Publications

Here you will find the scientific publications (journal articles and conferences) directly related to the research project that have been produced by the members of the research project.

Journal articles and book chapters

The scientific articles published in journals and book chapters developed within the scope of this research project are the following:

2023

  • [DOI] J. L. Pulloquinga, R. J. Escarabajal, Á. Valera, M. Vallés, and V. Mata, «A type ii singularity avoidance algorithm for parallel manipulators using output twist screws,» Mechanism and machine theory, vol. 183, p. 105282, 2023.
    [Bibtex]
    @article{PULLOQUINGA2023105282,
    title = {A Type II singularity avoidance algorithm for parallel manipulators using output twist screws},
    journal = {Mechanism and Machine Theory},
    volume = {183},
    pages = {105282},
    year = {2023},
    issn = {0094-114X},
    doi = {https://doi.org/10.1016/j.mechmachtheory.2023.105282},
    url = {https://www.sciencedirect.com/science/article/pii/S0094114X23000551},
    author = {José L. Pulloquinga and Rafael J. Escarabajal and Ángel Valera and Marina Vallés and Vicente Mata},
    keywords = {Singularity avoidance, Trajectory planning, Parallel robots, Output twist screws},
    abstract = {Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the end-effector movements. Type II singularities are a problem for applications where complete control of the end-effector is essential. Trajectory planning produces accurate movements of a PR by avoiding Type II singularities. Generally, singularity avoidance is achieved by optimising a geometrical path with a velocity profile considering singular configurations as obstacles. This research presents an algorithm that avoids Type II singularities by modifying the trajectory of a subset of the actuators. The subset of actuators represents the limbs responsible for a Type II singularity, and they are identified by the angle between two Output Twist Screws. The proposed avoidance algorithm does not require optimisation procedures, which reduces the computational cost for offline trajectory planning and makes it suitable for online trajectory planning. The avoidance algorithm is implemented in offline trajectory planning for a pick and place planar PR and a spatial knee rehabilitation PR.}
    }
  • [DOI] R. J. Escarabajal, J. L. Pulloquinga, Á. Valera, V. Mata, M. Vallés, and F. J. Castillo-García, «Combined admittance control with type ii singularity evasion for parallel robots using dynamic movement primitives,» Ieee transactions on robotics, pp. 1-16, 2023.
    [Bibtex]
    @ARTICLE{10037759,
    author={Escarabajal, Rafael J. and Pulloquinga, José L. and Valera, Ángel and Mata, Vicente and Vallés, Marina and Castillo-García, Fernando J.},
    journal={IEEE Transactions on Robotics},
    title={Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives},
    year={2023},
    volume={},
    number={},
    pages={1-16},
    doi={10.1109/TRO.2023.3238136}}
  • [DOI] R. J. Escarabajal, J. L. Pulloquinga, V. Mata, Á. Valera, and M. Díaz-Rodríguez, «Model-based control of a 4-dof rehabilitation parallel robot with online identification of the gravitational term,» Sensors, vol. 23, iss. 5, 2023.
    [Bibtex]
    @Article{Escarabajal2023,
    author = {Escarabajal, Rafael J. and Pulloquinga, José L. and Mata, Vicente and Valera, Ángel and Díaz-Rodríguez, Miguel},
    journal = {Sensors},
    title = {Model-Based Control of a 4-DOF Rehabilitation Parallel Robot with Online Identification of the Gravitational Term},
    year = {2023},
    issn = {1424-8220},
    number = {5},
    volume = {23},
    abstract = {Parallel robots are being increasingly used as a fundamental component of lower-limb rehabilitation systems. During rehabilitation therapies, the parallel robot must interact with the patient, which raises several challenges to the control system: (1) The weight supported by the robot can vary from patient to patient, and even for the same patient, making standard model-based controllers unsuitable for those tasks since they rely on constant dynamic models and parameters. (2) The identification techniques usually consider the estimation of all dynamic parameters, bringing about challenges concerning robustness and complexity. This paper proposes the design and experimental validation of a model-based controller comprising a proportional-derivative controller with gravity compensation applied to