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People ■ Nikos G. Tsagarakis
Nikos G. Tsagarakis's foto

Nikos G. Tsagarakis

Senior Researcher

ADVR / Humanoids

Address Humanoid & Human Centred Mechatronics Lab, Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30
City Genova
ZIP Code 16163
Country Italy
Phone +39 010 71781428
Fax +39 010 720321
Web Site http://www.iit.it/en/advr-labs/humanoids-a-human-centred-mechatronics.html

Bio

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Short Bio and Current Position:

Nikos Tsagarakis received his degree in Electrical and Computer Science Engineering in 1995, an M.Sc degree in Control Engineering in 1997 and in 2000 a PhD in Robotics. Before becoming a Senior Researcher at IIT with overall responsibility for Humanoid & Human Centred Mechatronics Design he was a research Fellow and then Senior Research Fellow in the Centre for Robotics and Automation at the University of Salford where he worked on haptic systems, wearable exoskeletons, rehabilitation robots and humanoids robots. He is an author of over 130 papers in research journals and at international conferences, has 6 patents and has received the 2009 PE Publishing Award from the Journal of Systems and Control Engineering and prizes for Best Paper at ICAR (2003). He was also a finalist for Best Entertainment Robots and Systems - 20th Anniversary Award at IROS 2007 and finalist for the Best Manipulation paper at ICRA 2012.  He has been on the Programme Committee of over 35 international conferences including ICRA, IROS, RSS, BioRob and ICINCO.

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Research Interests:

Humanoid Robots, Mechanism Design, Compliant Actuators, Wearable and Rehabilitation Robotics, Haptic Systems, Force and Tactile sensing.

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Projects

 

Current and past  research activities:

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HUMANOIDS

Design

Locomotion

PAST PROJECTS

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 HAPTICS

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OTHER PROJECTS

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I am/was also involved in the following EU projects:

SAPHARI (2011-2015)

Recent progress in physical Human‐Robot Interaction (pHRI) research showed in principle that human and robots can actively and safely share a common workspace. Inspired by these results, SAPHARI will perform a fundamental paradigm shift in robot development in the sense that it will place the human at the centre of the entire design. The project will take a big step further along the human‐centered roadmap by addressing all essential aspects of safe, intuitive physical interaction between humans and complex, human‐like robotic systems in a strongly interconnected manner. While encompassing safety issues based on biomechanical analysis, human‐friendly hardware design, and interaction control strategies, the project will also develop and validate key perceptive and cognitive components that enable robots to track, understand and predict human motions in a weakly structured dynamic environment in real‐time

AMARSI (2010-2014)

AMARSI aims to achieve a qualitative jump toward rich motor behaviour in robotic systems, rigorously following a systematic approach in which novel mechanical systems with passive compliance, control and learning solutions will be integrated. With regards to the mechanical systems with passive compliance the goal is to reduce the distinction between plant and controller that is typical in traditional control engineering and to fully exploit complex body properties, to simplify perception, control and learning and to explore how compliance can be exploited for safer human robot interaction, reduced energy consumption, simplified control, and faster and more aggressive learning.

VIACTORS (2009-2012)

VIACTORS addresses the development and use of safe, energy-efficient and highly dynamic variable impedance actuation systems which will permit the embodiment of natural characteristics found in biological systems into the structures of the new generation of mechatronic systems. The results of this project will deeply impact applications where successful task completion requires people and robots to collaborate directly in a shared workspace or robots to move autonomously and as efficiently as humans.

ROBOTCUB (2004-2009)

ROBOTCUB was a research initiative dedicated to the realization of embodied cognitive systems and the creation of an advanced robotic platform for neuroscientific study. The two main goals of this project are; the creation of an open hardware/software humanoid robotic platform (iCub) for research in embodied cognition and the advancing of our neural understanding of cognitive systems by exploiting this platform in the study of the development of cognitive capabilities in humanoid robots.

