Publications: Journal Papers and Books

Real Time Simulation of Complex 3-D Multibody Systems with Realistic Graphics
J. Garcia de Jalon, J.M. Jimenez, A. Avello, F. Martin and J. Cuadrado
Real-Time Integration Methods for Mechanical System Simulation, ed. by E.J. Haug and R.C. Deyo, pp. 265-292, Springer Verlag, Berlín, 1991.

An Efficient Computational Method for Real Time Multibody Dynamic Simulation in Fully Cartesian Coordinates
E. Bayo, J. Garcia de Jalon, A. Avello and J. Cuadrado
Computational Methods in Applied Mechanics and Engineering, vol. 92, pp. 377-395, 1991.

Kinematic and Dynamic Simulation of Rigid and Flexible Systems with Fully Cartesian Coordinates
J. Garcia de Jalon, J. Cuadrado, A. Avello and J.M. Jimenez
Computer Aided Analysis of Rigid and Flexible Mechanical Systems, ed. by M. Seabra and J. Ambrósio, pp. 285-323, Kluwer Academic Publishers, Dordrecht, 1994.

Flexible Mechanisms through Natural Coordinates and Component Synthesis: An Approach Fully Compatible with the Rigid Case
J. Cuadrado, J. Cardenal and J. Garcia de Jalon
Int. Journal for Numerical Methods in Engineering, vol. 39, pp. 3535-3551, 1996.

A Simple and General Method for Kinematic Synthesis of Spatial Mechanisms
J.M. Jimenez, G. Alvarez, J. Cardenal and J. Cuadrado
Mechanism and Machine Theory, vol. 32, no. 3, pp. 323-341, 1997.

Modeling and Solution Methods for Efficient Real-Time Simulation of Multibody Dynamics
J. Cuadrado, J. Cardenal and E. Bayo
Multibody System Dynamics, vol. 1, no. 3, pp. 259-280, 1997.

A Multi-Index Variable Time Step Method for the Dynamic Simulation of Multibody Systems
J. Cardenal, J. Cuadrado, P. Morer and E. Bayo
Int. Journal for Numerical Methods in Engineering, vol. 44, pp. 1579-1598, 1999.

Intelligent Simulation of Multibody Dynamics: Space-State and Descriptor Methods in Sequential and Parallel Computing Environments
J. Cuadrado, J. Cardenal, P. Morer and E. Bayo
Multibody System Dynamics, vol. 4, no. 1, pp. 55-73, 2000.

A Comparison in Terms of Accuracy and Efficiency between a MBS Dynamic Formulation with Stress Analysis and a Non-linear FEA Code
J. Cuadrado, R. Gutierrez, M.A. Naya and P. Morer
Int. Journal for Numerical Methods in Engineering, vol. 51, no. 9, pp. 1033-1052, 2001.

An Optimum Synthesis for Gripping Mechanisms by using Natural Coordinates
M. Ceccarelli, J. Cuadrado and D. Dopico
Proc. Inst. Mech. Eng. Part C: J. Mech. Eng. Science, vol. 216, pp. 643-653, 2002.

A Study to Validate Multibody Wheel/Rail Contact Algorithms
J.L. Escalona, M. Gonzalez and K. E. Zaazaa
Technical Report #MBS02-8-UIC, Dep. of Mechanical Engineering, University of Illinois at Chicago, 2002.

Experimental Validation of a Flexible MBS Dynamic Formulation through Comparison between Measured and Calculated Stresses on a Prototype Car
J. Cuadrado, R. Gutierrez, M.A. Naya and M. Gonzalez
Multibody System Dynamics, vol. 11, no. 2, pp. 147-166, 2004.

A Combined Penalty and Recursive Real-Time Formulation for Multibody Dynamics
J. Cuadrado, D. Dopico, M. Gonzalez and M.A. Naya
Journal of Mechanical Design, vol. 126, no. 4, pp. 602-608, 2004.

Penalty, Semi-Recursive and Hybrid Methods for MBS Real-Time Dynamics in the Context of Structural Integrators
J. Cuadrado, D. Dopico, M.A. Naya and M. Gonzalez
Multibody System Dynamics, vol. 12, no. 2, pp. 117-132, 2004.

IRK vs Structural Integrators for Real-Time Applications in Multibody Systems
D. Dopico, U. Lugris, M. Gonzalez and J. Cuadrado
Journal of Mechanical Science and Technology, vol. 19, no. 1, pp. 388-394, 2005.

Two Implementations of IRK Integrators for Real-Time Multibody Dynamics
D. Dopico, U. Lugris, M. Gonzalez and J. Cuadrado
Int. Journal for Numerical Methods in Engineering, vol. 65, no. 12, pp. 2091-2111, 2006.

A Benchmarking System for MBS Simulation Software: Problem Standardization and Performance Measurement
M. Gonzalez, D. Dopico, U. Lugris and J. Cuadrado
Multibody System Dynamics, vol. 16, no. 2, pp. 179-190, 2006

Multibody Dynamics: Computational Methods and Applications
J.C. Garcia Orden, J.M.Goicolea and J. Cuadrado (eds.)
Springer, Dordrecht, 2007.

