Robotic endoscopic capsule for closed-loop force-based control and safety strategies. - Renato Caliò; Domenico Camboni; Joan Ortega Alcaide; Calogero Maria Oddo; Maria Chiara Carrozza; Arianna Menciassi; Gastone Ciuti; Paolo Dario (CBS, 2017)

Design, modeling and control of a SMA-actuated biomimetic robot with novel functional skin. - Joan Ortega Alcaide; Levi Pearson; Mark E. Rentschler (ICRA, 2017)

A novel soft device for assisting magnetically-driven soft-tethered capsule navigation. - N. Gabrieli; Joan Ortega Alcaide; Matteo Cianchetti; Arianna Menciassi; Gastone Ciuti (CBS, 2018)

Spherical Wrist Manipulator Local Planner for Redundant Tasks in Collaborative Environments. - Marcello Chiurazzi; Joan Ortega Alcaide; Alessandro Diodato; Arianna Menciassi; Gastone Ciuti (Sensors, 2023)