 

Other Publications

 

Selected and Recent Publications

 

N.G.Tsagarakis and D.G.Caldwell, “A Haptic System for Aiding the Weak Upper Limb Motion during Mouse based Interaction”, IEEE Transactions on Systems Man and Cybernetics (accepted)

Matteo Laffranchi, N.G.Tsagarakis and Darwin G. Caldwell , “The role of Physical Damping in Compliant Robotic Joints”, IEEE Transactions Mechatronics (accepted)

Amir Jafari, N.G.Tsagarakis and Darwin G. Caldwell , “A Novel Intrinsically Energy Efficient Development of a Novel Actuator with Adjustable Stiffness (AwAS)”, IEEE Transactions on Mechatronics (accepted).

Barkan Ugurlu, Jody Saglia, N.G. Tsagarakis, D.G. Caldwell, “Hopping at the Resonance Frequency: A Pattern Generation Technique for Bipedal Robots with Elastic Joints”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

Ioannis Sarakoglou, N.G. Tsagarakis, D.G. Caldwell, “A Compact Tactile Display Suitable for Integration in VR and Teleoperation”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

A. Jafari, N.G. Tsagarakis, I. Sardellitti, D.G. Caldwell, “How Design can affect the Energy Required to Regulate the Stiffness in Variable Stiffness Actuators”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

A. Ajoudani, N.G.Tsagarakis, A. Bicchi, “Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (Best Manipulation Paper Finalist).

I. Sardellitti, G.M. Cerda, N.G.Tsagarakis, A. Jafari, D.G. Caldwell, “A Position and Stiffness Control Strategy for Variable Stiffness Actuators”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

M. Catalano, G. Grioli, Manolo Garabini, Felipe Weilemann Belo, Andrea di Basco, N.G. Tsagarakis, A. Bicchi, “Implementing a Variable Impedance Actuator”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

F.L. Moro, N.G.Tsagarakis, D.G.Caldwell,“Efficient Human-Like Walking for the COmpliant huMANoid COMAN based on Kinematic Motion Primitives”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

Zhibin Li, N.G.Tsagarakis, D.G.Caldwell, “Walking Trajectory Generation for a Humanoid Robot with Compliant Joints”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

Zhibin Li, Bram Vanderborght, N.G.Tsagarakis, D.G.Caldwell, “Compliant Humanoid Stabilization under Impact Disturbances Using Passive Structures and Active Compliance Control”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2012), St Paul, Minnesota (accepted).

Bram Vanderborght, N.G Tsagarakis, Ronald Van Ham, Ivar Thorson; Darwin Caldwell, “MACCEPA 2.0: Compliant Actuator used for Energy Efficient Hopping Robot Chobino1D”, Autonomous Robots , Volume 31, Number 1, 55-65, 2011

N.G.Tsagarakis, D.G.Caldwell, “Towards Improved Mouse Interaction for Users with Impaired Upper Limb gross Coordination”, Journal of Applied Bionics and Biomechanics: Special Issue on Assistive and Rehabilitation Robotics, Volume 8, Number 1, 2011, pp 13-20.

Claudio Semini, N. G. Tsagarakis, Emmanuelle Guglielmino, Ferdinando Cannella, Darwin G. Caldwell, “Design of HyQ - a Hydraulically and Electrically Actuated Quadruped Robot”, IMechE Vol. 225 Part I: Journal of Systems and Control Engineering, 2011.

V. A. Tsachouridis, N. G. Tsagarakis and D. G. Caldwell, “Sampled Data Control of a Compliant Actuated Joint Using On/Off Solenoid Valves”, Journal of Engineering Science and Technology Review 4 (1), pp.14-24, 2011.

N. G. Hernandez, N.G. Tsagarakis and D.G.Caldwell, “Feeling through Tactile Displays: A Study on the Effect of the Array Density and Size on the Discrimination of Tactile Patterns”, IEEE Transactions on Haptics, vol. 4, 2010.

