Publications

JOURNAL PUBLICATIONS

▪ Díaz, I., Borro, D. Iparraguirre, O., Eizaguirre, M., Ricardo, F.A., Muñoz, N. and Gil, J.J., "Robotic system for automated disassembly of electronic waste: Unscrewing", Robotics and Computer-Integrated Manufacturing, Volume 95, 2025, 103032, (Link)

▪ Caimmi, M., Maugliani, N, Malosio, M., Airoldi, F., Dinon, T., Borro, D., Eizaguirre, M., Díaz, I., Ausejo, S., Puzzo, G., Fraboni, F., Pietrantoni, L., Maccarini, M., Shahid, A.A., and Roveda, L., "Design and showcase of a stairs-based testbed for the benchmark of exoskeleton devices: The STEPbySTEP project", Wearable Technologies, Vol. 6, pp. e17. March 2025 (Link)

▪ Díaz I, Elizalde E, López SR, Murga M and Gil JJ, “Modular and Flexible On-Ground TestBench for Aircraft Electromechanical Actuators”, IEEE Aerospace and Electronic Systems Magazine, vol. 37(2), pp. 24-32, February 2022  (Link)

▪ Catalán, J.M., García-Pérez, J.V., Blanco, A., Ezquerro, S., Garrote, A., Costa, T., Bertomeu-Motos, A., Díaz, I. and García-Aracil, N., "Tele-rehabilitation versus local rehabilitation therapies assisted by robotic devices: a pilot study with patients", Appl. Sci. 2021, 11(14), July, 6259 (Link)

▪ Gil JJ, Ugartemendia A, and Díaz I. "Stability Analysis and User Perception of Haptic Rendering Combining Virtual Elastic, Viscous and Inertial Effects," Applied Sciences 10(24), December 2020, 8807 (Link) 

▪ Ugartemendia A, Rosquete D, Gil J J, Diaz I and Borro D. "Machine Learning for Active Gravity Compensation in Robotics: Application to Neurological Rehabilitation Systems" in IEEE Robotics & Automation Magazine, vol. 27, no. 2, pp. 78-86, June 2020 (Link)

▪ Gil JJ and Díaz I, "Motion Control Algorithm and Tuning Rules for Mechanical Devices with Low Sampling-Rate Electronics", Archives of Control Sciences, vol. 30, nº1, pp. 123-128, March, 2020.

▪ Gil JJ, Díaz I and Accini F, "Inferring Material Properties in Robotic Bone Drilling Processes", Acta of Bioengineering and Biomechanics, 2019.

▪ Gil JJ and Díaz I, "Haptic Performance using Voltage-Mode Motor Control", IEEE Transactions on Industrial Electronics,  vol. 67, Nº1, pp. 698-705, 2019.

▪ Gil JJ, Ciáurriz P and Díaz I, "Controlling Two Haptically-Coupled Devices: System Modeling and Stability Analysis", Mechatronics, Vol. 49, pp. 224-234, February, 2018

▪ Díaz I, Catalan JM, Badesa JB, Justo X, Lledo LD, Ugartemendia A, Gil JJ, Díaz J and García Aracil N, "Development of a robotic device for post-stroke home tele-rehabilitation", Advances in Mechanical Engineering, vol. 10, Nº1, pp. 1-8, January 2018 (Link)

▪ Justo X, Díaz I, Gil JJ, and Gastaminza G, "Medical Device for Automated Prick Test Reading", IEEE Journal of Biomedical and Health Informatics, vol. 22, Nº3, pp- 895-903, May 2018  (Link)

▪ Justo X, Díaz I, Gil JJ, and Gastaminza G, "Prick test: evolution towards automated reading", Allergy, vol. 71, Nº8, pp. 1095-1102, August, 2016 (Link)

▪ Accini F, Díaz I, and Gil JJ, "Using an Admittance Algorithm for Bone Drilling Procedures", Computer Methods and Programs in Biomedicine, vol. 123, Nº1, pp. 150-158, January, 2016

