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B. Han, Zoppi, M., and Molfino, R. M., Design and analysis of a biphasic variable impedance actuator, in Advances in Reconfigurable Mechanisms and Robots I, Springer, 2012, pp. 841–849.
B. Han, Zoppi, M., and Molfino, R. M., Biphasic Media Actuation Application in Robotics human interaction, 4th Joint Workshop on Computer/Robot Assisted Surgery, 2014.
B. Han, Innovative modular micro robotic instruments for transluminal endoscopic surgery, in SURGICAL ROBOTICS 5th Summer School workshop, Montpellier, France, 2011.
B. Han, Zoppi, M., and Molfino, R. M., Variable impedance actuation using biphasic media, Int. J. Mechanism and Machine Theory, vol. 62, pp. 1–12, 2013.
B. Han, Zoppi, M., and Molfino, R. M., Method for adapting stiffness in a variable stiffness actuator. USA Pat. Application, 2013.
B. Han, Zoppi, M., and Molfino, R. M., Variable impedance actuation meso-micro physical models and rotation link using biphasic media, International Conference, Procedia Engineering, vol. 64, pp. 1020-1029, 2013.
B. Han, Zoppi, M., and Molfino, R. M., Biphasic Media Actuation Control and Application for Robotics Hand, Proceedings of 2014 IFToMM Asian Conference on Mechanism and Machine Science, 2014.