Wrench capabilities of planar parallel manipulators. Part I: Wrench polytopes and performance indices. - Flavio Firmani; Alp Zibil; Scott B. Nokleby; Ron P. Podhorodeski (Robotica, 2008)

Wrench capabilities of planar parallel manipulators. Part II: Redundancy and wrench workspace analysis. - Flavio Firmani; Alp Zibil; Scott B. Nokleby; Ron P. Podhorodeski (Robotica, 2008)

A framework for the analysis and synthesis of 3D dynamic human gait. - Flavio Firmani; Edward J. Park (Robotica, 2012)