RPQ: Robotic proximity queries - development and applications. - Albert Hernansanz; Xavier Giralt; Alberto Rodriguez; Josep Amat (ICINCO-RA (1), 2007)

Automatic positioning of surgical instruments in minimally invasive roboticsurgery through vision-based motion analysis. - Agustín A. Navarro; Albert Hernansanz; Edgar Villarraga; Xavier Giralt; Joan Aranda (IROS, 2007)

Flexible Trajectory Generation to Extend Human-robot Interaction with Dynamic Environment Adaptation. - Xavier Giralt; Josep Amat (ICINCO-RA (2), 2008)

Detection of movements with attention or distraction to the motor task during robot-assisted passive movements of the upper limb. - Javier Mauricio Antelis; Luis Montesano; Xavier Giralt; Alicia Casals; Javier Minguez (EMBC, 2012)