a 4-DOF parallel robot for knee rehabilitation, where the gravitational forces are expressed in terms of relevant dynamic parameters. The identification of such parameters is possible by means of least squares methods. The proposed controller has been experimentally validated, holding the error stable following significant payload changes in terms of the weight of the patient’s leg. This novel controller allows us to perform both identification and control simultaneously and is easy to tune. Moreover, its parameters have an intuitive interpretation, contrary to a conventional adaptive controller. The performance of a conventional adaptive controller and the proposed one are compared experimentally.},
    article-number = {2790},
    doi = {10.3390/s23052790},
    pubmedid = {36905000},
    url = {https://www.mdpi.com/1424-8220/23/5/2790},
    }
  • [DOI] W. R. Venegas-Toro, A. M. Fabara, I. Zambrano-Orejuela, A. Rosales-Acosta, and A. F. Page-delPozo, «Validation of a dynamic model of the neck for applications in ergonomics and functional assessment,» Dyna-ingeniería e industria, vol. 98, iss. 4, p. 369–374, 2023.
    [Bibtex]
    @Article{VenegasToro2023,
    author = {Venegas-Toro, W. R. and Fabara, A. M. and Zambrano-Orejuela, I. and Rosales-Acosta, A. and Page-delPozo, Alvaro F.},
    journal = {DYNA-Ingeniería e Industria},
    title = {Validation of a Dynamic Model of the Neck for Applications in Ergonomics and Functional Assessment},
    year = {2023},
    month = {jul},
    number = {4},
    pages = {369--374},
    volume = {98},
    doi = {https://doi.org/10.6036/10881},
    publisher = {Publicaciones {DYNA}},
    }
  • [DOI] J. L. Pulloquinga, R. J. Escarabajal, M. Vallés, M. Díaz-Rodríguez, V. Mata, and Á. Valera, «Admittance controller complemented with real-time singularity avoidance for rehabilitation parallel robots,» Mechatronics, vol. 94, p. 103017, 2023.
    [Bibtex]
    @Article{Pulloquinga2023,
    author = {Jos{\'{e}} L. Pulloquinga and Rafael J. Escarabajal and Marina Vall{\'{e}}s and Miguel D{\'{\i}}az-Rodr{\'{\i}}guez and Vicente Mata and {\'{A}}ngel Valera},
    journal = {Mechatronics},
    title = {Admittance controller complemented with real-time singularity avoidance for rehabilitation parallel robots},
    year = {2023},
    month = {oct},
    pages = {103017},
    volume = {94},
    doi = {https://doi.org/10.1016/j.mechatronics.2023.103017},
    publisher = {Elsevier {BV}},
    }
  • [DOI] R. J. Escarabajal, J. L. Pulloquinga, P. Zamora-Ortiz, Á. Valera, V. Mata, and M. Vallés, «Imitation learning-based system for the execution of self-paced robotic-assisted passive rehabilitation exercises,» IEEE robotics and automation letters, vol. 8, iss. 7, p. 4283–4290, 2023.
    [Bibtex]
    @Article{Escarabajal_2023,
    author = {Rafael J. Escarabajal and Jos{\'{e}} L. Pulloquinga and Pau Zamora-Ortiz and {\'{A}}ngel Valera and Vicente Mata and Marina Vall{\'{e}}s},
    journal = {{IEEE} Robotics and Automation Letters},
    title = {Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises},
    year = {2023},
    month = {jul},
    number = {7},
    pages = {4283--4290},
    volume = {8},
    doi = {10.1109/LRA.2023.3281884},
    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
    }
  • [DOI] P. Serra-Añó, W. Venegas, A. Page, M. I. de la Torre, M. Aguilar-Rodríguez, and G. Espí-López, «Immediate effects of a single session of cervical spine manipulation on cervical movement patterns in people with nonspecific neck pain: a randomized controlled trial,» Journal of manipulative and physiological therapeutics, vol. 46, iss. 1, p. 17–26, 2023.
    [Bibtex]
    @Article{Serra_A__2023,
    author = {Pilar Serra-A{\~{n}}{\'{o}} and William Venegas and Alvaro Page and Marta Ingl{\'{e}}s de la Torre and Marta Aguilar-Rodr{\'{\i}}guez and Gemma Esp{\'{\i}}-L{\'{o}}pez},
    journal = {Journal of Manipulative and Physiological Therapeutics},
    title = {Immediate Effects of a Single Session of Cervical Spine Manipulation on Cervical Movement Patterns in People With Nonspecific Neck Pain: A Randomized Controlled Trial},
    year = {2023},
    month = {jan},
    number = {1},
    pages = {17--26},
    volume = {46},
    doi = {10.1016/j.jmpt.2023.05.006},
    publisher = {Elsevier {BV}},
    }
  • [DOI] S. Mollà-Casanova, E. Muñoz-Gómez, N. Sempere-Rubio, M. Inglés, M. Aguilar-Rodríguez, Á. Page, J. López-Pascual, and P. Serra-Añó, «Effect of virtual running with exercise on functionality in pre-frail and frail elderly people: randomized clinical trial,» Aging clinical and experimental research, vol. 35, iss. 7, p. 1459–1467, 2023.
