - José Maria Azorín; Óscar Reinoso; Rafael Aracil; Manuel Ferre (Autom., 2004)

Control of Teleoperators with Communication Time Delay through State Convergence. - José Maria Azorín; Óscar Reinoso; Rafael Aracil; Manuel Ferre (J. Field Robotics, 2004)

Design, modelling and implementation of a 6 URS parallel haptic device. - José María Sabater; Roque J. Saltarén; Rafael Aracil (Robotics Auton. Syst., 2004)

RoboTenis System Part II: Dynamics and Control. - Luis Angel Silva; José M. Sebastián; Roque J. Saltarén; Rafael Aracil (CDC/ECC, 2005)

Parameters Selection and Stability Analysis of Invariant Visual Servoing with Weighted Features. - Nicolás García-Aracil; Rafael Aracil; Ezio Malis; Óscar Reinoso (ICRA, 2005)

Kinematic Redundancy in Robot Grasp Synthesis. An Efficient Tree-based Representation. - César Fernández Peris; Óscar Reinoso; Maria Asunción Vicente; Rafael Aracil (ICRA, 2005)

RoboTenis: optimal design of a parallel robot with high performance. - Luis Angel Silva; José Maria Sebastián; Roque J. Saltarén; Rafael Aracil; Jose Sanpedro (IROS, 2005)

Stereoscopic video images for telerobotic applications. - Manuel Ferre; Rafael Aracil; Manuel Navas (J. Field Robotics, 2005)

Magister-P; a 6-URS parallel haptic device with open control architecture. - José María Sabater; José Maria Azorín; Rafael Aracil; Roque J. Saltarén (Robotica, 2005)

Continuous visual servoing despite the changes of visibility in image features. - Nicolás García-Aracil; Ezio Malis; Rafael Aracil; Carlos Pérez-Vidal (IEEE Trans. Robotics, 2005)

Climbing parallel robot: a computational and experimental study of its performance around structural nodes. - Roque J. Saltarén; Rafael Aracil; Óscar Reinoso; Maria Antonieta Scarano (IEEE Trans. Robotics, 2005)

Bilateral Control of Different Order Teleoperators. - José Maria Azorín; Rafael Aracil; José María Sabater; Manuel Ferre; Nicolás M. García; Carlos Pérez-Vidal (EUROS, 2006)

Experimental bilateral control by state convergence. - Jordi Barrio; José Maria Azorín; Rafael Aracil; Manuel Ferre; José María Sabater; Nicolás M. García (IROS, 2006)

Teleoperated parallel climbing robots in nuclear installations. - José María Sabater; Roque J. Saltarén; Rafael Aracil; Eugenio Yime; José Maria Azorín (Ind. Robot, 2006)

A climbing parallel robot: a robot to climb along tubular and metallic structures. - Rafael Aracil; Roque J. Saltarén; Óscar Reinoso (IEEE Robotics Autom. Mag., 2006)

3D-Image Visualization and Its Performance in Teleoperation. - Manuel Ferre; Salvador Cobos; Rafael Aracil; Miguel Angel Sánchez Urán (HCI (14), 2007)

ROBMAT: Teleoperation of a Modular Robot for Collaborative Manipulation. - Juan A. Escalera; Manuel Ferre; Rafael Aracil; José Baca (KES (2), 2007)

Field and service applications - Exploring deep sea by teleoperated robot - An Underwater Parallel Robot with High Navigation Capabilities. - Roque J. Saltarén; Rafael Aracil; Cesar Alvarez Arocha; Eugenio Yime; José María Sabater (IEEE Robotics Autom. Mag., 2007)

Performance evaluation of spherical parallel platforms for humanoid robots. - Roque J. Saltarén; José María Sabater; Eugenio Yime; José Maria Azorín; Rafael Aracil; Nicolás M. García (Robotica, 2007)

The Human Role in Telerobotics. - Rafael Aracil; Martin Buss; Salvador Cobos; Manuel Ferre; Sandra Hirche; Martin Kuschel; Angelika Peer (Advances in Telerobotics, 2007)

