The "Interdepartamental Comission of Reasearch and Technology Innovation" (CIRIT, link) (Generalitat de Catalunya, Government of Catalonia) awarded Marc Farssac in 1990 for the Programmable Lego Robot. Using 4 Digital Inputs and 2 Analog Inputs the program allowed the user to record movements and repeat them.
The Robot is an extensible arm with three motors movement in two axes, controled by 4 bits and the analog inputs of earlier joysticks. It allowed to record the movement defined by the user and repeat it. Some challenging difficulties were found both on the electronics side and in the code.
Marc Farssac developed the electronics, the Lego Robot and the software in 1989.