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M. Zoppi and Molfino, R. M., “Forward kinematics equations of a 3-dof hybrid pm for underwater camera active support”, in Robot Motion and Control RoMoCo05, 2005, pp. 231–236.
M. Zoppi and Molfino, R. M., DISPOSITIVO DI SUPPORTO CON SUPERFICIE DI CONTATTO CONFORMABILE E RICONFIGURABILE. Italian Patent Office GE2010A000064, 2010.
M. Zoppi, Trifiletti, P., and Molfino, R. M., Dispositivo endoscopico stereoscopico richiudibile con regolazione continua della convergenza. Italian Patent Office P.N. ITGE20090099, 2009.
M. Zoppi, Li, X., Zlatanov, D., and Molfino, R. M., “The development of the locomotion subsystem of aself-reconfigurable mobile fixture”, in Machine Design and Research, 2010, pp. 21–28.
M. Zoppi and Molfino, R. M., “Humanoid stereo head with augmented mobility”, in 2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, 2006, pp. 468–473.
M. Zoppi, Molfino, R. M., and Rimassa, L., Dispositivo per locomozione a ricircolazione di membrana. Italian Patent Office P.N. IT2007GE00112, 2007.
M. Zoppi, Bruzzone, L., and Molfino, R. M., “Position Analysis of a Class of Translational Parallel Mechanisms”, Int. Jour. of Robotics and Automation, vol. 19, pp. 111-116, 2004.
M. Zoppi, Zlatanov, D., and Molfino, R. M., “On the velocity analysis of non-parallel closed chain mechanisms”, in Advances in Robot Kinematics ARK 2006, R. J. B. Lenarcic Ljubljana, Slovenia: Springer Netherlands, 2006, pp. 65-72.
M. Zoppi and Molfino, R. M., “Micro L-gimbal parallel mechanism for the active support of a micro mirror”, in Proc. of the 36th Int. Symposium on Robotics ISR05, 2005, pp. 1–6.
M. Zoppi and Molfino, R. M., Banco e metodo di supporto e lavorazione di pezzi a geometria complessa / Bench and method for the suppot and manufacturing of parts with complex geometry. Italian Patent Office GE2010A000063 and PCT/EP2011/058992, 2010.
M. Zoppi, Sieklicki, W., and Molfino, R. M., “Design of a micro robotic wrist for needle laparoscopic surgery”, ASME J. of Mech. Des., vol. 130, pp. 102306-1 - 102306-8, 2008.
M. Zoppi, Khan, A., Schaefer, F., and Molfino, R. M., “Toward lean minimally invasive robotic surgery”, Robotica, vol. 28, pp. 185-197, 2010.
M. Zoppi and Molfino, R. M., “L-legs for the design of mini and micro parallel compliant mechanisms”, in ROMANSY 16: ROBOT DESIGN, DYNAMICS , AND CONTROL, 2006, pp. 23–30.
M. Zoppi, Molfino, R. M., and Han, B., Attuatore a rigidezza variabile e metodo per la regolazione della rigidezza. Italian Patent Office GE2011A000096, 2011.
M. Zoppi, Bruzzone, L., and Molfino, R. M., “ArmillEye”, in Parallel Kinematics Machines in Research and Practice, the 4th Chemnitz Parallel Kinematics Seminar PKS 2004, Vol. 24, 2004, pp. 735–738.
M. Zoppi, Zlatanov, D., and Gosselin, C., “Analytical kinematics models and special geometries of a class of 4-dof parallel mechanisms”, IEEE Trans. on Robotics, vol. 21, pp. 1046-1055, 2005.
M. Zoppi and Molfino, R. M., ARMILLEYE: A THREE DEGREE-OF-FREEDOM SPHERICAL PARALLEL MECHANISM. European Patent Office P.N. WO2004106011 (A1), 2004.

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