STIFF-FLOP surgical manipulator: Mechanical design and experimental characterization of the single module. - Matteo Cianchetti; Tommaso Ranzani; Giada Gerboni; Iris De Falco; Cecilia Laschi; Arianna Menciassi (IROS, 2013)

A Miniature Robot for Retraction Tasks under Vision Assistance in Minimally Invasive Surgery. - Giuseppe Tortora; Tommaso Ranzani; Iris De Falco; Paolo Dario; Arianna Menciassi (Robotics, 2014)

An Integrated System for Wireless Capsule Endoscopy in a Liquid-Distended Stomach. - Iris De Falco; Giuseppe Tortora; Paolo Dario; Arianna Menciassi (IEEE Trans. Biomed. Eng., 2014)

Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator. - Ali Shiva; Agostino Stilli; Yohan Noh; Angela Faragasso; Iris De Falco; Giada Gerboni; Matteo Cianchetti; Arianna Menciassi; Kaspar Althoefer; Helge A. Wurdemann (IEEE Robotics Autom. Lett., 2016)

A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module. - Tommaso Ranzani; Matteo Cianchetti; Giada Gerboni; Iris De Falco; Arianna Menciassi (IEEE Trans. Robotics, 2016)

A variable stiffness mechanism for steerable percutaneous instruments: integration in a needle. - Iris De Falco; Costanza Culmone; Arianna Menciassi; Jenny Dankelman; John van den Dobbelsteen (Medical Biol. Eng. Comput., 2018)