Telerobotics for Aerial Live Power Line Maintenance. - Rafael Aracil; Manuel Ferre (Advances in Telerobotics, 2007)

Bilateral Control of Teleoperation Systems Through State Convergence. - José Maria Azorín; Rafael Aracil; Nicolás M. García; Carlos Pérez-Vidal (Advances in Telerobotics, 2007)

Introduction to Advances in Telerobotics. - Manuel Ferre; Martin Buss; Rafael Aracil; Claudio Melchiorri; Carlos Balaguer (Advances in Telerobotics, 2007)

A Novel Parallel Haptic Interface for Telerobotic Systems. - José María Sabater; Rafael Aracil; Roque J. Saltarén; Luis Payá (Advances in Telerobotics, 2007)

Modelling of Modular Robot Configurations Using Graph Theory. - José Baca; Ariadna Yerpes; Manuel Ferre; Juan A. Escalera; Rafael Aracil (HAIS, 2008)

Bilateral Control Architecture for Telerobotics Systems in Unknown Environments. - José Maria Azorín; Rafael Aracil; Carlos Pérez-Vidal; Nicolás M. García; José María Sabater (EuroHaptics, 2008)

Transparency Analysis of Bilateral Controllers Based on the Methodology of State Convergence. - Juan M. Bogado; Manuel Ferre; Rafael Aracil; José Maria Azorín; Eva M. Fernández; José Baca (EuroHaptics, 2008)

Multibody Dynamics Model of a Human Hand for Haptics Interaction. - Héctor A. Moreno; Roque J. Saltarén; Manuel Ferre; Eugenio Yime; Rafael Aracil; Isela Carrera (EuroHaptics, 2008)

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

Transparent bilateral control for time-delayed teleoperation by state convergence. - José Maria Azorín; Rafael Aracil; Carlos Pérez-Vidal; Nicolás M. García; José María Sabater-Navarro (ICRA, 2008)

An Active helideck testbed for floating structures based on a Stewart-Gough platform. - Alexandre Campos 001; Jacqueline Quintero; Roque J. Saltarén; Manuel Ferre; Rafael Aracil (IROS, 2008)

Modular robot based on 3 rotational DoF modules. - Ariadna Yerpes; José Baca; Juan A. Escalera; Manuel Ferre; Rafael Aracil (IROS, 2008)

Stereoscopic human interfaces. - Manuel Ferre; Rafael Aracil; Miguel Angel Sánchez Urán (IEEE Robotics Autom. Mag., 2008)

End-to-end congestion control protocols for remote programming of robots, using heterogeneous networks: A comparative analysis. - Raul Wirz; Raúl Marín 001; José M. Claver; Manuel Ferre; Rafael Aracil; Josep Fernández (Robotics Auton. Syst., 2008)

Bilateral adaptative control by state of convergence in teleoperation systems. - Maria Auxiliadora Artigas Barrios; Rafael Aracil; Manuel Ferre; Cecilia E. García Cena (CCA/ISIC, 2009)

Design of Servo System in State Space using Distance Laboratory System (DLS). - Iván Santana Ching; Luis Hernández Santana; Manuel Ferre; Rafael Aracil; George Eisendrath (CSEDU (2), 2009)

A new approach to avoid internal singularities in CMG with pyramidal shape using sliding control. - Eugenio Yime; Jacqueline Quintero; Roque J. Saltarén; Rafael Aracil (ECC, 2009)

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

A modular robot system design and control motion modes for locomotion and manipulation tasks. - José Baca; Manuel Ferre; Rafael Aracil; Alexandre Campos 001 (IROS, 2010)

Simplified human hand models based on grasping analysis. - Salvador Cobos Guzman; Manuel Ferre; Rafael Aracil (IROS, 2010)

Design of an ergonomic three-finger haptic device for advanced robotic hands control. - Jose Breñosa; Pablo Cerrada; Manuel Ferre; Rafael Aracil (World Haptics, 2011)

