Tapia-Herrera received the B.Sc. degree in Industrial Robotics engineering from Instituto Politénico Nacional (IPN), México, in 2005, the M.Sc. and Ph.D. degrees both in mechanical engineering, from SEPI ESIME Zacatenco-IPN in 2009 and 2013, respectively. His areas of interests are control, mechanical design, analysis, synthesis and dynamics of mechanisms. His main research includes design of nonlinear controllers, neuro-fuzzy systems in output regulation problems, and application of control techniques to mechatronic systems. Nowadays he is participating in the program of Cátedras-CONACYT, with the research project: “Development of robotic mechanisms for physical rehabilitation”.