2013
A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform.
Proceedings of the Frontiers of Intelligent Autonomous Systems, 2013

2012
The impact of interaction model on stability and transparency in bilateral teleoperation for medical applications.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012

A Case Study of Safety in the Design of Surgical Robots: The ARAKNES Platform.
Proceedings of the Intelligent Autonomous Systems 12, 2012