Design and Manufacturing of an Ultra-Low-Cost Custom Torque Sensor for Robotics. - Rodrigo Pérez Ubeda; Santiago C. Gutiérrez Rubert; Ranko Zotovic Stanisic; Angel Perles Ivars (Sensors, 2018)

Adjusting the active joint stiffness of a collaborative robot arm for force control. - Rodrigo Pérez Ubeda; Ranko Zotovic Stanisic; Santiago C. Gutiérrez Rubert; Joaquin Lluch-Cerezo (ICIT, 2021)