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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, 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, 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 and Molfino, R. M., ARMILLEYE: A THREE DEGREE-OF-FREEDOM SPHERICAL PARALLEL MECHANISM. European Patent Office P.N. WO2004106011 (A1), 2004.
M. Zoppi and Molfino, R. M., ArmillEye: flexible platform for underwater stereo vision, ASME J. of Mech. Des., vol. 129, pp. 808-815, 2007.
M. Zoppi, Sgarbi, S., Molfino, R. M., and Bruzzone, L., Equilibrium analysis of quasi-static, multi-roped walking robots, in Int. Conf. Climbing and Walking robots and the support technology for mobile machines CLAWAR03, Catania, Italy: , 2003, pp. 259-266.
M. Zoppi, Bruzzone, L., Molfino, R. M., and , A novel 5-DoF Interconnected-Chains PKM for manufacturing of revolute surfaces, in 4th Chemnitzer parallel kinematik Seminar. Chemnitz, 2004, pp. 20–21.
M. Zoppi and Molfino, R. M., Analytic differential kinematics of tetrahedral mechanisms, in Proceedings of the Internation IFToMM Mech. and Machine Science Conference CCAMMS07, 2006, pp. 6–13.
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.
M. Zoppi and Molfino, R. M., Multi-Legged multi-Roped Walking and Climbing Robots: online Static Equilibrium Analysis, Int. J. Advanced Robotics, vol. 20, pp. 165-180, 2006.
M. Zoppi, Molfino, R. M., and Zlatanov, D., Bench and method for the support and manufacturing of parts with complex geometry. 2011.
M. Zoppi, Zlatanov, D., and Molfino, R. M., On the velocity analysis of interconnected chains mechanisms, Int. J. Mechanism and Machine Theory, vol. 41, pp. 1346-1358, 2006.

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