On the Stabilizing Properties of Energy-Momentum Integrators and Coordinate Projections for Constrained Mechanical Systems
J.C. Garcia Orden and D. Dopico
Multibody Dynamics: Computational Methods and Applications, ed. by J.C. Garcia Orden, J.M.Goicolea and J. Cuadrado, pp. 49-68, Springer, Dordrecht, 2007.

Special Issue: Real-time Simulation and Virtual Reality Applications of Multibody Systems
J. Cuadrado and W. Schiehlen (guest eds.)
Multibody System Dynamics, vol. 17, no. 2-3, 2007.

Real-time Multibody Formulation for Virtual-reality-based Design and Evaluation of Automobile Controllers
M.A. Naya, D. Dopico, J.A. Perez and J. Cuadrado
Journal of Multi-body Dynamics, vol. 221, no. 2, pp. 261-276, 2007.

Interoperability and Neutral Data Formats in Multibody System Simulation
M. Gonzalez, F. Gonzalez, A. Luaces and J. Cuadrado
Multibody System Dynamics, vol. 18, no. 1, pp. 59-72, 2007.
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Topological vs Global Penalty Formulations for Real-Time Flexible Multibody Dynamics
J. Cuadrado, U. Lugris, D. Dopico and M. Gonzalez
Int. Journal of System Design and Dynamics, vol. 1, no. 3, pp. 422-433, 2007.

Performance and Application Criteria of Two Fast Formulations for Flexible Multibody Dynamics
U. Lugris, M.A. Naya, F. Gonzalez and J. Cuadrado
Mechanics Based Design of Structures and Machines, vol. 35, no. 4, pp. 381-404, 2007.

Use of Active Steering in Railway Bogies to Reduce Rail Corrugation on Curves
F. Gonzalez, J. Perez, J. Viñolas and A. Alonso
Journal of Rail and Rapid Transit, vol. 221, no. 4, pp. 509-519, 2007.

Modelización de sistemas multicuerpo flexibles para análisis dinámico con no linealidad geométrica
R. Gutiérrez, U. Lugrís, J. Cuadrado and L.E. Romera
Revista Internacional de Métodos Numéricos para Cálculo y Diseño en Ingeniería, vol. 23, no. 2, pp. 159-176, 2007.

On the Effect of Linear Algebra Implementations in Real-Time Multibody System Dynamics
M. Gonzalez, F. Gonzalez, D. Dopico, A. Luaces
Computational Mechanics, vol. 41, no. 4, pp. 607-615, 2008.
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On the Optimal Scaling of Index Three DAEs in Multibody Dynamics
C.L. Bottasso, D. Dopico, L. Trainelli
Multibody System Dynamics, vol. 19, no. 1-2, pp. 3-20, 2008.

Special Issue: XII IFToMM World Conference
J. Cuadrado (guest ed.)
Multibody System Dynamics, vol. 20, no. 2, 2008.

Implementation and Efficiency of Two Geometric Stiffening Approaches
U. Lugris, M.A. Naya, J.A. Perez, J. Cuadrado
Multibody System Dynamics, vol. 20, no. 2, pp. 147-161, 2008.

Performance of an Energy-Conserving Algorithm for Multi-Body Dynamics
D. Dopico, M.A. Naya, U. Lugris, J. Cuadrado
Journal of Multi-body Dynamics, vol. 222, no. 3, pp. 243-253, 2008.

Model Reference Adaptive Control System for Laser Surface Treatments
J.A. Perez, M. Gonzalez, M.A. Naya
Journal of Systems and Control Engineering, vol. 222, no. 8, pp. 875-881, 2008.

Real-Time Multibody Dynamics and Applications
J. Cuadrado, D. Dopico, M.A. Naya and M. Gonzalez
Simulation Techniques for Applied Dynamics, ed. by M. Arnold and W. Schiehlen, pp. 247-312, Springer, 2008.

Efficient Calculation of the Inertia Terms in Floating Frame of Reference Formulations for Flexible Multibody Dynamics
U. Lugris, M.A. Naya, A. Luaces, J. Cuadrado
Journal of Multi-body Dynamics, vol. 223, no. 2, pp. 147-157, 2009.

Non-Intrusive Parallelization of Multibody System Dynamic Simulations
F. Gonzalez, A. Luaces, U. Lugris, M. Gonzalez
Computational Mechanics, vol. 44, no. 4, pp. 493-504, 2009.
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Real-Time State Observers Based on Multibody Models and the Extended Kalman Filter
J. Cuadrado, D. Dopico, A. Barreiro, E. Delgado
Journal of Mechanical Science and Technology, vol. 23, no. 4, pp. 894-900, 2009.

Influence of the Filtering Method in the Kinematic Data Consistency of Biomechanical Systems: A Benchmark Example
F.J. Alonso, P. Pintado, J. Cuadrado
Int. Journal for Computational Vision and Biomechanics, vol. 2, no. 2, pp. 179-186, 2009.

