Publications

For a complete list, please refer to the PI Google Scholar page.

Legend: [J] journal paper, [C] peer-reviewed conference proceedings, [BC] book chapter, [M] article in professional magazine. [A] conference abstract

2020

[J] R. L. McGrath, B. Bodt, F. Sergi, “Robot-aided Training of Propulsion During Walking Effects of Torque Pulses Applied to the Hip and Knee Joints During Stance”, pre-print, in review.

[J] A. Farrens, M. Lilley, F. Sergi, “A controlled slip: training propulsion via acceleration of the trailing limb”, pre-print, in review.

[C] A. H. Al-Timemy, A. Zonnino, F. Sergi, “Estimating Wrist Joint Torque Using Regression Ensemble of Bagged Trees under Multiple Wrist Postures”, IEEE/RAS-EMBS International Conference on Biomedical Robotics, New York City, November 2020, to appear.
[C] A. J. Farrens, F. Sergi, ”Characterizing adaptive behavior of the wrist during lateral force perturbations”, IEEE/RAS-EMBS International Conference on Biomedical Robotics, New York City, November 2020, to appear.

2019

[J] A. Zonnino, F. Sergi“Model-based estimation of individual muscle force based on measurements of muscle activity in forearm muscles during isometric tasks”, pdf (pre-print), IEEE Transactions on Biomedical Engineering (In press). pre-printavailable online.
[J] R. L. McGrath, M. L. Ziegler, M. Pires-Fernandes, B. A. Knarr, J. S. Higginson, and F. Sergi, “The effect of stride length on lower extremity joint kinetics at various gait speeds,” PLoS One, vol. 14, no. 2, p. e0200862, Feb. 2019, pre-print, available online.
[J] A. Zonnino, F. Sergi, “Model-based analysis of the stiffness of the wrist joint in active and passive conditions”, Journal of Biomechanical Engineering, vol. 141, no. 4, 2019 pre-print, available online.

[C] A. J. Farrens, F. Sergi“Identifying the neural representation of fast and slow states of neuromotor adaptation to force fields using fMRI”, 16th International Conference on Rehabilitation Robotics (to appear), pre-print, available online.
[C] A. J. Farrens, R. Marbaker, M. Liley, F. Sergi“Training propulsion during walking: adaptation to accelerations of the trailing limb”, 16th International Conference on Rehabilitation Robotics, pre-print, available online.
[C] A. Zonnino, D. R. Smith, P. L. Delgorio, C. L. Johnson, F. Sergi, “MM-MRE: a new technique to quantify individual muscle forces during wrist isometric contractions using MR Elastography”,16th International Conference on Rehabilitation Robotics,pre-print, available online.
[C] A. Zonnino, A. J. Farrens, F. Sergi, “StretchfMRI: a new technique to quantify the contribution of the reticular formation to long-latency responses via fMRI”, 16th International Conference on Rehabilitation Robotics,pre-print, available online.
[C] R. L. McGrath, F. Sergi“Single stride exposure to pulsed torque assistance provided by a robotic exoskeleton at the hip and knee joints”, 16th International Conference on Rehabilitation Robotics, pre-print, available online.

[A] M. Lilley, A. Farrens, F. Sergi, “The Effects of Increased Treadmill Speed and Push Off Acceleration in Propulsion during Walking”, Biomedical Engineering Society Annual Conference, Philadelphia, PA, October 2019.
[A] J. Weinman, A. Zonnino, F. Sergi, “Effect of Task Instructions on the Amplitude of Long Latency Responses in Wrist Flexors and Extensors”, Biomedical Engineering Society Annual Conference, Philadelphia, PA, October 2019.
[A] A. J. Farrens, M. Lilley, R. Marbaker, F. Sergi, “Goal-oriented gait training: utilizing accelerations of the trailing limb to increase propulsion”, Biomedical Engineering Society Annual Conference, Philadelphia, PA, October 2019.
[A] D. Smith, A. Zonnino, P. Delgorio, R. Duda, F. Sergi, C. L. Johnson, “Imaging forearm muscle activity with magnetic resonance elastography”, Biomedical Engineering Society Annual Conference, Philadelphia, PA, October 2019.
[A] A. A. Vatinno, A. J. Farrens, L. Hall, H. Cox, A. Fluharty, C. Taylor, A. Wease, A. Davis, S. Cain, M. Woodbury, F. Sergi, N. J. Seo, ”Increasing efficacy of post-stroke occupational therapy using TheraBracelet and predicting individual treatment response using fMRI”, South Carolina Occupational Therapy Association Annual Conference, Charleston, SC, February 2019

