You can find an updated list of my publications on my Google Scholar profile. A not necessarily updated list is provided below:


Ander Etxezarreta and Mikel Sagardia. Real Time Contact Surface Prediction for Grasping with Complex Geometries. Computers & Graphics, 2022. DOI: 10.1016/j.cag.2022.07.007. LINK.

Mikel Sagardia. Virtual Manipulations with Force Feedback in Complex Interaction Scenarios. PhD Dissertation, Technische Universität München (TUM), 2019. LINK.

Mikel Sagardia, Alexander Martín Turrillas and Thomas Hulin. Realtime Collision Avoidance for Mechanisms with Complex Geometries (Video). Proc. IEEE Virtual Reality (VR), 2018. DOI: 10.1109/VR.2018.8446527. LINK. VIDEO.

Mikel Sagardia and Thomas Hulin. Multimodal Evaluation of the Differences between Real and Virtual Assemblies. IEEE Trans. on Haptics, 2017. DOI: 10.1109/TOH.2017.2741488. LINK. VIDEO.

Mikel Sagardia and Thomas Hulin. Evaluation of a Penalty and a Constraint-Based Haptic Rendering Algorithm with Different Haptic Interfaces and Stiffness Values. Proc. IEEE Virtual Reality (VR), 2017. DOI: 10.1109/VR.2017.7892232. LINK. VIDEO.

Mikel Sagardia and Thomas Hulin. A Fast and Robust Six-DoF God Object Heuristic for Haptic Rendering of Complex Models with Friction. Proc. ACM Symp. on Virtual Reality and Software Technology (VRST), 2016. DOI: 10.1145/2993369.2993374. LINK. VIDEO.

Mikel Sagardia, Thomas Hulin, Katharina Hertkorn, Philipp Kremer and Simon Schätzle. A Platform for Bimanual Virtual Assembly Training with Haptic Feedback in Large Multi-Object Environments. Proc. ACM Symp. on Virtual Reality and Software Technology (VRST), 2016. DOI: 10.1145/2993369.2993386. LINK. VIDEO.

Korbinian Nottensteiner, Mikel Sagardia, Andreas Stemmer and Christoph Borst. Narrow Passage Sampling in the Observation of Robotic Assembly Tasks. Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2016. DOI: 10.1109/ICRA.2016.7487125. LINK.

Steffen Jaekel, Roberto Lampariello, Giorgio Panin, Mikel Sagardia, Bernhard Brunner, Oliver Porges, Erich Kraemer, Matthias Wieser, Richard Haarmann, Markus Pietras and Robin Biesbroek. Robotic Capture and De-Orbit of a Heavy, Uncooperative and Tumbeling Target Satellite in Low Earth Orbit. Proc. Symp. on Advanced Space Technologies in Robotics and Automation (ASTRA), 2015. LINK.

Mikel Sagardia, Katharina Hertkorn, Thomas Hulin, Simon Schätzle, Robin Wolff, Johannes Hummel, Janki Dodiya and Andreas Gerndt. VR-OOS: The DLR’s Virtual Reality Simulator for Telerobotic On-Orbit Servicing With Haptic Feedback. IEEE Aerospace Conference, 2015. DOI: 10.1109/AERO.2015.7119040. LINK. VIDEO.

Mikel Sagardia, Theodoros Stouraitis and João Lopes e Silva. A New Fast and Robust Collision Detection and Force Computation Algorithm Applied to the Physics Engine Bullet: Method, Integration, and Evaluation. Conference and Exhibition of the European Association of Virtual and Augmented Reality (EuroVR), 2014. DOI: 10.2312/eurovr.20141341. LINK. VIDEO.

Claudio Castellini, Katharina Hertkorn, Mikel Sagardia, David Sierra González and Markus Nowak. A Virtual Piano-Playing Environment for Rehabilitation Based upon Ultrasound Imaging. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2014. DOI: 10.1109/BIOROB.2014.6913835. LINK. VIDEO.

Mikel Sagardia, Katharina Hertkorn, David Sierra González and Claudio Castellini. Ultrapiano: A Novel Human-Machine Interface Applied to Virtual Reality (Video). Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2014. DOI: 10.1109/ICRA.2014.6907142. Best video award finalist. LINK. VIDEO.

