Calibration of mass spring models for organ simulations. - Davide Zerbato; Stefano Galvan; Paolo Fiorini (IROS, 2007)

Simulation of deformable environment with haptic feedback on GPU. - Marco Altomonte; Davide Zerbato; Debora Botturi; Paolo Fiorini (IROS, 2008)

Preoperative workflow for lymph nodes staging. - Debora Botturi; Francesca Pizzorni Ferrarese; Giulia Angela Zamboni; Davide Zerbato (Int. J. Comput. Assist. Radiol. Surg., 2009)

Frictional Contact in Interactive Deformable Environments. - Davide Zerbato (2010)

Performance enhancement with remote rendering for GPU based haptic simulation. - Davide Zerbato; Debora Botturi; Paolo Fiorini (ICAR, 2011)

GPU-based physical cut in interactive haptic simulations. - Davide Zerbato; Daniele Baschirotto; Davide Baschirotto; Debora Botturi; Paolo Fiorini (Int. J. Comput. Assist. Radiol. Surg., 2011)

Dynamics simulation for the training of teleoperated retrieval of spent nuclear fuel. - Jordi Cornellà; Davide Zerbato; Luca Giona; Paolo Fiorini; Vítor Sequeira (ICRA, 2012)

Improving the Development of Surgical Skills with Virtual Fixtures in Simulation. - Albert Hernansanz; Davide Zerbato; Lorenza Gasperotti; Michele Scandola; Paolo Fiorini; Alicia Casals (IPCAI, 2012)

Robust 3D Pose Estimation of a Laparoscopic Instrument with three Landmarks. - Marco Carletti; Davide Zerbato; Diego Dall'Alba; Andrea Calanca; Paolo Fiorini (STAG, 2015)

A unified representation to interact with simulated deformable objects in virtual environments. - Davide Zerbato; Paolo Fiorini (ICRA, 2016)

Interactive constrained dynamics for rigid and deformable objects. - Luca Vezzaro; Davide Zerbato; Paolo Fiorini (Comput. Animat. Virtual Worlds, 2016)