2018

[J] A. J. Farrens, A. Zonnino, A. Erwin, M. K. O’Malley, C. L. Johnson, D. Ress, F. Sergi, “Quantitative testing of fMRI-compatibility of an electrically active mechatronic device for robot-assisted sensorimotor protocols”, Transactions on Biomedical Engineering, vol. 75, no. 7, pp. 1595 – 1606, 2018 – doi: 10.1109/TBME.2017.2741346 – available onlinepre-print

[C] A. Borowski, A. Metz, F. Sergi. “Dynamic model of cable-conduit actuation for interaction with non-passive environments”, IEEE Haptics Symposium, 2324-7355, San Francisco, CA, USA, March 2018 – doi: 10.1109/HAPTICS.2018.8357150 – available onlinepre-print, video.

[A] A. J. Farrens, A. Zonnino, F. Sergi,“Effects of force-field adaptation on neural activation and resting-state functional connectivity”, International Conference on Neurorehabilitation, available onlinepre-print.
[A] A. Zonnino, F. Sergi,“Model-based estimation of individual muscle force given an incomplete set of muscle activity measurements”, accepted for presentation, International Conference on Neurorehabilitation, available onlinepre-print.
[A]
 A. J. Farrens, A. Zonnino, F. Sergi, “Neural correlates of dynamic adaptation during wrist pointing”, Work-in-Progress Paper, IEEE Haptics Symposium, San Francisco, CA, USA, March 2018, pdf.

2017

[J] J. M. Frullo, J. Elinger, A. U. Pehlivan, K. Fitle, K. Nedley, G. E. Francisco, F. Sergi, M. K. O’Malley, “Effects of assist-as-needed upper extremity robot therapy after incomplete spinal cord injury: a parallel-group controlled balanced trial”, Frontiers in Neurorobotics, 2017 – doi: 10.3389/fnbot.2017.00026 – available onlinepre-print.
[J] A. Erwin, M. K. O’Malley, D. Ress, F. Sergi, “Kinesthetic Feedback During 2DOF Wrist Movements via a Novel MR-Compatible Robot”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 25, no. 7, 2017 – doi: 10.1109/TNSRE.2016.2634585 – available onlinepre-print.

[C] R. L. McGrath, M. Pires-Fernandes, B. Knarr, J. S. Higginson, F. Sergi, “Toward goal-oriented robotic gait training: the effect of gait speed and stride length on lower extremity joint torques”, IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, London, UK, August 2017, available online, pre-print.

[A] A. J. Farrens, S. M. Morton, J. E. Galgiani, F. Sergi, “The effect of split-belt treadmill training on functional connectivity in the cortico–thalamic-cerebellar network”, Society for Neuroscience Annual Conference 2017 [accepted for presentation in the Minisymposium – “Cerebellum: Circuitry to Function”.
[A] A. Zonnino, F. Sergi, “Using musculoskeletal models to estimate the passive joint stiffness”, American Society of Biomechanics Conference, Boulder CO, Aug 2017 [poster presentation], pdf.

