CARAPACE: A novel composite advanced robotic actuator powering assistive compliant exoskeleton preliminary design. - Lorenzo Masia; Leonardo Cappello; Pietro Morasso; Xavier Lachenal; Alberto Pirrera; Paul M. Weaver; Filippo Mattioni (ICORR, 2013)

Design, characterization and stability test of a multistable composite compliant actuator for exoskeletons. - Leonardo Cappello; Xavier Lachenal; Alberto Pirrera; Filippo Mattioni; Paul M. Weaver; Lorenzo Masia (BioRob, 2014)

Happy Catastrophe: Recent Progress in Analysis and Exploitation of Elastic Instability. - Alan R. Champneys; Tim J. Dodwell; Rainer M. J. Groh; Giles W. Hunt; Robin M. Neville; Alberto Pirrera; Amir Hosein Sakhaei; Mark Schenk; M. Ahmer Wadee (Frontiers Appl. Math. Stat., 2019)

Multistable series elastic actuators: Design and control. - Leonardo Cappello; Michele Xiloyannis; Binh Khanh Dinh; Alberto Pirrera; Filippo Mattioni; Lorenzo Masia (Robotics Auton. Syst., 2019)