Angelo Emanuele Fiorilla, N.G.Tsagarakis, Francesco Nori and Giulio Sandini, “Design of a 2-Finger Hand Exoskeleton for Finger stiffness measurements”, Journal of Applied Bionics and Biomechanics:Special Issue on "Upper and Lower Limb Exoskeletons, Vol. 6, No. 2, pp 217–228, June 2009.

J. A. Saglia, N.G.Tsagarakis, J. S. Dai and D. G. Caldwell, “A High Performance Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation”, International Journal of Robotics Research, 2009.

J.A. Saglia, N.G.Tsagarakis, J.S. Dai and D.G. Caldwell, “Inverse Kinematics Based Control of a Redundantly Actuated Platform for Rehabilitation”, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, IMechE Vol. 223, pp53-70, 2009.

A. Ajoudani, N. G. Tsagarakis, and A. Bicchi. Tele-Impedance: Preliminary Results on Measuring and Replicating Human Arm Impedance in Tele Operated Robots. In IEEE International Conference on Robotics and Biomimetics - ROBIO 2011, Phuket, Thailand, pages 216 - 223, December 7-11, 2011.

F.L. Moro N.G. Tsagarakis and D.G. Caldwell, “A Human-like Walking for the COmpliant huMANoid COMAN based on CoM Trajectory Reconstruction from Kinematic Motion”, 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia, 2011, pp. 364-370.

Fabrizio Flacco, Alessandro De Luca, Irene Sardellitti, N. G. Tsagarakis, “Robust Estimation of Variable Stiffness in Flexible Joints”, International Conference on Intelligent Robots and Systems (IROS 2011), pp4026-4033.

N. G. Tsagarakis, Irene Sardellitti, Darwin G. Caldwell, A New Variable Stiffness Actuator (CompAct-VSA): Design and Modelling, International Conference on Intelligent Robots and Systems (IROS 2011), pp 378-383.

Petar Kormushev, Barkan Ugurlu, Sylvain Calinon, N. G. Tsagarakis, Darwin G. Caldwell, “Bipedal Walking Energy Minimization by Reinforcement Learning with Evolving Policy Parameterization”, International Conference on Intelligent Robots and Systems (IROS 2011), pp 318-324.

N. Garcia-Hernandez., I. Sarakoglou, N.G, Tsagarakis and D.G. Caldwell, “Orientation Discrimination of Patterned Surfaces through an Actuated and Non-actuated Tactile Display”, IEEE - World Haptics Conference 2011, pp 599 - 604.

N. Garcia-Hernandez., I. Sarakoglou, N.G, Tsagarakis and D.G. Caldwell , “Effectiveness of a Tactile Display for Providing Orientation Information of 3d-patterned Surfaces”, Virtual and Mixed Reality - Systems and Applications, Part II, HCI, Lecture Notes in Computer Science, 2011, Vol 6774, pp 327-332.

D.M. Gan, N.G.Tsagarakis, Jian Dai, Darwin G. Caldwell , “Stiffness Design for Compliant Manipulators based on Dynamics Analysis of the impact configuration”, ASME 2011 International Design Engineering Technical Conferences (IDETC) and Computers and Information in Engineering Conference (CIE), 2011.

N.G. Tsagarakis, Zhibin Li, Jody Alessandro Saglia, Darwin G. Caldwell, “The Design of the Lower Body of the Compliant Humanoid Robot “cCub””, IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai, pp 2035 – 2040.

Manuel Catalano*, Giorgio Grioli, Manolo Garabini, Fabio Bonomo, N.G. Tsagarakis, Antonio Bicchi,“VSA-CubeBot: a modular variable stiffness platform for multiple degrees of freedom robots”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2011),Shanghai, pp 5090 – 5095.

Alessandro Serio, Giorgio Grioli, Irene Sardellitti*, N.G. Tsagarakis, Antonio Bicchi, “A Decoupled Impedance Observer for a Variable Stiffness Robot”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai, pp 5548 - 5553.

