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Publications

Recent peer-reviewed articles

Please, contact us if you want to download any of the drafts provided here.


  • Hassanzadeh, N. and Perez Gracia, A., "Dimensional Synthesis of Wristed Binary Hands", ASME Journal of Mechanisms and Robotics, 2015. Draft
  • Hassanzadeh, N., He, X. and Perez Gracia, A., "A Design Implementation Process for Robotic Hand Synthesis", ASME IDETC/CIE conferences, Boston, USA, August 2-4, 2015. Draft
  • Perez Gracia, A., "Dimensional Synthesis of One-Jointed Multi-Fingered Hands", IFToMM Mechanism Design in Robotics conference, Aalborg, Denmark, June 2015 Draft
  • Yihun, Y., Bosworth, K. and Perez Gracia, A., "Link-based Performance Optimization of Spatial Mechanisms", ASME Journal of Mechanical Design, 136(12), 2014. Draft
  • Makhal, A. and Perez Gracia, A., "Solvable Multi-fingered Hands for Exact Kinematic Synthesis", Advances in Robot Kinematics, Ljubljana, Slovenia, June 29 - July 3, 2014. Draft
  • Simo-Serra, E. and Perez Gracia, A., "Kinematic Synthesis Using Tree Topologies", Mechanism and Machine Theory, 72, February 2014, Pages 94–113. Draft
  • Yihun, Y., Bosworth, K. and Perez Gracia, A., “Link-based performance optimization of spatial mechanisms”, ASME 2013 International Design Engineering Technical Conferences, Portland, OR, August 2013
  • Batbold, B., Yihun, Y., Wolper, J.S. and Perez Gracia, A., “Exact Workspace Synthesis for RCCR Linkages”, 2013 IFToMM Computational Kinematics Workshop, Barcelona, Spain, May 2013. Draft
  • Yihun, Y., Rahman, M.S., and Perez Gracia, A., “Design of an Exoskeleton as a Finger-Joint Angular Sensor”, 2012 IEEE EMBS Conference, San Diego, CA, August 28-September 1, 2012.
  • Yihun, Y., Miklos, R., Perez Gracia, A., Reinkensmeyer, D.J., Denney, K. and Wolbrecht, E.T., “Single Degree-of-Freedom Exoskeleton Mechanism Design for Thumb Rehabilitation”, 2012 IEEE EMBS Conference, San Diego, CA, August 28-September 1, 2012.
  • Scott, K. and Perez Gracia, A., “Design of a Prosthetic Hand with Remote Actuation”, 2012 IEEE EMBS Conference, San Diego, CA, August 28-September 1, 2012. Draft
  • Simo-Serra, E., Perez Gracia, A., Moon, H. and Robson, N., “Design of Multifingered Robotic Hands for Finite and Infinitesimal Tasks Using Kinematic Synthesis”, 2012 Advances in Robot Kinematics, Innsbruck, Austria, June 2012. Draft
  • Perez Gracia, A., “Synthesis of Spatial RPRP Closed Linkages for a Given Screw System”, ASME Journal of Mechanisms and Robotics, 3(2), 2011. Draft
  • Simo-Serra, E., Moreno-Noguer, F., and Perez Gracia, A., “Design of Non-anthropomorphic Robotic Hands for Anthropomorphic Tasks”, ASME International Design Engineering Technical Conferences, IDETC 2011, Washington DC, USA, August 29-31, 2011. Draft
  • Wolbrecht, E.T., Reinkensmeyer, D.J., and Perez-Gracia, A., “Single Degree-of-Freedom Exoskeleton Mechanism Design for Finger Rehabilitation”, ICORR 2011: Int. Conference on Rehabilitation Robotics, Zurich, Switzerland, June 29-July 1, 2011.
  • Sands, D., Perez Gracia, A., McCormack, J., and Wolbrecht, E.T., “Design of a Scalable Mechanism for Finger Rehabilitation”, 15th IASTED International Conference on Robotics and Applications, Cambridge, MA, USA, November 1-3, 2010.
  • Crawford, A.L., Molitor, J., Perez Gracia, A., and Chiu, S., “Design of a Robotic Hand and Simple EMG Input Controller with a Biologically-Inspired Parallel Actuation System for Prosthetic Applications”, 1st International Conference on Applied Bionics and Biomechanics (ICABB), Venice, Italy, October 14-16, 2010.