Adaptive Neurofuzzy ANFIS Modeling of Laser Surface Treatments
J.A. Perez, M. Gonzalez, D. Dopico
Neural Computing and Applications, vol. 19, no. 1, pp. 85-90, 2010.

A Collaborative Benchmarking Framework for Multibody System Dynamics
M. Gonzalez, F. Gonzalez, A. Luaces, J. Cuadrado
Engineering with Computers, vol. 26, no. 1, pp. 1-9, 2010.
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A Compact Smoothing-Differentiation and Projection Approach for the Kinematic Data Consistency of Biomechanical Systems
F.J. Alonso, J. Cuadrado, U. Lugris, P. Pintado
Multibody System Dynamics, vol. 24, no. 1, pp. 67-80, 2010.

Special Issue: EUROMECH Solid Mechanics Conference 2009
J. Cuadrado and P. Flores (guest eds.)
Multibody System Dynamics, vol. 24, no. 3, 2010.

Efficient Coupling of Multibody Software with Numerical Computing Environments and Block Diagram Simulators
F. Gonzalez, M. Gonzalez, A. Mikkola
Multibody System Dynamics, vol. 24, no. 3, pp. 237-253, 2010.
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Dealing with Multiple Contacts in a Human-in-the-Loop Application
D. Dopico, A. Luaces, M. Gonzalez, J. Cuadrado
Multibody System Dynamics, vol. 25, no. 2, pp. 167-183, 2011.

On the Effect of Multi-rate Co-simulation Techniques in the Efficiency and Accuracy of Multibody System Dynamics
F. Gonzalez, M.A. Naya, A. Luaces, M. Gonzalez
Multibody System Dynamics, vol. 25, no. 4, pp. 461-483, 2011.
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An Approach for Modeling Long Flexible Bodies with Application to Railroad Dynamics
R. Chamorro, J. Escalona, M. Gonzalez
Multibody System Dynamics, vol. 26, no. 2, pp. 135-152, 2011.

Role of MMS and IFToMM in Multibody Dynamics
J. Cuadrado, J. Escalona, W. Schiehlen, R. Seifried
Technology Developments: The Role of Mechanism and Machine Science and IFToMM, ed. by M. Ceccarelli, pp. 161-172, Springer, 2011.

An Efficient Unified Method for the Combined Simulation of Multibody and Hydraulic Dynamics: Comparison with Simplified and Co-integration Approaches
M.A. Naya, J. Cuadrado, D. Dopico, U. Lugris
The Archive of Mechanical Engineering, vol. 58, no. 2, pp. 223-243, 2011.

Dynamics of Mechanisms in Overconstrained and Singular Configurations
E. Zahariev, J. Cuadrado
Journal of Theoretical and Applied Mechanics, vol. 41, no. 1, pp. 3-18, 2011.

Geared PM Coreless Motor Modelling for Driver's Force Feedback in Steer-by-Wire Systems
R. Pastorino, M.A. Naya, J.A. Perez, J. Cuadrado
Mechatronics, vol. 21, no. 6, pp. 1043-1054, 2011.

Special Issue: Applications of Multi-body Dynamics to Machines, Mechanisms, and Vehicles
J. Cuadrado and S. Theodossiades (guest eds.)
Journal of Multi-body Dynamics, vol. 225, no. 4, 2011.

Efficient and Accurate Simulation of the Rope-Sheave Interaction in Weight-Lifting Machines
U. Lugris, J.L. Escalona, D. Dopico, J. Cuadrado
Journal of Multi-body Dynamics, vol. 225, no. 4, pp. 331-343, 2011.

Automotive Observers based on Multibody Models and the Extended Kalman Filter
J. Cuadrado, D. Dopico, J.A. Perez, R. Pastorino
Multibody System Dynamics, vol. 27, no. 1, pp. 3-19, 2012.

A Simple Approach To Estimate Muscle Forces and Orthosis Actuation in Powered Assisted Walking of Spinal Cord-Injured Subjects
J. Alonso, F. Romero, R. Pamies-Vila, U. Lugris, J.M. Font-Llagunes
Multibody System Dynamics, vol. 28, no. 1-2, pp. 109-124, 2012.

Analysis of Different Uncertainties in the Inverse Dynamic Analysis of Human Gait
R. Pamies-Vila, J.M. Font-Llagunes, J. Cuadrado, F.J. Alonso
Mechanism and Machine Theory, vol. 58, pp. 153-164, 2012.

Use of Penalty Formulations in Dynamic Simulation and Analysis of Redundantly Constrained Multibody Systems
F. Gonzalez, J. Kovecses
Multibody System Dynamics, vol. 29, no. 1, pp. 57-76, 2013.
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State Estimation Using Multibody Models and Non-linear Kalman Filters
R. Pastorino, D. Richiedei, J. Cuadrado, A. Trevisani
Int. Journal of Non-Linear Mechanics, vol. 53, pp. 83-90, 2013.

Solution Methods for the Double-Support Indeterminacy in Human Gait
U. Lugris, J. Carlin, R. Pamies-Vila, J.M. Font-Llagunes, J. Cuadrado
Multibody System Dynamics, vol. 30, no. 3, pp. 247-263, 2013.