Control of a nonlinear teleoperation system by state convergence. - Julio C. Tafur; Cecilia E. García Cena; Rafael Aracil; Roque J. Saltarén (ICCA, 2011)

Cooperative task execution between modular robots based on tight-loose cooperation strategies. - José Baca; Claudio Rossi 001; Manuel Ferre; Rafael Aracil (ICRA, 2011)

Equivalent fixed shape robot model of a modular robot configuration based on module characterization. - Juan A. Escalera; José Baca; Manuel Ferre; Rafael Aracil (ICRA, 2011)

Optimal Analysis of a Teleoperated System with an adaptative Controller. - Cecilia E. García Cena; Maria Artigas; Rafael Aracil; Roque J. Saltarén (Int. J. Robotics Autom., 2011)

Experiences and results from designing and developing a 6 DoF underwater parallel robot. - Roque Saltarén Pazmiño; Cecilia E. García Cena; Cesar Alvarez Arocha; Rafael Aracil Santonja (Robotics Auton. Syst., 2011)

Experiences in the development of a teleoperated parallel robot for aerial line maintenance. - Cecilia E. García Cena; Roque J. Saltarén; Rafael Aracil (Robotica, 2011)

Design of a Lightweight, Cost Effective Thimble-Like Sensor for Haptic Applications Based on Contact Force Sensors. - Manuel Ferre; Ignacio Galiana; Rafael Aracil (Sensors, 2011)

Design and evaluation of an educational platform for implementing and testing bilateral control algorithms. - José M. Cogollor; Ignacio Galiana; Jorge Barrio; Manuel Ferre; Rafael Aracil (EDUCON, 2012)

A rate-position haptic controller for large telemanipulation workspaces. - Jorge Barrio; Francisco Suárez-Ruiz; Manuel Ferre; Rafael Aracil (IROS, 2012)

A heterogeneous modular robotic design for fast response to a diversity of tasks. - José Baca; Manuel Ferre; Rafael Aracil (Robotics Auton. Syst., 2012)

Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes. - Lisandro Puglisi; Roque J. Saltarén; Héctor A. Moreno; Pedro F. Cárdenas; Cecilia E. García Cena; Rafael Aracil (Robotics Auton. Syst., 2012)

Kinematic analysis of a novel 2-d.o.f. orientation device. - J. R. Serracín; Lisandro Puglisi; Roque J. Saltarén; G. Ejarque; José María Sabater-Navarro; Rafael Aracil (Robotics Auton. Syst., 2012)

Stability analysis of teleoperation system by state convergence with variable time delay. - Julio C. Tafur; Cecilia E. García Cena; Rafael Aracil; Roque J. Saltarén (ACC, 2013)

Skeletal Modeling, Analysis and Simulation of Upper Limb of Human Shoulder under Brachial Plexus Injury. - Cecilia E. García Cena; Roque Saltarén Pazmiño; Marie André Destarac; Edgar Loranca Vega; Ricardo Espinosa Gomez; Rafael Aracil Santonja (ROBOT (1), 2013)

Effect of Video Quality and Buffering Delay on Telemanipulation Performance. - Alexander Owen-Hill; Francisco Suárez-Ruiz; Manuel Ferre; Rafael Aracil (ROBOT (2), 2013)

A cooperative multi-agent robotics system: Design and modelling. - Cecilia E. García Cena; Pedro F. Cárdenas; Roque Saltarén Pazmiño; Lisandro Puglisi; Rafael Aracil Santonja (Expert Syst. Appl., 2013)

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)

Remote Laboratories for Education and Research Purposes in Automatic Control Systems. - Iván Santana Ching; Manuel Ferre; E. Izaguirre; Rafael Aracil; Luis Hernandez (IEEE Trans. Ind. Informatics, 2013)

Design and Development of a Multimodal Vest for Virtual Immersion and Guidance. - Gonzalo García-Valle; Manuel Ferre; Jose Breñosa; Rafael Aracil; José M. Sebastián; Christos Giachritsis (EuroHaptics (2), 2016)