[A] A. Zonnino, F. Sergi, “Wrist joint stiffness modulation by active muscular co-contraction: a model based approach”, Center for Biomechanical Engineering Research Annual Symposium, May 12th, 2017 [poster presentation]
[A] A. J. Farrens, X. Li, S. M. Morton, F. Sergi, “The effect of split-belt treadmill training on resting state functional connectivity within the cortico-cerebellar pathway”, Center for Biomechanical Engineering Research Annual Symposium, May 12th, 2017 [poster presentation]
[A] R. L. McGrath, J. S. Higginson, F. Sergi, “Derivation of joint torque pulse patterns for goal-oriented robotic gait training”, Center for Biomechanical Engineering Research Annual Symposium, May 12th, 2017 [poster presentation]
[A] A. J. Farrens, A. Zonnino, F. Sergi, “Determining the fMRI compatibility of an electrically active robot”, 43rd Annual Northeast Bioengineering Conference, Newark NJ, Mar 2017. [podium presentation], pdf.
[A] A. Zonnino, F. Sergi, “Using musculoskeletal models to estimate the passive joint stiffness”, 43rd Annual Northeast Bioengineering Conference, Newark NJ, Mar 2017 [poster presentation].

2016

[J] I. Birznieks, G. J. Gerling, F. Sergi, S. J. Bensmaia, “Haptics in Neuroscience”, IEEE Transaction on Haptics, Special Issue on Haptics in Neuroscience, vol. 9, no. 4, October-December 2016.
[J] D. Losey, A. Erwin, C. G. McDonald, F. Sergi, M. K. O’Malley, “A Time Domain Approach to Control of Series Elastic Actuators: Adaptive Torque and Passivity-Based Impedance Control”, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 4, pp. 2085-2096, 2016 – doi: 10.1109/TMECH.2016.2557727 – available online, pre-printBEST TMECH PAPER AWARD of the year 2016

[A] A. Zonnino, F. Sergi, “Optimal design of cable differential actuation for 2-DOF wrist robots: effect of joint misalignments on interaction force”, to appear, IEEE Engineering in Medicine and Biology Conference (EMBC) 2016, pdf.

2015
[J] F. Sergi, A. Erwin, M. K. O’Malley, “Interaction control capabilities of an MR-compatible compliant actuator for wrist sensorimotor protocols during fMRI”, IEEE/ASME Transactions on Mechatronics, vol. 20, no. 6, 2015, doi:10.1109/TMECH.2015.2389222 – available online , pdf
[J] F. Sergi, M. K. O’Malley, “On the stability and accuracy of high stiffness rendering in non-backdrivable actuators through series elasticity”, Mechatronics , vol. 26, pp. 64-75 – doi: 10.1016/j.mechatronics.2015.01.007 – available online pdf
[J] A. U. Pehlivan, F. Sergi, M. K. O’Malley, “A subject-adaptive controller for wrist robotic rehabilitation”, IEEE/ASME Transactions on Mechatronics , vol. 20, no. 3, 2015 – doi: 10.1109/TMECH.2014.2340697 – available online , pdf

[C] F. Sergi, A. U. Pehlivan, K. Fitle, K. Nedley, N. Yozbatiran, G. Francisco, M. K. O’Malley, “ Design of a parallel-group balanced controlled trial to test the effects of assist-as-needed robotic therapy”, Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, Singapore, August 2015, pdf
[C] A. Erwin, M. K. O’Malley, D. Ress, F. Sergi, “Development, control, and MRI compatibility of the MR-SoftWrist”, Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, Singapore, August 2015, pdf – BEST STUDENT PAPER AWARD
[C] C. Rose, F. Sergi, Y. Yun, K. Madden, A. Deshpande, M. K. O’Malley, “Characterization of a hand-wrist exoskeleton, READAPT, via kinematic analysis of redundant pointing tasks”, Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, Singapore, August 2015, pdf

2014
[J] D. Accoto, F. Sergi, N. L. Tagliamonte, G. Carpino, A. Sudano, E. Guglielmelli, “Robomorphism: a nonanthropomorphic wearable robot”, IEEE Robotics and Automation Magazine, vol. 21(4), pp 45-55  – available online , pdf
[J] A. U. Pehlivan, F. Sergi, A. Erwin, Yozbatiran N., G. Francisco and M. K. O’Malley, Design and validation of the RiceWrist-S exoskeleton for robotic rehabilitation after incomplete spinal cord injury, Robotica, vol. 32, no. 8, pp.1415-1431, 2014, doi:10.1017/S0263574714001490 – pdf

[BC] D. Accoto, F. Sergi, N. L. Tagliamonte, G. Carpino, E. Guglielmelli, “A Human Augmentation Approach to Gait Restoration”, in Neuro-robotics: From brain machine interfaces to rehabilitation robotics, ISBN 978-94-017-8931-8 , ed. Artemiadis, P. K., Spring Verlag, May 2014.