Special Issue: Application of Multibody Dynamics to Biomechanics
J. Cuadrado, P. Masarati (guest eds.)
Journal of Multi-body Dynamics, vol. 227, no. 4, 2013.

Gait Analysis System for Spinal Cord-injured Subjects Assisted by Active Orthoses and Crutches
U. Lugris, J. Carlin, A. Luaces, J. Cuadrado
Journal of Multi-body Dynamics, vol. 227, no. 4, pp. 363-374, 2013.

Computational Structural Analysis of Planar Multibody Systems with Lower and Higher Kinematic Pairs
M. Saura, A. Celdran, D.Dopico, J. Cuadrado
Mechanism and Machine Theory, vol. 71, pp. 79-92, 2014.

Assessing the Suitability of Gradient-based Energy Minimization Methods to Calculate the Equilibrium Shape of Netting Structures
A. de la Prada, M. Gonzalez
Computers and Structures, vol. 135, pp. 128-140, 2014.

Parameter Identification Method for a Three-dimensional Foot-ground Contact Model
R. Pamies-Vila, J.M. Font-Llagunes, U. Lugris, J. Cuadrado
Mechanism and Machine Theory, vol. 75, pp. 107-116, 2014.

Special Issue: Multibody Dynamics Formulations
J. Cuadrado (guest ed.)
Journal of Computational and Nonlinear Dynamics, vol. 9, no. 4, 2014.

Determination of Holonomic and Nonholonomic Constraint Reactions in an Index-3 Augmented Lagrangian Formulation with Velocity and Acceleration Projections
D. Dopico, F. Gonzalez, J. Cuadrado, J. Kovecses
Journal of Computational and Nonlinear Dynamics, vol. 9, no. 4, 041006, 9 pages, 2014.

Sensitivity Analysis of Multibody Dynamic Systems Modeled by ODEs and DAEs
D. Dopico, A. Sandu, C. Sandu, Y. Zhu
Computational Methods and Applications, Computational Methods in Applied Sciences, vol. 35, ed. by Z. Terze, pp. 1-32, Springer, 2014.

Online State and Input Force Estimation for Multibody Models Employing Extended Kalman Filtering
F. Naets, R. Pastorino, J. Cuadrado, W. Desmet
Multibody System Dynamics, vol. 32, no. 3, pp. 317-336, 2014.

Direct and Adjoint Sensitivity Analysis of Ordinary Differential Equation Multibody Formulations
D. Dopico, Y. Zhu, A. Sandu, C. Sandu
Journal of Computational and Nonlinear Dynamics, vol. 10, no. 1, 011012, 7 pages, 2014.

Stable Force Identification in Structural Dynamics Using Kalman Filtering and Dummy-measurements
F. Naets, J. Cuadrado, W. Desmet
Mechanical Systems and Signal Processing, vol. 50-51, pp. 235-248, 2015.

A Novel Concept for Analysis and Performance Evaluation of Wheeled Rovers
B. Ghotbi, F. Gonzalez, J. Kovecses, J. Angeles
Mechanism and Machine Theory, vol. 83, pp. 137-151, 2015.

An Experimental/Numerical Study of the Catch Weight Influence on Trawl Behavior
D. Priour, A. de la Prada
Ocean Engineering, vol. 94, pp. 94-102, 2015.

Validation of a Real-time Multibody Model for an X-by-wire Vehicle Prototype through Field Testing
R. Pastorino, E. Sanjurjo, A. Luaces, M.A. Naya, W. Desmet, J. Cuadrado
Journal of Computational and Nonlinear Dynamics, vol. 10, no. 3, 031006, 11 pages, 2015.

Dynamic Response Optimization of Complex Multibody Systems in a Penalty Formulation using Adjoint Sensitivity
Y. Zhu, D. Dopico, C. Sandu, A. Sandu
Journal of Computational and Nonlinear Dynamics, vol. 10, no. 3, 031009, 9 pages, 2015.

Quantifying Mesh Resistance to Opening of Netting Panels: Experimental Method, Regression Models, and Parameter Estimation Strategies
A. de la Prada, M. Gonzalez
ICES Journal of Marine Science, vol. 72, pp. 697-707, 2015.

The Effect of the Bottom Boundary Layer on Trawl Behavior
A. de la Prada, D. Priour
Ocean Engineering, vol. 101, pp. 142-151, 2015.

Nonlinear Stiffness Models of a Net Twine to Describe Mesh Resistance to Opening of Flexible Net Structures
A. de la Prada, M. Gonzalez
Journal of Engineering for the Maritime Environment, vol. 230, no. 1, pp. 33-44, 2016.

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
J.L. Torres-Moreno, J.L. Blanco-Claraco, A. Gimenez-Fernandez, E. Sanjurjo, M.A. Naya
Sensors, vol. 16, no. 3, pp. 333-1-19, 2016.
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Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
B. Ghotbi, F. Gonzalez, J. Kovecses, J. Angeles
Mechanism and Machine Theory, vol. 100, pp. 259-282, 2016.