    [Bibtex]
    @Article{Moll_Casanova_2023,
    author = {Sara Moll{\`{a}}-Casanova and Elena Mu{\~{n}}oz-G{\'{o}}mez and N{\'{u}}ria Sempere-Rubio and Marta Ingl{\'{e}}s and Marta Aguilar-Rodr{\'{\i}}guez and {\'{A}}lvaro Page and Juan L{\'{o}}pez-Pascual and Pilar Serra-A{\~{n}}{\'{o}}},
    journal = {Aging Clinical and Experimental Research},
    title = {Effect of virtual running with exercise on functionality in pre-frail and frail elderly people: randomized clinical trial},
    year = {2023},
    month = {may},
    number = {7},
    pages = {1459--1467},
    volume = {35},
    doi = {10.1007/s40520-023-02414-x},
    publisher = {Springer Science and Business Media {LLC}},
    }
  • [DOI] Á. Page, M. Inglés, W. Venegas, S. Mollà-Casanova, and P. Serra-Añó, «Effect of non-specific neck pain on the path of the instantaneous axis of rotation of the neck during its flexion-extension movement,» Musculoskeletal science and practice, vol. 64, p. 102737, 2023.
    [Bibtex]
    @Article{Page_2023,
    author = {{\'{A}}lvaro Page and Marta Ingl{\'{e}}s and William Venegas and Sara Moll{\`{a}}-Casanova and Pilar Serra-A{\~{n}}{\'{o}}},
    journal = {Musculoskeletal Science and Practice},
    title = {Effect of non-specific neck pain on the path of the instantaneous axis of rotation of the neck during its flexion-extension movement},
    year = {2023},
    month = {apr},
    pages = {102737},
    volume = {64},
    doi = {10.1016/j.msksp.2023.102737},
    publisher = {Elsevier {BV}},
    }
  • [DOI] J. Vargas-Riaño, Ó. Agudelo-Varela, and Á. Valera, «Applying screw theory to design the turmell-bot: a cable-driven, reconfigurable ankle rehabilitation parallel robot,» Robotics, vol. 12, iss. 6, 2023.
    [Bibtex]
    @Article{robotics12060154,
    AUTHOR = {Vargas-Riaño, Julio and Agudelo-Varela, Óscar and Valera, Ángel},
    TITLE = {Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot},
    JOURNAL = {Robotics},
    VOLUME = {12},
    YEAR = {2023},
    NUMBER = {6},
    ARTICLE-NUMBER = {154},
    URL = {https://www.mdpi.com/2218-6581/12/6/154},
    ISSN = {2218-6581},
    ABSTRACT = {The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we studied how the tendons pull mid-foot bones around the talocrural and subtalar axes. We proposed a hybrid serial-parallel mechanism analogous to the ankle. Then, using screw theory, we synthesized a cable-driven robot with the human ankle in the closed-loop kinematics. We incorporated a draw-wire sensor to measure the axes’ pose and compute the product of exponentials. We also reconfigured the cables to balance the tension and pressure forces using the axis projection on the base and platform planes. Furthermore, we computed the workspace to show that the reconfigurable design fits several sizes. The data used are from anthropometry and statistics. Finally, we validated the robot’s statics with MuJoCo for various cable length groups corresponding to the axes’ range of motion. We suggested a platform adjusting system and an alignment method. The design is lightweight, and the cable-driven robot has advantages over rigid parallel robots, such as Stewart platforms. We will use compliant actuators for enhancing human–robot interaction.},
    DOI = {10.3390/robotics12060154}
    }
  • [DOI] J. Guzmán-Giménez, Á. Valera Fernández, V. Mata Amela, and M. Á. Díaz-Rodríguez, «Automatic selection of the groebner basis’ monomial order employed for the synthesis of the inverse kinematic model of non-redundant open-chain robotic systems,» Mechanics based design of structures and machines, vol. 51, iss. 5, pp. 2458-2480, 2023.
    [Bibtex]
    @article{doi:10.1080/15397734.2021.1899829,
    author = {Guzmán-Giménez, José and Valera Fernández, Ángel and Mata Amela, Vicente and Miguel Ángel Díaz-Rodríguez},
    title = {Automatic selection of the Groebner Basis’ monomial order employed for the synthesis of the inverse kinematic model of non-redundant open-chain robotic systems},
    journal = {Mechanics Based Design of Structures and Machines},
    volume = {51},
    number = {5},
    pages = {2458-2480},
    year = {2023},
    publisher = {Taylor & Francis},
    doi = {10.1080/15397734.2021.1899829},
    URL = {https://doi.org/10.1080/15397734.2021.1899829},
    eprint = { https://doi.org/10.1080/15397734.2021.1899829}
    }