[M] F. Sergi, A. Blank, M. K. O’Malley, “Upper extremity exoskeletons for robot-aided rehabilitation”, ASME Mechanical Engineering Magazine, DSCC focus section on Rehabilitation Robotics, September 2014.

[C] N. L. Tagliamonte, D. Accoto, F. Sergi, A. Sudano, E. Guglielmelli, “Muscular Activity when Walking in a Non-anthropomorphic Wearable Robot”, International Conference of the IEEE Engineering in Medicine and Biology Society, Chicago, IL, August 2014.
[C] F. Sergi, A. Erwin, B. Cera, M. K. O’Malley, “Compliant force-feedback actuation to enable accurate robot-mediated interaction protocols during continuous fMRI”, IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob 2014), São Paulo, Brazil. pdf

2013
[J] D. Accoto, G. Carpino, F. Sergi, N. L. Tagliamonte, L. Zollo, E. Guglielmelli, “Design and Characterization of a Novel High-Power Series Elastic Actuator for a Lower Limb Robotic Orthosis”, International Journal of Advanced Robotic   Systems, 2013, 10:359, doi: 10.5772/56927 – available online pdf

[C] F. Sergi, V. Chawda, M. K. O’Malley, “Interaction control of a non-backdriveable MR-compatible actuator through series elasticity”, Dynamical Systems and Controls Conference, Palo Alto, CA, USA, 2013. pdf
[C] F. Sergi, M. Lee, M. K. O’Malley, “Design of a series elastic actuator for a compliant parallel wrist rehabilitation robot”, IEEE International Conference on Rehabilitation Robotics, Seattle, WA, USA, 2013, doi:  10.1109/ICORR.2013.6650481. pdf
[C] A. U. Pehlivan, F. Sergi, M. K. O’Malley, “Adaptive Control of a Serial-in-Parallel Robotic Rehabilitation Device”, IEEE International Conference on Rehabilitation Robotics, Seattle, WA, USA, 2013, doi:  10.1109/ICORR.2013.6650412.
[C] N. L. Tagliamonte, F. Sergi, G. Carpino, D. Accoto, E. Guglielmelli, “Human-Robot Interaction tests on a novel robot for gait assistance”, IEEE International Conference on Rehabilitation Robotics, Seattle, WA, USA, 2013, doi:  10.1109/ICORR.2013.6650387.

2012
[J] N. L. Tagliamonte, F. Sergi, D. Accoto, G. Carpino, E. Guglielmelli, “Double actuation architectures for rendering variable impedance in compliant robots: A review”, Mechatronics, vol. 22, no. 8, pp. 1187-1203, 2012, doi: 10.1016/j.mechatronics.2012.09.011 – pdf
[J] G. Carpino, D. Accoto, F. Sergi, N. L. Tagliamonte, E. Guglielmelli, “A Novel Compact Torsional Spring for Series Elastic Actuators for Assistive Wearable Robots”, ASME Journal of Mechanical Design, vol. 134, no. 12, (10 pages), 2012, doi: 10.1115/1.4007695 – pdf

[C] F. Sergi, D. Accoto, N. L. Tagliamonte, G. Carpino, E. Guglielmelli, “Kinematic synthesis, optimization and analysis of a non-anthropomorphic 2-DOFs wearable orthosis for gait assistance”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, October 2012, doi:  10.1109/IROS.2012.6386260. pdf
[C] F. Sergi, D. Accoto, G. Carpino, N. L. Tagliamonte, E. Guglielmelli, “Design and Characterization of a Compact Rotary Series Elastic Actuator for Knee Assistance During Overground Walking”, IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), Rome, Italy, June 2012, doi:  10.1109/BioRob.2012.6290271.
[C] D. Accoto, N. L. Tagliamonte, G. Carpino, F. Sergi, M. Di Palo, E. Guglielmelli, “pVEJ: a modular passive viscoelastic joint for assistive wearable robots”, International Conference on Robotics and Automation 2012 (ICRA 2012), St. Paul, Minnesota, USA, May 2012, doi: 10.1109/ICRA.2012.6225167.

