A compact soft actuator unit for small scale human friendly robots. - Nikolaos G. Tsagarakis; Matteo Laffranchi; Bram Vanderborght; Darwin G. Caldwell (ICRA, 2009)

Safe human robot interaction via energy regulation control. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (IROS, 2009)

Antagonistic and series elastic actuators: a comparative analysis on the energy consumption. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Ferdinando Cannella; Darwin G. Caldwell (IROS, 2009)

The mechanical design of the new lower body for the child humanoid robot 'iCub'. - Nikolaos G. Tsagarakis; Bram Vanderborght; Matteo Laffranchi; Darwin G. Caldwell (IROS, 2009)

A variable physical damping actuator (VPDA) for compliant robotic joints. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2010)

A compact compliant actuator (CompAct™) with variable physical damping. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2011)

Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems. - Matteo Laffranchi; Nikos G. Tsagarakis; Darwin G. Caldwell (AMC, 2012)

The role of physical damping in compliant actuation systems. - Matteo Laffranchi; Lisha Chen; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2012)

Variable impedance actuators: Moving the robots of tomorrow. - Bram Vanderborght; Alin Albu-Schäffer; Antonio Bicchi; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Manuel G. Catalano; Ganesh Gowrishankar; Manolo Garabini; Markus Grebenstein; Giorgio Grioli; Sami Haddadin; et al. (IROS, 2012)

CompAct Arm™: a Compliant Manipulator with Intrinsic Variable Physical Damping. - Matteo Laffranchi; Nikolaos G. Tsagarakis; Darwin G. Caldwell (Robotics: Science and Systems, 2012)

On the stiffness design of intrinsic compliant manipulators. - Navvab Kashiri; Nikos G. Tsagarakis; Matteo Laffranchi; Darwin G. Caldwell (AIM, 2013)

Dynamic modeling and adaptable control of the CompAct™ arm. - Navvab Kashiri; Matteo Laffranchi; Nikos G. Tsagarakis; Irene Sardellitti; Darwin G. Caldwell (ICM, 2013)

Optimal control for maximizing velocity of the CompAct™ compliant actuator. - Lisha Chen; Manolo Garabini; Matteo Laffranchi; Navvab Kashiri; Nikos G. Tsagarakis; Antonio Bicchi; Darwin G. Caldwell (ICRA, 2013)

Link position control of a compliant actuator with unknown transmission friction torque. - Lisha Chen; Matteo Laffranchi; Jinoh Lee; Navvab Kashiri; Nikos G. Tsagarakis; Darwin G. Caldwell (IROS, 2013)

Variable impedance actuators: A review. - Bram Vanderborght; Alin Albu-Schäffer; Antonio Bicchi; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Manuel G. Catalano; Oliver Eiberger; Werner Friedl; Ganesh Ganesh; Manolo Garabini; Markus Grebenstein; et al. (Robotics Auton. Syst., 2013)

Real-time damping estimation for variable impedance actuators. - Navvab Kashiri; Matteo Laffranchi; Jinoh Lee; Nikos G. Tsagarakis; Lisha Chen; Darwin G. Caldwell (ICRA, 2014)

Physical interaction detection and control of compliant manipulators equipped with friction clutches. - Navvab Kashiri; Matteo Laffranchi; Nikos G. Tsagarakis; Alessio Margan; Darwin G. Caldwell (ICRA, 2014)

Model-free force tracking control of piezoelectric actuators: Application to variable damping actuator. - Jinoh Lee; Matteo Laffranchi; Navvab Kashiri; Nikolaos G. Tsagarakis; Darwin G. Caldwell (ICRA, 2014)

Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots. - Matteo Laffranchi; Lisha Chen; Navvab Kashiri; Jinoh Lee; Nikos G. Tsagarakis; Darwin G. Caldwell (Robotics Auton. Syst., 2014)

Damping control of variable damping compliant actuators. - Navvab Kashiri; Gustavo A. Medrano-Cerda; Nikos G. Tsagarakis; Matteo Laffranchi; Darwin G. Caldwell (ICRA, 2015)