2022

  • [DOI] N. Farhat, P. Zamora, D. Reichert, V. Mata, A. Page, and A. Valera, «A computationally efficient musculoskeletal model of the lower limb for the control of rehabilitation robots: assumptions and validation,» Applied sciences, vol. 12, iss. 5, 2022.
    [Bibtex]
    @Article{app12052654,
    author = {Farhat, Nidal and Zamora, Pau and Reichert, David and Mata, Vicente and Page, Alvaro and Valera, Angel},
    journal = {Applied Sciences},
    title = {A Computationally Efficient Musculoskeletal Model of the Lower Limb for the Control of Rehabilitation Robots: Assumptions and Validation},
    year = {2022},
    issn = {2076-3417},
    number = {5},
    volume = {12},
    abstract = {We present and validate a computationally efficient lower limb musculoskeletal model for the control of a rehabilitation robot. It is a parametric model that allows the customization of joint kinematics, and it is able to operate in real time. Methods: Since the rehabilitation exercises corresponds to low-speed movements, a quasi-static model can be assumed, and then muscle force coefficients are position dependent. This enables their calculation in an offline stage. In addition, the concept of a single functional degree of freedom is used to minimize drastically the workspace of the stored coefficients. Finally, we have developed a force calculation process based on Lagrange multipliers that provides a closed-form solution; in this way, the problem of dynamic indeterminacy is solved without the need to use an iterative process. Results: The model has been validated by comparing muscle forces estimated by the model with the corresponding electromyography (EMG) values using squat exercise, in which the Spearman’s correlation coefficient is higher than 0.93. Its computational time is lower than 2.5 ms in a conventional computer using MATLAB. Conclusions: This procedure presents a good agreement with the experimental values of the forces, and it can be integrated into real time control systems.},
    article-number = {2654},
    doi = {10.3390/app12052654},
    url = {https://www.mdpi.com/2076-3417/12/5/2654},
    }
  • [DOI] Ó. Agudelo-Varela, J. Vargas-Riaño, and Á. Valera, «Turmell-meter: a device for estimating the subtalar and talocrural axes of the human ankle joint by applying the product of exponentials formula,» Bioengineering, vol. 9, iss. 5, 2022.
    [Bibtex]
    @Article{bioengineering9050199,
    AUTHOR = {Agudelo-Varela, Óscar and Vargas-Riaño, Julio and Valera, Ángel},
    TITLE = {Turmell-Meter: A Device for Estimating the Subtalar and Talocrural Axes of the Human Ankle Joint by Applying the Product of Exponentials Formula},
    JOURNAL = {Bioengineering},
    VOLUME = {9},
    YEAR = {2022},
    NUMBER = {5},
    ARTICLE-NUMBER = {199},
    URL = {https://www.mdpi.com/2306-5354/9/5/199},
    PubMedID = {35621477},
    ISSN = {2306-5354},
    ABSTRACT = {The human ankle is a complex joint, most commonly represented as the talocrural and subtalar axes. It is troublesome to take in vivo measurements of the ankle joint. There are no instruments for patients lying on flat surfaces; employed in outdoor or remote sites. We have developed a “Turmell-meter” to address these issues. It started with the study of ankle anatomy and anthropometry. We also use the product of exponentials’ formula to visualize the movements. We built a prototype using human proportions and statistics. For pose estimation, we used a trilateration method by applying tetrahedral geometry. We computed the axis direction by fitting circles in 3D, plotting the manifold and chart as an ankle joint model. We presented the results of simulations, a prototype comprising 45 parts, specifically designed draw-wire sensors, and electronics. Finally, we tested the device by capturing positions and fitting them into the bi-axial ankle model as a Riemannian manifold. The Turmell-meter is a hardware platform for human ankle joint axes estimation. The measurement accuracy and precision depend on the sensor quality; we address this issue by designing an electronics capture circuit, measuring the real measurement with a Vernier caliper. Then, we adjust the analog voltages and filter the 10-bit digital value. The Technology Readiness Level is 2. The proposed ankle joint model has the properties of a chart in a geometric manifold, and we provided the details.},
    DOI = {10.3390/bioengineering9050199}
    }