Amir Jafar, N.G.Tsagarakis, and D.G.Caldwell, “AwAS-II: A New Actuator with Adjustable Stiffness based on the Novel Principle of Adaptable Pivot point and Variable Lever ratiot”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai, pp 4638-4642.

Amir Jafar, N.G.Tsagarakis, and D.G.Caldwell, “Exploiting Natural Dynamics for Energy Minimization using an Actuator with Adjustable Stiffness”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai, pp 4632-4637.

M. Laffranchi, N.G.Tsagarakis, and D.G.Caldwell, “A Compact Compliant Actuator with Variable Physical Damping”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2011), Shanghai, pp 4644-4650.

B Ugurlu, N.G. Tsagarakis, E. Spyrakos-Papastavridis. and D.G. Caldwell, “Compliant Joint Modification and Real-Time Dynamic Walking Implementation on Bipedal Robot cCub”, IEEE International Conference on Mechatronics, ICM 2011.

N. G. Tsagarakis, Amir Jafari and Darwin G. Caldwell, “A Novel Variable Stiffness Actuator: Minimizing the Energy Requirements for the Stiffness Regulation”, 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2010), pp 1275 – 1278.

J. A. Saglia, N.G. Tsagarakis, J. S. Dai and D. G. Caldwell, “Assessment of the Assistive Performance of an Ankle Exerciser using Electromyographic Signals”, IEEE 32nd International Conference on Engineering in Medicine and Biology, EMBC 2010, pp 5854 -5858.

J. Iqbal, N.G. Tsagarakis, A.E. Fiorilla and D.G. Caldwell, “A portable rehabilitation device for the hand”, 32nd annual IEEE international conference of Engineering in Medicine and Biology Society (EMBS 2010), Buenos Aires, pp3694 – 3697,

Amir Jafari, N. G. Tsagarakis, Bram Vanderborght and Darwin G. Caldwell, “A Novel Actuator with Adjustable Stiffness (AwAS)”, The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS 2010), pp 4201 – 4206

I. Sardellitti, G.Palli, N.G. Tsagarakis, D.G. Caldwell, “Antagonistically Actuated Compliant Joint: Torque and Stiffness control”, International Conference on Intelligent Robots and Systems (IROS 2010), pp 1909-1914.

E. Guglielmino, N.G. Tsagarakis and D. G. Caldwell, “An Octopus Anatomy-inspired Robotic Arm”, IEEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS 2010), pp 3091-3096.

M. Focchi, E. Guglielmino, C. Semini, A. Parmiggiani, N.G. Tsagarakis, B. Vanderborght and D. G. Caldwell, “Water/Air Performance Analysis of a Fluidic Muscle”, EEE/RSJ Int. Conf. on Intelligent RObots and Systems (IROS 2010), pp 2194-2199.

C. Semini, N. G. Tsagarakis, E. Guglielmino, D. G. Caldwell, “Design and Experimental Evaluation of the Hydraulically Actuated Prototype Leg of the HyQ Robot”, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2010), pp3640 – 3645.

C. Semini, N. G. Tsagarakis, E. Guglielmino and D. G. Caldwell, “Design of HyQ – a Hydraulically and Electrically Actuated Quadruped Robot”, Workshop on Human Adaptive Mechatronics (HAM 2010)

Nadia Garcia-Hernandez, N.G.Tsagarakis, and D.G.Caldwell , “Human Tactile ability to discriminate variations in Small Ridge Patterns thorugh a Portable-wearable Tactile Display”, International Conferences on Advances in Computer-Human Interactions (ACHI 2010)

Nadia Garcia-Hernandez, N.G. Tsagarakis, I. Sarakoglou and D.G.Caldwell, “Psychophysical Evaluation of a Low Density and Portable Tactile Device Displaying Small-scale Surface Features”, Springer Lecture Notes in Computer Science, Haptics: Generating and Perceiving Tangible Sensations, 2010, Volume 6192/2010, pp 50-57.