▪ Díaz I, Gil JJ and Louredo M, "A Haptic Pedal for Surgery Assistance", Computer Methods and Programs in Biomedicine, Vol. 116, Nº2, pp. 97-104, 2014 BIB

▪ Ciáurriz P, Díaz I and Gil JJ, "Stable Discrete-time Impedances for Haptic Systems with Vibration Modes and Delay", IEEE Transactions on Control Systems Technology, Vol. 22, Nº3, pp. 884-895, May, 2014, BIB

▪ Gil JJ, Díaz I, Ciáurriz P and Echeverría M, "New Driving Control System with Haptic Feedback: Design and Preliminary Validation Tests", Transportation Research Part C: Emerging Technologies, Vol. 33, pp. 22-36, August, 2013, BIB

▪ Díaz I, Gil JJ and Louredo M, "Bone Drilling Methodology and Tool Based on Position Measurements", Computer Methods and Programs in Biomedicine, Vol. 112, Nº2, pp. 284-292, November, 2013, BIB

▪ Louredo M, Díaz I and Gil JJ, "DRIBON: A Mechatronic Bone Drilling Tool", Mechatronics, Vol. 22, pp. 1060-1066, December, 2012, PDF BIB

▪ Díaz I, Gil JJ and Sánchez E, "Lower-Limb Robotic Rehabilitation. Literature Review and Challenges", Journal of Robotics, 2011, Vol. 2011, Article ID 759764 PDF BIB

▪ Díaz I and Gil JJ, "Influence of Vibration Modes and Human Operator on the Stability of Haptic Rendering", IEEE Transactions on Robotics, Vol. 26, Nº1, pp. 160-165, February, 2010 PDF BIB

▪ de Rosario H, Louredo M, Díaz I, Soler A, Gil JJ, Solaz JS and Jornet J, "Efficacy and Feeling of a Vibrotactile Frontal Collision Warning Implemented in a Haptic Pedal", Transportation Research Part F: Traffic Psychology and Behaviour, Vol. 13F, Nº2, pp. 80-91, March, 2010 PDF BIB

▪ Martín J, Savall J, Díaz I, Hernantes J and Borro D, "Haptic Wrists: An Alternative Design Strategy Based on User Perception", Journal of Computing & Information Science in Engineering, Vol. 9, Nº 1, pp 014501, March, 2009 PDF BIB

▪ Díaz I, Hernantes J, Mansa I, Lozano A, Borro D, Gil JJ, and Sánchez E, "Influence of Multisensory Feedback on Haptic Accessibility Tasks", Virtual Reality, Vol. 10, Nº 1, pp. 31-40, May, 2006 PDF BIB  

▪ Rico, R., Peña, M., Justo, X., & Díaz, I. "Diseño y desarrollo de un nuevo sistema de actuación compacto para exoesqueletos activos industriales", XXV Congreso Nacional de Ingeniería Mecánica (CNIM) 2025, junio, Santander, España.

▪ Ugartemendia, A., Rico, R., Díaz, I., Martín, J., "MONITOREX: Ergonomics and Physiological Monitoring System for Exoskeleton Users", WearRAcon Europe 2023, (poster session), October 25-26, Dusseldorf, Germany.

▪ Gil J.J., Ugartemendia U., Díaz I., "Rendering Virtual Inertia in Haptic Interfaces: Analysis and Limitations", 2022 IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022, Philadelphia (PA), USA. 

▪ Intxaurburu A., Díaz I., Martín J., Justo X. (2022), "ATEX Certification for ALDAK Exoskeleton in Petrochemical Industry", In: Wearable Robotics: Challenges and Trends. WeRob 2020. Biosystems & Biorobotics, Springer, pp. 127-131.(Link) 

▪ Díaz I., Martín J., Justo X., Fernández C., Gil J.J. (2022) "Methods for User Activity Recognition in Exoskeletons", In: Wearable Robotics: Challenges and Trends. WeRob 2020. Biosystems & Biorobotics, Springer, pp. 487-492 (Link) 

