Predicting the compliance of soft fingertips with differentiated layer design: A numerical and experimental investigation. - Marco Piccinini; Giovanni Berselli; Andrea Zucchelli; Gabriele Vassura (ICAR, 2009)

Tailoring the viscoelastic properties of soft pads for robotic limbs through purposely designed fluid filled structures. - Giovanni Berselli; Marco Piccinini; Gabriele Vassura (ICRA, 2010)

Comparative evaluation of the selective compliance in elastic joints for robotic structures. - Giovanni Berselli; Marco Piccinini; Gabriele Vassura (ICRA, 2011)

Engineering Design of Fluid-Filled Soft Covers for Robotic Contact Interfaces: Guidelines, Nonlinear Modeling, and Experimental Validation. - Giovanni Berselli; Marco Piccinini; Gianluca Palli; Gabriele Vassura (IEEE Trans. Robotics, 2011)