Congress proceedings

The scientific articles published in congresses and conferences developed within the scope of this research project are the following:

2023

  • [DOI] W. R. Venegas-Toro, A. Medina-Fabra, I. Zambrano-Orejuela, A. Rosales-Acosta, and A. Page-delPozo, «VALIDATION OF a DYNAMIC MODEL OF THE NECK FOR APPLICATIONS IN ERGONOMICS AND FUNCTIONAL ASSESSMENT.» 2023, p. 369–374.
    [Bibtex]
    @InProceedings{VenegasToro2023,
    author = {Venegas-Toro, William R. and Medina-Fabra, Ana and Zambrano-Orejuela, Ivan and Rosales-Acosta, Andres and Page-delPozo, Alvaro},
    title = {{VALIDATION} {OF} A {DYNAMIC} {MODEL} {OF} {THE} {NECK} {FOR} {APPLICATIONS} {IN} {ERGONOMICS} {AND} {FUNCTIONAL} {ASSESSMENT}},
    year = {2023},
    month = {jul},
    number = {4},
    pages = {369--374},
    publisher = {Publicaciones {DYNA}},
    volume = {98},
    doi = {https://doi.org/10.6036/10881},
    journal = {{DYNA}},
    }
  • R. J. Escarabajal, J. L. Pulloquinga, Á. Valera, V. Mata, M. Vallés, and F. J. Castillo-García, «Combined admittance control with type II singularity evasion for parallel robots using dynamic movement primitives,» in Ieee/rsj international conference on intelligent robots and systems, 2023.
    [Bibtex]
    @InProceedings{Escarabajal_2023,
    author = {Rafael J. Escarabajal and Jos{\'{e}} L. Pulloquinga and {\'{A}}ngel Valera and Vicente Mata and Marina Vall{\'{e}}s and Fernando J. Castillo-Garc{\'{\i}}a},
    booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
    title = {Combined Admittance Control With Type {II} Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives},
    year = {2023},
    publisher = {Institute of Electrical and Electronics Engineers ({IEEE})},
    }

