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M. Zoppi, Molfino, R. M., and Cerveri, P., “Modular micro robotic instruments for transluminal endoscopic robotic surgery: new perspectives”, in Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2010, 2010, pp. 440–445.
M. Zoppi, Zlatanov, D., and Gosselin, C., “Kinematics Equations of a Class of 4DOF Parallel Wrists”, in On Advances in Robot Kinematics, Springer, 2004, pp. 105–112.
M. Zoppi, Bruzzone, L., Khan, A., and Molfino, R. M., “Meccanismo ibrido per il supporto alla visione stereoscopica in ambiente sottomarino”, in Atti XVII Congresso AIMETA di Meccanica Teorica e Applicata, 2005, pp. 77–77.
M. Zoppi and Molfino, R. M., AGRAULE: MECCANISMO PARALLELO A CINQUE GRADI DI LIBERTA‘ PER LA ESECUZIONE DI OPERAZIONI MANIFATTURIERE IN PARTICOLARE SU SUPERFICI DI RIVOLUZIONE. Italian Patent Office P.N. IT2004GE00028, 2004.
M. Zoppi and Molfino, R. M., “Equilibrium Analysis of Multi-Limbs Walking and Climbing Robots”, Int. J. Autonomous Robots, vol. 21, pp. 199-210, 2006.
M. Zoppi, Orzelli, F., and Molfino, R. M., Argano a fune passante robotizzato. Italian Patent Office P.N. IT2007GE00129, 2007.
M. Zoppi, Zlatanov, D., and Molfino, R. M., “Kinematics analysis of the exechon tripod”, in PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE 2010, VOL 2, PTS A AND B, 2010, pp. 1381–1388.
M. Zoppi, Bruzzone, L., Molfino, R. M., and Michelini, R. C., “Constraint Singularities of Force Transmission in Nonredundant Parallel Robots with less than Six Degrees of Freedom”, ASME J. of Mech. Des., vol. 125, pp. 557-563, 2003.
M. Zoppi and Molfino, R. M., Micro meccanismo parallelo a tre gradi di liberta‘ a membri flessibili. Italian Patent Office P.N. IT2005GE00080, 2005.
M. Zoppi and Molfino, R. M., Dispositivo di carico/scarico merci. Italian Patent Office GE2012A000002, 2012.
M. Zoppi, Trifiletti, P., and Molfino, R. M., “Foldable Surgical Stereo Microendoscope With Continuously Adjustable Convergence”, Journal of Medical Devices, vol. 6, p. 014501, 2012.
M. Zoppi, “Effective backward kinematics for a 6r painting robot”, in Proc.of the 27th Biennial Mechanisms and Robotics Conference, 2002, pp. 497–503.
M. Zoppi and Molfino, R. M., ARMILLEYE: MECCANISMO ARMILLARE PER IL SUPPORTO ALLA VISIONE STEREOSCOPICA IN AMBIENTI SOTTOMARINI E AD ALTA RESISTENZA IDRODINAMICA. Italian Patent Office P.N. IT2003GE00040, 2003.
D. Zlatanov, Zoppi, M., and Molfino, R. M., “Constraint and Singularity Analysis of the Exechon Tripod”, in ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference, 2012, pp. 679–688.
D. Zlatanov, Zoppi, M., and Gosselin, C., “Singularities and Mobility of a Class of 4-DOF Mechanisms”, in On advances in robot kinematics, Springer, 2004, pp. 321–328.
R. Zannini, Molfino, R. M., Rizzi, E., Pezzuto, G., Armada, M., and Comacchio, P., “Mobile basket for consolidation work on walls”. Google Patents, 2011.
R. Zannini, Molfino, R. M., Rizzi, E., Pezzuto, G., Armada, M., and Comacchio, P., “Mobile basket for consolidation work on walls”. Google Patents, 2006.

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