Mobility Assessment of Wheeled Robots Operating on Soft Terrain
B. Ghotbi, F. Gonzalez, J. Kovecses, J. Angeles
Field and Service Robotics, vol. 113 of Springer Tracts in Advanced Robotics, ed. by D.S. Wettergreen and T.D. Barfoot, pp. 331-344, Springer, 2016.

Hard Real-time Multibody Simulations Using ARM-based Embedded Systems
R. Pastorino, F. Cosco, F. Naets, W. Desmet, J. Cuadrado
Multibody System Dynamics, vol. 37, no. 1, pp. 127-143, 2016.

Behaviour of Augmented Lagrangian and Hamiltonian Methods for Multibody Dynamics in the Proximity of Singular Configurations
F. Gonzalez, D. Dopico, R. Pastorino, J. Cuadrado
Nonlinear Dynamics, vol. 85, no. 3, pp. 1491-1508, 2016.
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Load Assessment and Analysis of Impacts in Multibody Systems
F. Gonzalez, J. Kovecses, J.M. Font-Llagunes
Multibody System Dynamics, vol. 38, no. 1, pp. 1-19, 2016.
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Estimation of Muscular Forces from SSA Smoothed sEMG Signals Calibrated by Inverse Dynamics-based Physiological Static Optimization
F. Romero, F.J. Alonso, C. Gragera, U. Lugris, J.M. Font-Llagunes
Journal of the Brazilian Society of Mechanical Sciences and Engineering, vol. 38, pp. 2213-2223, 2016.

Real-time Simulation of Cable Pay-out and Reel-in with Towed Fishing Gears
F. Gonzalez, A. de la Prada, A. Luaces, M. Gonzalez
Ocean Engineering, vol.131, pp. 295-307, 2017.

Assessment of Linearization Approaches for Multibody Dynamics Formulations
F. Gonzalez, P. Masarati, J. Cuadrado, M.A. Naya
Journal of Computational and Nonlinear Dynamics, vol. 12, no. 4, 041009, 7 pages, 2017.

Accuracy and Efficiency Comparison of Various Nonlinear Kalman Filters Applied to Multibody Models
E. Sanjurjo, M.A. Naya, J.L. Blanco-Claraco, J.L. Torres-Moreno, A Gimenez-Fernandez
Nonlinear Dynamics, vol. 88, no. 3, pp. 1935-1951, 2017.

Benchmarking of Adjoint Sensitivity-based Optimization Techniques Using a Vehicle Ride Case Study
Y. Zhu, C. Sandu, D. Dopico, A. Sandu
Mechanics Based Design of Structures and Machines, vol. 46, no. 2, pp. 254-266, 2018.

Use of Performance Indicators in the Analysis of Running Gait Impacts
R. Pamies-Vila, F. Gonzalez, J. Kovecses, J. M. Font-Llagunes
Multibody System Dynamics, vol. 43, no. 2, pp. 131-151, 2018.
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Multibody System Dynamics Interface Modelling for Stable Multirate Co-simulation of Multiphysics Systems
A. Peiret, F. Gonzalez, J. Kovecses, M. Teichmann
Mechanism and Machine Theory, vol. 127, pp. 52-72, 2018.

State and Force Observers based on Multibody Models and the Indirect Kalman Filter
E. Sanjurjo, D. Dopico, A. Luaces, M.A. Naya
Mechanical Systems and Signal Processing, vol. 106, pp. 210-228, 2018.

Skeletal-level Control-based Forward Dynamic Analysis of Acquired Healthy and Assisted Gait Motion
F. Mouzo, U. Lugris, R. Pamies-Vila, J. Cuadrado
Multibody System Dynamics, vol. 44, no. 1, pp. 1-29, 2018.
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Direct Sensitivity Analysis of Multibody Systems with Holonomic and Nonholonomic Constraints via an Index-3 Augmented Lagrangian Formulation with Projections
D. Dopico, F. Gonzalez, A. Luaces, M. Saura, D. Garcia Vallejo
Nonlinear Dynamics, vol. 93, no. 4, pp. 2039-2056, 2018.
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Energy-Leak Monitoring and Correction to Enhance Stability in the Co-simulation of Mechanical Systems
F. Gonzalez, S. Arbatani, A. Mohtat, J. Kovecses
Mechanism and Machine Theory, vol. 131, pp. 172-188, 2019.

Index-3 Divide-and-Conquer Algorithm for Efficient Multibody System Dynamics Simulations: Theory and Parallel Implementation
P. Malczyk, J. Fraczek, F. Gonzalez, J. Cuadrado
Nonlinear Dynamics, vol. 95, no. 1, pp. 727-747, 2019.
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IUTAM Symposium on Intelligent Multibody Systems - Dynamics, Control, Simulation
E. Zahariev, J. Cuadrado (eds.)
Springer, 2019.