2011
[J] F. Sergi, D. Accoto, N. L. Tagliamonte, G. Carpino, E. Guglielmelli,  “A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for the lower limbs”, Frontiers of Mechanical Engineering, vol. 6, no. 1, pp. 61-70, 2011, doi: 10.1007/s11465-011-0206-2. pdf

[C] F. Sergi, H. I. Krebs, B. Groisser, A. Rykman, B. T. Volpe, E. Guglielmelli, J. D. Schaechter, “Predicting Efficacy of Robot-Aided Rehabilitation in Chronic Stroke Patients using an MRI-Compatible Robotic Device”, 33rd International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, September 2011, doi: 10.1109/IEMBS.2011.6091843. pdf
[C] G. Carpino, D. Accoto, M. Di Palo, N. L. Tagliamonte, F. Sergi, E. Guglielmelli, “Design of a Rotary Passive Viscoelastic Joint for Wearable Robots”, Proceedings of the International Conference of Rehabiliation Robotics, ICORR 2011, Zurich, Switzerland, July 2011, doi: 10.1109/ICORR.2011.5975356.

2010
[C] N. L. Tagliamonte, F. Sergi, G. Carpino, D. Accoto, E. Guglielmelli, “Design of a Variable Impedance Differential Actuator for Wearable Robotics Applications”, Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), doi: 10.1109/IROS.2010.5649982.
[C] F. Sergi, D. Accoto, N. L. Tagliamonte, G. Carpino, E. Guglielmelli, “Graph-based methodology for the kinematic synthesis of wearable assistive robots for the lower limbs”, 32nd International Conference of the IEEE Engineering in Medicine and Biology Society, Buenos Aires, September 2010, doi: 10.1109/IEMBS.2010.5627646.
[C] F. Sergi, D. Accoto, N. L. Tagliamonte, G. Carpino, L. Pathiyil, E. Guglielmelli, “A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots”, IEEE International Conference on Robotics, Automation and Mechatronics, Singapore, June 2010, doi: 10.1109/RAMECH.2010.5513204.

2009
[J] A. Benvenuto, F. Sergi, G. Di Pino, T. Seidl, D. Campolo, D. Accoto and E. Guglielmelli, “Beyond biomimetics: towards insect/machine hybrid controllers for space applications”, Advanced Robotics, vol. 23, no. 7-8, pp. 939-953, 2009, doi: 10.1163/156855309X443034 – pdf

[BC] G. Di Pino, T. Seidl, A. Benvenuto, F. Sergi, D. Campolo, D. Accoto, P. M. Rossini, E. Guglielmelli, “Interfacing insect brain for space applications”, in International Review of Neurobiology , eds. L. Rossini, D. Izzo and L. Summerer, vol. 86, pp. 39-47, 2009, doi: 10.1016/S0074-7742(09)86003-0.

2008
[C] Benvenuto, F. Sergi, G. Di Pino, D. Campolo, D. Accoto, E. Guglielmelli and T. Seidl, “Conceptualization of an Insect/Machine Hybrid Controller for Space Applications”, Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB), pp. 306-310, 2008, doi: 10.1109/BIOROB.2008.4762840.
[C] F. Sergi, D. Accoto, D. Campolo and E. Guglielmelli, “Forearm Orientation Guidance with a Vibrotactile Feedback Bracelet: on the Directionality of Tactile Motor Communication”, Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB), pp. 433-438, 2008, doi: 10.1109/BIOROB.2008.4762827

 

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