Variable stiffness actuators: The user's point of view. - Giorgio Grioli; Sebastian Wolf 001; Manolo Garabini; Manuel G. Catalano; Etienne Burdet; Darwin G. Caldwell; Raffaella Carloni; Werner Friedl; Markus Grebenstein; Matteo Laffranchi; Dirk Lefeber; Stefano Stramigioli; et al. (Int. J. Robotics Res., 2015)

Hybrid Machine Learning-Neuromusculoskeletal Modeling for Control of Lower Limb Prosthetics. - Andrea Cimolato; Giovanni Milandri; Leonardo S. Mattos; Elena De Momi; Matteo Laffranchi; Lorenzo De Michieli (BioRob, 2020)

Performance Evaluation of Pattern Recognition Algorithms for Upper Limb Prosthetic Applications. - Andrea Marinelli; Marianna Semprini; Michele Canepa; Lorenzo Lombardi; Samuel Stedman; Alberto Dellacasa Bellingegni; Michela Chiappalone; Matteo Laffranchi; Emanuele Gruppioni; Lorenzo De Michieli; Nicoló Boccardo (BioRob, 2020)

An Integrated, Back-Drivable Electro-Hydrostatic Actuator for a Knee Prosthesis. - Federico Tessari; Renato Galluzzi; Andrea Tonoli; Nicola Amati; Giovanni Milandri; Matteo Laffranchi; Lorenzo De Michieli (BioRob, 2020)

Gait patterns generation based on basis functions interpolation for the TWIN lower-limb exoskeleton*. - Christian Vassallo; Samuele De Giuseppe; Chiara Piezzo; Stefano Maludrottu; Giulio Cerruti; Maria Laura D'Angelo; Emanuele Gruppioni; Claudia Marchese; Simona Castellano; Eleonora Guanziroli; Franco Molteni; Matteo Laffranchi; et al. (ICRA, 2020)

Analysis, Development and Evaluation of Electro-Hydrostatic Technology for Lower Limb Prostheses Applications*. - Federico Tessari; Renato Galluzzi; Andrea Tonoli; Nicola Amati; Matteo Laffranchi; Lorenzo De Michieli (IROS, 2020)

The Hannes hand prosthesis replicates the key biological properties of the human hand. - Matteo Laffranchi; Nicoló Boccardo; Simone Traverso; Lorenzo Lombardi; Michele Canepa; Andrea Lince; Marianna Semprini; Jody A. Saglia; Abdeldjallil Naceri; Rinaldo Sacchetti; Emanuele Gruppioni; Lorenzo De Michieli (Sci. Robotics, 2020)

Hannes Prosthesis Control Based on Regression Machine Learning Algorithms. - Dario Di Domenico; Andrea Marinelli; Nicoló Boccardo; Marianna Semprini; Lorenzo Lombardi; Michele Canepa; Samuel Stedman; Alberto Dellacasa Bellingegni; Michela Chiappalone; Emanuele Gruppioni; Matteo Laffranchi; Lorenzo De Michieli (IROS, 2021)

Miniature EMG Sensors for Prosthetic Applications. - Andrea Marinelli; Nicoló Boccardo; Marianna Semprini; Antonio Succi; Michele Canepa; Samuel Stedman; Lorenzo Lombardi; Alberto Dellacasa Bellingegni; Michela Chiappalone; Emanuele Gruppioni; Matteo Laffranchi; Lorenzo De Michieli (NER, 2021)

Exploring the Embodiment of a Virtual Hand in a Spatially Augmented Respiratory Biofeedback Setting. - Giacinto Barresi; Andrea Marinelli; Giulia Caserta; Massimiliano de Zambotti; Jacopo Tessadori; Laura Angioletti; Nicoló Boccardo; Marco Freddolini; Dario Mazzanti; Nikhil Deshpande; Carlo Albino Frigo; Michela Balconi; et al. (Frontiers Neurorobotics, 2021)