Mikel Sagardia, Theodoros Stouraitis and João Lopes e Silva. Integration of a Haptic Rendering Algorithm Based on Voxelized and Point-Sampled Structures into the Physics Engine Bullet (Poster). Proc. IEEE Symposium on 3D User Interfaces (3DUI), 2014. DOI: 10.1109/3DUI.2014.6798856. LINK. VIDEO.

Ralf Dörner, Geert Matthys, Manfred Bogen, Stefan Rilling, Andreas Gerndt, Janki Dodiya, Katharina Hertkorn, Thomas Hulin, Johannes Hummel, Mikel Sagardia, Robin Wolff, Tom Kühnert, Guido Brunnett, Hagen Buchholz, Lisa Blum, Christoffer Menk, Christian Bade, Werner Schreiber, Matthias Greiner, Thomas Alexander, Michael Kleiber, Gerd Bruder and Frank Steinicke. Fallbeispiele für VR/AR (Book Chapter). Virtual und Augmented Reality (VR / AR), published by Springer Berlin Heidelberg, 2013. DOI: 10.1007/978-3-662-58861-1_9. LINK.

Bernhard Weber, Mikel Sagardia, Thomas Hulin and Carsten Preusche. Visual, Vibrotactile, and Force Feedback of Collisions in Virtual Environments: Effects on Performance, Mental Workload and Spatial Orientation. International Conference on Virtual Augmented and Mixed Reality, 2013. DOI: 10.1007/978-3-642-39405-8_28. Best paper award. LINK.

Mikel Sagardia and Thomas Hulin. Fast and Accurate Distance, Penetration, and Collision Queries Using Point-Sphere Trees and Distance Fields (Poster). Proc. ACM SIGGRAPH, 2013. DOI: 10.1145/2503385.2503476. LINK.

Mikel Sagardia, Katharina Hertkorn, Thomas Hulin, Robin Wolff, Johannes Hummel, Janki Dodiya and Andreas Gerndt. An Interactive Virtual Reality System for On-Orbit Servicing (Video). Proc. IEEE Virtual Reality (VR), 2013. DOI: 10.1109/VR.2013.6549444. LINK. VIDEO.

Mikel Sagardia, Bernhard Weber, Thomas Hulin, Carsten Preusche and Gerd Hirzinger. Evaluation of Visual and Force Feedback in Virtual Assembly Verifications. Proc. IEEE Virtual Reality (VR), 2012. DOI: 10.1109/VR.2012.6180872. Short Paper Honorable Mention. LINK.

Thomas Hulin, Katharina Hertkorn, Philipp Kremer, Carsten Preusche, Simon Schätzle, Jordi Artigas, Mikel Sagardia and Franziska Zacharias. The DLR Bimanual Haptic Device with Optimized Workspace (Video). Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), 2011. DOI: 10.1109/ICRA.2011.5980066. LINK.

Rene Weller, David Mainzer, Gabriel Zachmann, Mikel Sagardia, Thomas Hulin and Carsten Preusche. A Benchmarking Suite for 6-DOF Real Time Collision Response Algorithms. Proc. ACM Symp. on Virtual Reality and Software Technology (VRST), 2010. DOI: 10.1145/1889863.1889874. LINK.

Mikel Sagardia, Thomas Hulin, Carsten Preusche and Gerd Hirzinger. A Benchmark of Force Quality in Haptic Rendering (Poster). Human Computer Interaction International, 2009. LINK.

Thomas Hulin, Mikel Sagardia, Jordi Artigas, Simon Schätzle, Philipp Kremer and Carsten Preusche. Human-Scale Bimanual Haptic Interface. International Conference on Enactive Interfaces, 2008. LINK.

Mikel Sagardia, Thomas Hulin, Carsten Preusche and Gerd Hirzinger. Improvements of the Voxmap-PointShell Algorithm - Fast Generation of Haptic Data-Structures. Internationales Wissenschaftliches Kolloquium, 2008. LINK.