Jody A. Saglia, N.G.Tsagarakis, Jian Dai, Darwin G. Caldwell, “Control Strategies for Ankle Rehabilitation using a High Performance Ankle Exerciser”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2010), Anchorage, pp 2221-2227.

M. Laffranchi, N.G.Tsagarakis, and D.G.Caldwell, “A Variable Physical Damping Actuator (VPDA) for Compliant Robotic Joints”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2010), Anchorage, pp 1668-1674.

N.G.Tsagarakis, Bram Vanderborght, Matteo Laffranchi and D.G.Caldwell, “The Mechanical Design of the New Lower Body for the Child Humanoid robot ‘iCub’ ”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp 4962-4968.

Yousheng Yang, Claudio Semini, N.G.Tsagarakis, Emanuele Guglielmino and Darwin G. Caldwell, “Leg Mechanisms for Hydraulically Actuated Robots”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp 4669-4675.

M. Laffranchi, N.G.Tsagarakis, F. Cannella, and D.G.Caldwell, “Antagonistic and Series Elastic Actuators: a Comparative Analysis on the Energy Consumption”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp 5678-5684.

Matteo Laffranchi, N.G.Tsagarakis, Darwin G. Caldwell, “Safe Human Robot Interaction via Energy regulation control”, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp 35-41.

Nadia Garcia-Hernandez, N.G.Tsagarakis and D. G. Caldwell, “Effect of the Tactile Array Density on the Discrimination of Edge Patterns: Implications for Tactile Systems Design“, IEEE International Conference on Advanced Robotics, 2009, pp 1-6.

N.G.Tsagarakis, Matteo Laffranchi, Bram Vanderborght, Darwin G. Caldwell, “A Compact Soft Actuator Unit for Small Scale Human Friendly Robots”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp 4356-4362.

Jody A. Saglia, N.G.Tsagarakis, Jian Dai, Darwin G. Caldwell, “A High Performance 2-dof Over-Actuated Parallel Mechanism for Ankle Rehabilitation”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp 2180-2186.

Bram Vanderborght, N.G.Tsagarakis, Claudio Semini, Ronald Van Ham, Darwin G. Caldwell “MACCEPA 2.0: Compliant Actuator used for Energy Efficient Hopping Robot CHOBIN”, IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp 544-549.

N.G.Tsagarakis, Martin Cube, D.G.Caldwell, “2D Motion Coordination Enhancement for ‘Ataxia’ impaired users using a planar haptic device”, IEEE International Conference on Humanoid Robots 2008 (IROS 2008), pp 729-734.

Claudio Semini, N.G.Tsagarakis, Bram Vanderborght and Darwin G. Caldwell, “HyQ – Hydraulically Actuated Quadruped Robot – Ready, Set, Jump”, IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008 (BioRob 2008), pp 593-599.

S.Kousidou, N.G.Tsagarakis, C.Smith and D.G.Caldwell,”Task-Orientated Biofeedback System for the Rehabilitation of the Upper Limb”, 10th Int. Conf. on Rehabilitation Robotics, (ICORR), 2007, pp 376-384.

N.G.Tsagarakis, Francesco Becchi , Martin Singlair, Giorgio Metta, D.G.Caldwell and G. Sandini, ”Lower body realization of the baby humanoid - ‘iCub’” , IEEE International Conference on Humanoid Robots, (IROS 2007), pp3616 - 3622, 2007

I.Sarakoglou, M.Benzichec, N.G.Tsagarakis, D.G.Caldwell, “Free to touch: A portable Tactile Display For 3D surface exploration”, IEEE International Conference on Intelligent Robotic Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp3587-3592, 2006, (20 Years IROS, NTF Award Finalist for Entertainment Robots and Systems, IROS 2007)

N.G. Tsagarakis, S.Kousidou, D.G.Caldwell, “Case Study: Soft-Actuated Exoskeleton for Use in Physiotherapy and Training”, Wearable Robots: Biomechatronic Exoskeletons, John Wiley & Sons, ISBN10: 0470512946, pp 270-278, 2008.