Musculo-skeletal Modeling and Analysis for Low-cost Active Orthosis Customization and SCI Patient Adaptation
J. Cuadrado, U. Lugris, F. Mouzo, F. Michaud
IUTAM Symposium on Intelligent Multibody Systems - Dynamics, Control, Simulation, ed. by E. Zahariev and J. Cuadrado, Springer, pp. 41-54, 2019.

Kinematic Modelling and State Estimation of Exploration Rovers
Q. Lou, F. Gonzalez, J. Kovecses
IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1311-1318, 2019.

Direct Sensitivity Analysis of Multibody Systems: A Vehicle Dynamics Benchmark
A. Callejo, D. Dopico
Journal of Computational and Nonlinear Dynamics, vol. 14, no. 2, 021004, 9 pages, 2019.

Simulating the Anchor Lifting Maneuver of Ships Using Contact Detection Techniques and Continuous Contact Force Models
D. Dopico, A. Luaces, M. Saura, J. Cuadrado, D. Vilela
Multibody System Dynamics, vol. 46, no. 2, pp. 147-179, 2019.
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Energy Expenditure Estimation During Crutch-Orthosis-Assisted Gait of a Spinal-Cord-Injured Subject
F. Michaud, F. Mouzo, U. Lugris, J. Cuadrado
Frontiers in Neurorobotics, vol. 13, article 55, 11 pages, 2019.
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Roll Angle Estimator Based on Angular Rate Measurements for Bicycles
E. Sanjurjo, M.A. Naya, J. Cuadrado, A. Schwab
Vehicle System Dynamics, vol. 57, no. 11, pp. 1705-1719, 2019.

Computational Kinematics of Multibody Systems: Two Formulations for a Modular Approach Based on Natural Coordinates
M. Saura, P. Segado, D. Dopico
Mechanism and Machine Theory, vol. 142, 103602, 22 pages, 2019.

Estimation of the Digging and Payload Forces in Excavators by means of State Observers
I. Palomba, D. Richiedei, A. Trevisani, E. Sanjurjo, A. Luaces, J. Cuadrado
Mechanical Systems and Signal Processing, vol. 134, 106356, 16 pages, 2019.

An Automated Methodology to Select Functional Co-simulation Configurations
J. Rahikainen, F. Gonzalez, M. A. Naya
Multibody System Dynamics, vol. 48, no. 1, pp. 79-103, 2020.
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Design, Control, and Pilot Study of a Lightweight and Modular Exoskeleton for Walking Assistance After Spinal Cord Injury
J.M. Font-Llagunes, U. Lugris, D. Clos, F.J. Alonso, J. Cuadrado
Journal of Mechanisms and Robotics, vol. 12, no. 3, 031008, 8 pages, 2020.

Leg-orthosis Contact Force Estimation from Gait Analysis
F. Mouzo, F. Michaud, U. Lugris, J. Cuadrado
Mechanism and Machine Theory, vol. 148, 103800, 13 pages, 2020.

Co-simulation of Multibody Systems with Contact Using Reduced Interface Models
A. Peiret, F. Gonzalez, J. Kovecses, M. Teichmann
Journal of Computational and Nonlinear Dynamics, vol. 15, no. 4, 041001, 14 pages, 2020.

Performance Indicators for Wheeled Robots Traversing Obstacles
W. Nowac, F. Gonzalez, S. MacMahon, J. Kovecses
IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2881-2888, 2020.

Assessment of Methods for the Real-time Simulation of Electronic and Thermal Circuits
B. Rodriguez, F. Gonzalez, M.A. Naya, J. Cuadrado
Energies, vol. 13, no. 6, 1354, 26 pages, 2020.
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Do Muscle Synergies Improve Optimization Prediction of Muscle Activations During Gait?
F. Michaud, M.S. Shourijeh, B.J. Fregly, J. Cuadrado
Frontiers in Computational Neuroscience, vol. 14, article 54, 12 pages, 2020.
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Effect of Gravity in Wheel/Terrain Interaction Models
L. Kovacs, B. Ghotbi, F. Gonzalez, P. Niksirat, K. Skonieczny, J. Kovecses
Journal of Field Robotics, vol. 37, no. 5, pp. 754-767, 2020.

Model-Based Coupling for Co-Simulation of Robotic Contact Tasks
A. Peiret, F. Gonzalez, J. Kovecses, M. Teichmann, A. Enzenhoefer
IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 5756-5763, 2020.

On the Co-simulation of Multibody Systems and Hydraulic Dynamics
J. Rahikainen, F. Gonzalez, M. A. Naya, J. Sopanen, A. Mikkola
Multibody System Dynamics, vol. 50, no. 2, pp. 143-167, 2020.
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A Procedure to Define Customized Musculoskeletal Models for the Analysis of the Crutch-Orthosis-Assisted Gait of Spinal Cord Injured Subjects
F. Michaud, U. Lugris, J. Cuadrado, A. Kecskemethy, Y. Ou
Journal of Biomechanical Engineering, vol. 142, no. 12, 121013, 8 pages, 2020.