▪ Catalan, JM, et al., "Evaluation of an Upper-Limb Rehabilitation Robotic Device for Home Use from Patient Perspective", 4th International Conference on NeuroRehabilitation (ICNR2018), Pisa, Italy, pp. 449-453, October 16-20, 2018

▪ Catalan, JM, Garcia JV et al., "Patient evaluation of an upper-limb rehabilitation robotic device for home use", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Enschede, The Netherlands, pp. 450-455, August 26-29, 2018

▪ Gil JJ, and Díaz I, "Method for Estimating the Stability Boundary of Impedance Haptic Systems", IEEE World Haptics Conference (WHC), Fürstenfeldbruck, Germany, pp. 569-574, June 6-9, 2017

▪ Lledó LD, Bertomeu A, Díaz I, Gil, JJ, Justo X, Badesa FJ and García-Aracil N, "HOMEREHAB: Development of Robotic Technology for Post-Stroke Home Tele-Rehabilitation", Jornadas Nacionales de Robótica, Spanish Robotics Conference, Valencia, Spain, June 8-9, 2017

▪ Chiurazzi M, Justo X, Gil, JJ, Díaz I, Lledó LD, Badesa FJ and García-Aracil N, "Robotic Technology for Post-Stroke In-Home Tele-Rehabilitation", International Workshop on Assistive & Rehabilitation Technology (IWART), Elche, Spain, pp. 17-18, December 14-16, 2016

▪ Accini F, Díaz I and Gil JJ, "Bone Recognition during the Drilling Process", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, pp. 305-310, June 26-29, 2016

▪ Sevilla MM, Bárcena, D, Díaz I, Sánchez, E and Gil, JJ, "Control de un Sistema No Lineal con Retraso Ventilador-Placa", XXXVI Jornadas de Automática, Bilbao, Spain, pp. 1042-1049, September 2-4, 2015

▪ Gil JJ, Díaz I, Justo X and Ciáurriz P, "Controlador Háptico Educacional Basado en la Plataforma Arduino", XI Congreso en Tecnologías, Aprendizaje y Enseñanza de la Electrónica, Bilbao, Spain, pp. 205-211, June 11-13, 2014 PDF BIB

▪ Adín I, Gomez-Aranzadi M, Zambrano JR, Díaz I, del Portillo J, Beriain A, "Design Cycle and Embedded Systems Platform Applied to Industrial Electronics for an MSc Program in Industrial Engineering", XI Congreso en Tecnologías, Aprendizaje y Enseñanza de la Electrónica, Bilbao, Spain, pp. 397-403, June 11-13, 2014 PDF BIB

▪ Ciáurriz P, Díaz I and Gil JJ, "Bimanual Drive-By-Wire System with Haptic Feedback", 12th IEEE International Symposium on Haptic Audio-Visual Environments and Games (HAVE), Istambul, Turkey, pp. 18-23, October 26-27, 2013 PDF BIB

▪ Díaz I, Gil JJ, Borro D and Sánchez E "JIHAP: A Virtual Serious Game for Neurological Haptic Rehabilitation", XXX Congreso Anual de la Sociedad Española de Ingeniería Biomédica (CASEIB2012), San Sebastián, Spain, November 19-21, 2012 PDF BIB

▪ Louredo M, Díaz I and Gil JJ, "A Robotic Bone Drilling Methodology Based on Position Measurements", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Roma, Italy, pp. 1155-1160, June 24-28, 2012 PDF BIB

▪ Melo J, Sánchez E and Díaz I, "Adaptive Admittance Control to Generate Real-Time Assistive Fixtures for a Cobot in Transpedicular Fixation Surgery", IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Roma, Italy, pp. 1170-1175, June 24-28, 2012 PDF BIB

▪ Gil JJ, Puerto MJ, Díaz I and Sánchez E, "On the Z-Width Limitation due to the Vibration Modes of Haptic Interfaces", IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, pp. 5054-5059, October 18-22, 2010 PDF BIB

