Model and Approaches for Tension of Parallel Structures with Elastic Joints for Micro and Nano Manipulators. - Dimitar Chakarov; Kostadin Kostadinov; Tihomir Tiankov (ICINCO-RA, 2009)

Micro/Nano-manipulators with Structured Piezo Ceramic Actuators. - R. Kasper; Mohammed Al-Wahab; Kostadin Kostadinov; Tihomir Tiankov (ICINCO (2), 2011)

Development of a Piezo-actuated Robot for Cell Injection. - Dimitar Chakarov; Kostadin Kostadinov; Assen Shulev; Tihomir Tiankov (ICINCO (2), 2012)

A Robot for Cell Injection: Modeling, Design and Experimental Validation. - Kostadin Kostadinov; Dimitar Chakarov; Assen Shulev; Tihomir Tiankov (Int. J. Intell. Mechatronics Robotics, 2013)