Papers
6
Total Citations
142
H-Index
3
About
J. Cazalilla is a robotics researcher specializing in parallel manipulators for rehabilitation, with a focus on low-cost, accessible medical robotics. Their major contributions center on the design, control, and implementation of a 3-PRS (prismatic-revolute-spherical) parallel robot for ankle rehabilitation, a system developed at the Universitat Politècnica de Valencia. Cazalilla’s work integrates kinematic and dynamic modeling with advanced control strategies, including adaptive control for payload handling and hybrid force/position control to ensure safe human-robot interaction—critical for rehabilitation where contact forces must be limited. Their most cited paper (54 citations) details the complete development of this low-cost robotic rehabilitation device, while a closely related work (53 citations) addresses adaptive control under varying payloads. Cazalilla has also explored real-time middleware implementation (e.g., OROCOS) for dynamic controllers, and contributed to dynamic calibration of force platforms using parallel robots. With over 140 total citations across their published work, Cazalilla’s research bridges theoretical control engineering and practical rehabilitation robotics, demonstrating how affordable parallel manipulators can deliver precise, safe therapeutic motion—a key step toward democratizing robotic rehabilitation.
Research Focus
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Top Papers
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- 6Dynamic Calibration of Force Platforms by Means of a Parallel Robot2 citations · 2013