Validation of a Real-Time Capable Multibody Vehicle Dynamics Formulation for Automotive Testing Frameworks Based on Simulation
A. Parra, A.J. Rodriguez, A. Zubizarreta, J. Perez
IEEE Access, vol. 8, pp. 213253-213265, 2020.
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Using Accelerometer Data to Tune the Parameters of an Extended Kalman Filter for Optical Motion Capture: Preliminary Application to Gait Analysis
J. Cuadrado, F. Michaud, U. Lugris, M. Perez Soto
Sensors, vol. 21, no. 2, article 427, 22 pages, 2021.
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A Fair and EMG-validated Comparison of Recruitment Criteria, Musculotendon Models and Muscle Coordination Strategies, for the Inverse-dynamics Based Optimization of Muscle Forces During Gait
F. Michaud, M. Lamas, U. Lugris, J. Cuadrado
Journal of NeuroEngineering and Rehabilitation, vol. 18, article 17, 15 pages, 2021.
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State, Parameter and Input Observers Based on Multibody Models and Kalman Filters for Vehicle Dynamics
A.J. Rodriguez, E. Sanjurjo, R. Pastorino, M.A. Naya
Mechanical Systems and Signal Processing, vol. 155, 107544, 17 pages, 2021.
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Prediction of Fatigue Life in Multibody Systems Considering the Increase of Dynamic Loads Due to Wear in Clearances
M. Ordiz, J. Cuadrado, M. Cabello, I. Retolaza, F. Martinez, D. Dopico
Mechanism and Machine Theory, vol. 160, 104293, 12 pages, 2021.
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Hardware Acceleration of Multibody Simulations for Real-time Embedded Applications
A.J. Rodriguez, R. Pastorino, A. Carro-Lagoa, K. Janssens, M.A. Naya
Multibody System Dynamics, vol. 51, no. 4, pp. 455-473, 2021.

Thermal Parameter and State Estimation for Digital Twins of E-Powertrain Components
B. Rodriguez, E. Sanjurjo, M. Tranchero, C. Romano, F. Gonzalez
IEEE Access, vol. 9, pp. 97384-97400, 2021.
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Augmented Lagrangian Index-3 Semi-recursive Formulations with Projections: Kinematics and Dynamics.
D. Dopico, A. Lopez-Varela, A. Luaces
Multibody System Dynamics, vol. 52, no. 4, pp. 377-405, 2021.

Multibody-Based Input and State Observers Using Adaptive Extended Kalman Filter
A.J. Rodriguez, E. Sanjurjo, R. Pastorino, M.A. Naya
Sensors, vol. 21, no. 15, article 5241, 24 pages, 2021.
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Lower Back Injury Prevention and Sensitization of Hip Hinge with Neutral Spine Using Wearable Sensors during Lifting Exercises
F. Michaud, M. Perez Soto, U. Lugris, J. Cuadrado
Sensors, vol. 21, no. 16, article 5487, 16 pages, 2021.
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Special Issue: Combining Sensors and Multibody Models for Applications in Vehicles, Machines, Robots and Humans
J. Cuadrado and M.A. Naya (guest eds.)
Sensors, 2021.
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Roll Angle Estimation of A Motorcycle through Inertial Measurements
D. Maceira, A. Luaces, U. Lugris, M.A. Naya, E. Sanjurjo
Sensors, vol. 21, no. 19, article 6626, 22 pages, 2021.
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Adjoint Sensitivity Index-3 Augmented Lagrangian Formulation with Projections
D. Dopico, A. Sandu, C. Sandu
Mechanics Based Design of Structures and Machines, vol. 50, no. 1, pp. 48-78, 2022.

State Estimator Based on an Indirect Kalman filter for a Hydraulically Actuated Multibody System
S. Jaiswal, E. Sanjurjo, J. Cuadrado, J. Sopanen, A. Mikkola
Multibody System Dynamics, vol. 54, no. 4, pp. 373-398, 2022.
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Comparison of Several Muscle Modeling Alternatives for Computationally Intensive Algorithms in Human Motion Dynamics
M. Lamas, F. Mouzo, F. Michaud, U. Lugris, J. Cuadrado
Multibody System Dynamics, vol. 54, no. 4, pp. 415-442, 2022.
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Determination of the 3D Human Spine Posture from Wearable Inertial Sensors and a Multibody Model of the Spine
F. Michaud, U. Lugris, J. Cuadrado
Sensors, vol. 22, no. 13, article 4796, 12 pages, 2022.
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Special Issue: Co-Simulation in Multibody System Dynamics
F. Gonzalez, A. Cardona, P. Masarati, J. Pombo (guest eds.)
Multibody System Dynamics, vol. 55, no. 1-2, pp. 1-2, 2022.
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Energy-Based Monitoring and Correction to Enhance the Accuracy and Stability of Explicit Co-Simulation
B. Rodriguez, A.J. Rodriguez, B. Sputh, R. Pastorino, M.A. Naya, F. Gonzalez
Multibody System Dynamics, vol. 55, no. 1-2, pp. 103-136, 2022.
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Computational Structural Analysis of Spatial Multibody Systems Based on Mobility Criteria
A. Celdran, M. Saura, D. Dopico
Mechanism and Machine Theory, vol. 176, 104985, 29 pages, 2022.
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Eigenstructure Assignment and Compensation of Explicit Co-simulation Problems
I. Tamellin, D. Richiedei, B. Rodriguez, F. Gonzalez
Mechanism and Machine Theory, vol. 176, 105004, 26 pages, 2022.