2022

  • J. L. Pulloquinga, R. J. Escarabajal, M. Vallés, Á. Valera, and V. Mata, «Trajectory planner for type ii singularities avoidance based on output twist screws,» in Advances in robot kinematics 2022, Cham, 2022, p. 445–452.
    [Bibtex]
    @InProceedings{10.1007/978-3-031-08140-8_48,
    author = {Pulloquinga, Jos{\'e} L. and Escarabajal, Rafael J. and Vall{\'e}s, Marina and Valera, {\'A}ngel and Mata, Vicente},
    booktitle = {Advances in Robot Kinematics 2022},
    title = {Trajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws},
    year = {2022},
    address = {Cham},
    editor = {Altuzarra, Oscar and Kecskem{\'e}thy, Andr{\'e}s},
    pages = {445--452},
    publisher = {Springer International Publishing},
    abstract = {Motion planning of manipulators is a major discipline in robotics that involves the generation of feasible trajectories within the workspace so that neither collisions nor singularities are encountered during its execution. The singularity issue is of paramount importance in parallel robots (PRs) which, despite their capability of performing very accurate movements, suffer from the so-called Type II singularities. These singular configurations occur within the workspace, and a PR loses control when approaching such configurations. In this paper, an algorithm for Type II singularities avoidance in PRs is proposed that allows to i) create a new trajectory from an initial to a final configuration that is non-singular, and ii) adapt an existing trajectory that goes through singular configurations so that the new generated trajectory evades them with minimum modifications of the original path. The new trajectory may serve as a reference position for safe control of a PR, and it is used in an experiment on a real 4-DOF PR meant for knee rehabilitation, with a position controller to follow the trajectory. The results show how the initially unstable behavior when following an original singular trajectory can be fixed after modifying that trajectory with the proposed algorithm.},
    isbn = {978-3-031-08140-8},
    }
  • [DOI] J. L. Pulloquinga, O. Altuzarra, V. Petuya, A. Hernandez, V. Mata, and A. Valera, «Estudio del contacto cuasi estático de un robot paralelo flexible en tareas colaborativas,» in Xv congreso iberoamericano de ingeniería mecánica, 2022.
    [Bibtex]
    @InProceedings{PulloquingaZapata2022,
    author = {Pulloquinga, Jose L. and Altuzarra, Oscar and Petuya, Victor and Hernandez, Alfonzo and Mata, Vicente and Valera, Angel},
    booktitle = {XV Congreso Iberoamericano de Ingeniería Mecánica},
    title = {Estudio del contacto cuasi estático de un robot paralelo flexible en tareas colaborativas},
    year = {2022},
    editor = {Universidad Nacional de Educación a Distancia (España)Universidad Politécnica de Madrid. Departamento de Ingeniería Mecánica},
    publisher = {Universidad Nacional de Educaci{\'{o}}n a Distancia (Espa{\~{n}}a)},
    doi = {https://doi.org/10.5944/bicim2022.134},
    }
  • [DOI] E. Aragon-Basanta, W. R. Venegas-Toro, G. Ayala-Gallego, and A. F. Page-delPozo, «Normalización de la escala de tiempos en el análisis de movimientos humanos. efectividad del registro no lineal,» in Congreso iberoamericano de ingeniería mecánica-CIBIM 2022, 2022.
    [Bibtex]
    @InProceedings{AragonBasanta2022,
    author = {Aragon-Basanta, Elisa and Venegas-Toro, William R. and Ayala-Gallego, Guillermo and Page-delPozo, Alvaro F.},
    booktitle = {Congreso Iberoamericano de Ingenier{\'{\i}}a Mec{\'{a}}nica-{CIBIM} 2022},
    title = {Normalizaci{\'{o}}n de la escala de tiempos en el an{\'{a}}lisis de movimientos humanos. Efectividad del registro no lineal},
    year = {2022},
    publisher = {Universidad Nacional de Educaci{\'{o}}n a Distancia (Espa{\~{n}}a)},
    doi = {https://doi.org/10.5944/bicim2022.189},
    }
  • J. L. Pulloquinga, M. Ceccarelli, V. Mata, and A. Valera, «Experimental identification of singularities in parallel manipulators,» in Proceedings of syrom 2022 & robotics 2022: 13th iftomm international symposium on science of mechanisms and machines & xxv international conference on robotics, 2022, pp. 117-127.
    [Bibtex]
    @InProceedings{Pulloquinga2022,
    author = {Pulloquinga, Jose L. and Ceccarelli, Marco and Mata, Vicente and Valera, Angel},
    booktitle = {Proceedings of SYROM 2022 & ROBOTICS 2022: 13th IFToMM International Symposium on Science of Mechanisms and Machines & XXV International Conference on Robotics},
    title = {Experimental identification of singularities in parallel manipulators},
    year = {2022},
    editor = {Ioan Doroftei, Mircea Nitulescu, Doina Pisla, Erwin-Christian Lovasz},
    pages = {117 - 127},
    publisher = {Springer Nature},
    issn = {3031256549},
    url = {https://zlibrary-asia.se/book/25573252/20ca34},
    }