▪ Gómez I, Díaz I, Madruga FJ, Aycart JJ, López I, Mugica O and González M, "Mirando al futuro en Rehabilitación", 48 Congreso Nacional de la Sociedad Española de Rehabilitación y Medicina Física SERMEF, Las Palmas, 15-18 junio, 2010 (comunicación oral)

▪ Martín J, Savall J, Díaz I, Hernantes J and Borro D, "Evaluation of Sensory Substitution to Simplify the Mechanical Design of a Haptic Wrist", IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE), Ottawa, Canada, pp. 132-136, October 17-18, 2008 PDF BIB

▪ Gil JJ, Díaz I, Iturritxa E, and Prieto B, "A Haptic Interface for Automobile Gearshift Design and Benchmark", EuroHaptics 2008 Conference, Madrid, Spain, pp. 906-911, June 10-13, 2008 PDF BIB

▪ Díaz I, and Gil JJ, "Influence of Internal Vibration Modes on the Stability of Haptic Rendering", 2008 IEEE International Conference on Robotics and Automation, Pasadena, California, USA, pp. 2884-2889, May 19-23, 2008 PDF BIB

▪ Díaz I, Hernantes J, and Gil JJ, "Combining Sensorial Modalities in Haptic Navigation Tasks for Blind People", 9th European Conference for the Advancement of Assistive Technology in Europe, San Sebastián, Spain, pp. 315-319, October 3-5, 2007 PDF BIB

▪ Hernantes J, Díaz I, Álvarez H and Borro D, "Stable Collision Response Method in Complex Interactions", Third Workshop in Virtual Reality Interactions, and Physical Simulations, Móstoles, Madrid, Spain, pp. 123-124, 2006 PDF BIB

▪ Siro A, Díaz I, "Introducing the C-API Simulink Target for RT-Linux", Seventh Real-Time Linux Workshop, Lille, France, pp. 3-4, November 3-4 2005 PDF BIB

BOOK CHAPTERS

  ▪ Gil JJ, Díaz I, Justo X, Ciáurriz P, and López A, "Diseño y Programación de un Sistema Háptico Educacional basado en Arduino", TICAI 2013-2014 - TICs para el Aprendizaje de la Ingeniería, Ed. Inmaculada Plaza y Martín Llamas, Sociedad de Educación del IEEE, Cap. 7, pp. 67-78, 2014, ISBN: 978-84-8158-690-9

   ▪ Hernantes J, Díaz I, Borro D and Gil JJ, "Effective Haptic  Rendering Method for Complex Interactions" , Haptics Rendering and Applications, IN-TECH, pp. 115-130, January 2012, ISBN: 978-953-307-897-7 PDF BIB

  ▪ Díaz I, Gil JJ, Hulin T, "Stability Boundary and Transparency for Haptic Rendering", Advances in Haptics, Zadeh MH (ed.), IN-TECH, April 2010, ISBN: 978-953-307-093-3 PDF BIB

▪ Peña M, Nieto A, Rico R, Justo X, Díaz J (2025) "Conjunto de fijación para articulaciones robóticas", PCT/Es2025/070561.

▪ Justo X, Díaz I, Ugartemendia A, Gil JJ (2021) "Haptic System for Interacting with Surroundings ", WO/2021/044066 

▪ Justo X, Díaz I, Fernández C, Martín J (2020) " Sistema Robotizado Pórtatil para Rehabilitación Funcional Asistida de Articulaciones", Modelo de Utilidad, ES-1250405_U

▪ Gómez E, Gastaminza G, Justo, X, Gil JJ, Díaz I (2013) "Measuring Wheals and Detecting Allergies", WO 2014/140215 A1.

▪ Louredo M, Díaz I, Gil JJ, (2011) "Método de Perforación de Hueso y Dispositivo para Llevar a Cabo dicha Perforación", Spanish Patent Number ES-2390297, filed April 20, 2011, issued June 26, 2013.

▪ Díaz I, "Métodos de Renderizado Multisensorial y Análisis de Estabilidad en Interfaces Hápticos"

Ph.D. Thesis, University of Navarra, December 2008 PDF BIB  Abstract (English)