Computation of Direct Sensitivities of Spatial Multibody Systems With Joint Friction
A. Verulkar, C. Sandu, D. Dopico, A. Sandu
Journal of Computational and Nonlinear Dynamics, vol. 17, 071006, 12 pages, 2022.

A New Method To Estimate the Resistance Coefficients of Net Panels Modeled as Porous Media
M Gonzalez, S.K. Karumathil
Ocean Engineering, vol. 274, 113952, 23 pages, 2023.

Applying a Muscle Fatigue Model when Optimizing Load-sharing between Muscles for Short-duration High-intensity Exercise: A Preliminary Study
F. Michaud, L.A. Frey-Law, U. Lugris, L. Cuadrado, J. Figueroa-Rodriguez, J. Cuadrado
Frontiers in Physiology, vol. 14, article 1167748, 16 pages, 2023.
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The Use of Wearable Inertial Sensors and Workplace-Based Exercises to Reduce Lateral Epicondylitis in the Workstation of a Textile Logistics Center
F. Michaud, R. Pazos, U. Lugris, J. Cuadrado
Sensors, vol. 23, no. 11, article 5166, 16 pages, 2023.
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A Benchmark Problem with Singularities for Multibody System Dynamics Formulations with Constraints
M. Ruggiu, F. Gonzalez
Multibody System Dynamics, vol. 58, no. 2, pp. 181-196, 2023.

Kalman Filters Based on Multibody Models: Linking Simulation and Real World. A Comprehensive Review
M.A. Naya, E. Sanjurjo, A.J. Rodriguez, J. Cuadrado
Multibody System Dynamics, vol. 58, no. 3-4, pp. 479-521, 2023.
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Computational Hydrodynamics of Fishing Nets Using a Surface-based Porous Media Model
S.K. Karumathil, M Gonzalez
Applied Ocean Research, vol. 138, 103665, 12 pages, 2023.

Human Motion Capture, Reconstruction, and Musculoskeletal Analysis in Real Time
U. Lugris, M. Perez-Soto, F. Michaud, J. Cuadrado
Multibody System Dynamics, vol. 60, no. 1, pp. 3-25, 2024.
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Numerical and Experimental Investigation on the Synthesis of Extended Kalman Filters for Cable-Driven Parallel Robots Modeled through DAEs
J. Bettega, G. Boschetti, B. Rodriguez, F. Gonzalez, G. Piva, D. Richiedei, A. Trevisani
Multibody System Dynamics, vol. 60, no. 2, pp. 161-190, 2024.
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Use of Patellofemoral Digital Twins for Patellar Tracking and Treatment Prediction: Comparison of 3D Models and Contact Detection Algorithms
F. Michaud, A. Luaces, F. Mouzo, J. Cuadrado
Frontiers in Bioengineering and Biotechnology, vol. 12, article 1347720, 13 pages, 2024.
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Four-compartment Muscle Fatigue Model to Predict Metabolic Inhibition and Long-lasting Nonmetabolic Components
F. Michaud, S. Beron, U. Lugris, J. Cuadrado
Frontiers in Physiology, vol. 15, article 1366172, 11 pages, 2024.
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A Multibody-dynamics Based Method for the Estimation of Wear Evolution in the Revolute Joints of Mechanisms that Considers Link Flexibility
M. Lopez-Lombardero, J. Cuadrado, M. Cabello, F. Martinez, D. Dopico, A. Lopez-Varela
Mechanism and Machine Theory, vol. 194, article 105583, 19 pages, 2024.

A Sensorized 3D-Printed Knee Test Rig for Preliminary Experimental Validation of Patellar Tracking and Contact Simulation
F. Michaud, F. Mouzo, D. Dopico, J. Cuadrado
Sensors, vol. 24, no. 10, article 3042, 18 pages, 2024.
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Augmented Lagrangian Index-3 Semi-recursive Formulations with Projections: Direct Sensitivity Analysis
A. Lopez-Varela, D. Dopico, A. Luaces
Multibody System Dynamics, vol. 61, no. 2, pp. 195-231, 2024.
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On the Generalized Bézier-Based Integration Approach for Co-Simulation Applications
R. Nopour, A. Taghvaeipour, M. Mohammadi, F. Gonzalez
Mechanics Based Design of Structures and Machines, vol. 52, no. 7, pp. 4759-4790, 2024.

Special Issue: Advances in the Neuromusculoskeletal Modeling of Injuries, Diseases, and Clinical Treatments
F. Michaud, G. Serrancoli, C. Quental, B. Innocenti (guest eds.)
Frontiers in Neuroscience, vol. 18, 2024.
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Characterization of the Solidity of Knotted Single-twine Diamond Mesh Netting
F. Bottero, M. Gonzalez
Applied Ocean Research, vol. 154, 2025.