N.G.Tsagarakis, G.Metta, G.Sandini, D.Vernon, R.Beira, F.Becchi, L.Righetti, J.S.Victor, A.J. Ijspeert, M.C.Carrozza and D.G.Caldwell, ”iCub –The Design and Realization of an Open Humanoid Platform for Cognitive and Neuroscience Research”, Advanced Robotics, Special Issue on Robotic platforms for Research in Neuroscience, Vol.21, No.10, pp, 1151-1175, 2007.

Darwin G. Caldwell, N.G. Tsagarakis, S. Kousidou, N. Costa and Y. Sarakoglou, “Soft’ Exoskeletons for Upper and Lower Body Rehabilitation – Design, Control and Testing”, Journal of Humanoids Robotics: Special issue on active exoskeletons, Vol.4 No. 3 , pp. 549-573, 2007.

N.G.Tsagarakis, F. Becchi, L.Righetti, A.J. Ijspeert and D.G.Caldwell” Lower Body Realization of the Baby Humanoid - ‘iCub’” , IEEE International Conference on Humanoid Robots, (IROS 2007), pp3616-3622, 2007

I.Sarakoglou, M.Benzichec, N.G.Tsagarakis, D.G.Caldwell, “Free to touch: A portable Tactile Display For 3D surface exploration”, IEEE International Conference on Intelligent Robotic Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp3587-3592, 2006 (20 Years IROS, NTF Award Finalist for Entertainment Robots and Systems, IROS 2007)

N.G.Tsagarakis, M. Petrone, D. Testi, R. Mayoral, C. Zannoni, M. Viceconti and G.J. Clapworthy, D.G.Caldwell,” Pre-Operative Planning for Total hip Arthroplasty using aHaptic Enabled Multimodal Interface and Framework”, Multimedia and Visualization Magazine:Special Issue in Haptics, Jul-Sept 2006, pp 40-48.

N.G.Tsagarakis and Darwin.G.Caldwell, ”Development and control of a ‘Soft-actuated’ exoskeleton for use in Physiotherapy and Training”, Autonomous Robots, Special issue on Rehabilitation Robotics, Vol 15, pp 21-33, 2003.

N.G. Tsagarakis and Darwin G. Caldwell, “Development And Control Of A Physiopherapy And Training Exercise Facility For The Upper Limb Using Soft Actuators”, IEEE International Conference on Advanced Robotics 2003, pp 1092-1095, Coimbra, Portugal. (Best Paper Award, ΙΕΕΕ ICAR 2003 )

 

Awards

§   Best Manipulation Paper  Finalist (ICRA 2012)  

A. Adjoudani, N.G.Tsagarakis, A. Bicchi, “Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots”, IEEE International Conference on Robotics and Automation Conference (ICRA), St Paul, Minnesota, 2012

§   2009 PE Publishing Prize of the Journal of Systems and Control Engineering

J.A. Saglia, N.G.Tsagarakis, J.S. Dai and D.G. Caldwell, “Inverse Kinematics Based Control of a Redundantly Actuated Platform for Rehabilitation”, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, IMechE Vol. 223, pp53-70, 2009

§   NTF Award Finalist for Entertainment Robots and Systems  (IROS 2007)

I.Sarakoglou, M.Benzichec, N.G.Tsagarakis, D.G.Caldwell, “Free to touch: A portable Tactile Display For 3D surface exploration”, IEEE International Conference on Intelligent Robotic Systems, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp3587-3592, 2006

§   Best Paper Award (ICAR 2003)

N.G. Tsagarakis and Darwin G. Caldwell, “Development And Control Of A Physiotherapy And Training Exercise Facility For The Upper Limb Using Soft Actuators”, International conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal, July 2003.

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