User-Centered Design and Development of the Modular TWIN Lower Limb Exoskeleton. - Matteo Laffranchi; Stefano D'Angella; Christian Vassallo; Chiara Piezzo; Michele Canepa; Samuele De Giuseppe; Mirco Di Salvo; Antonio Succi; Samuele Cappa; Giulio Cerruti; Silvia Scarpetta; Lorenzo Cavallaro; et al. (Frontiers Neurorobotics, 2021)

A Multi-Body Model of an upper-limb prosthesis for grip force estimation and related object interaction application. - Giulia Bruni; Anna Bucchieri; Federico Tessari; Nicoló Boccardo; Andrea Marinelli; Elena De Momi; Matteo Laffranchi; Lorenzo De Michieli (BioRob, 2022)

A Hybrid Swing-Assistive Electro-Hydrostatic Bionic Knee Design. - Marco Puliti; Federico Tessari; Renato Galluzzi; Simone Traverso; Andrea Tonoli; Lorenzo De Michieli; Matteo Laffranchi (BioRob, 2022)

Sensorless Impedance Control for the TWIN Lower Limb Exoskeleton: A Preliminary Study. - Alessia Sacchini; Federico Tessari; Christian Vassallo; Stefano Maludrottu; Elena De Momi; Matteo Laffranchi; Lorenzo De Michieli (BioRob, 2022)

Stairs and ramps ascent and descent: how to design feasible gait patterns for a powered lower-limb exoskeleton. - Christian Vassallo; Gaia Zinni; Stefano Maludrottu; Matteo Laffranchi; Lorenzo De Michieli (BioRob, 2022)

Comparative analysis of inverse kinematics methodologies to improve the controllability of rehabilitative robotic devices. - Giulia Bodo; Pietro Di Bello; Federico Tessari; Stefano Buccelli; Nicoló Boccardo; Lorenzo De Michieli; Matteo Laffranchi (ICORR, 2022)

An Over-Actuated Bionic Knee Prosthesis: Modeling, Design and Preliminary Experimental Characterization. - Lorenzo Guercini; Federico Tessari; Josephus Driessen; Stefano Buccelli; Anna Pace; Samuele De Giuseppe; Simone Traverso; Lorenzo De Michieli; Matteo Laffranchi (ICRA, 2022)

Spatial Augmented Respiratory Cardiofeedback Design for Prosthetic Embodiment Training: a Pilot Study. - Laura Salatino; Nikhil Deshpande; Giorgio Demarzi; Riccardo Berta; Massimiliano de Zambotti; Nicoló Boccardo; Marco Freddolini; Matteo Laffranchi; Lorenzo De Michieli; Giacinto Barresi (SMC, 2022)

Beyond Digital Twins: Phygital Twins for Neuroergonomics in Human-Robot Interaction. - Giacinto Barresi; Claudio Pacchierotti; Matteo Laffranchi; Lorenzo De Michieli (Frontiers Neurorobotics, 2022)

Mixed Reality-based Exergames for Upper Limb Robotic Rehabilitation. - Nadia Vanessa Garcia-Hernandez; Stefano Buccelli; Matteo Laffranchi; Lorenzo De Michieli (HRI (Companion), 2023)

Customized Series Elastic Actuator for a Safe and Compliant Human-Robot Interaction: Design and Characterization. - Giulia Bodo; Federico Tessari; Stefano Buccelli; Luca De Guglielmo; Gianluca Capitta; Matteo Laffranchi; Lorenzo De Michieli (ICORR, 2023)

Human-Centered Functional Task Design for Robotic Upper-Limb Rehabilitation. - Anna Bucchieri; Federico Tessari; Stefano Buccelli; Giacinto Barresi; Elena De Momi; Matteo Laffranchi; Lorenzo De Michieli (ICORR, 2023)

Preliminary Assessment of Two Simultaneous and Proportional Myocontrol Methods for 3-DoFs Prostheses Using Incremental Learning. - Fabio Egle; Dario Di Domenico; Andrea Marinelli; Nicoló Boccardo; Michele Canepa; Matteo Laffranchi; Lorenzo De Michieli; Claudio Castellini (ICORR, 2023)

IMU Sensors Measurements Towards the Development of Novel Prosthetic Arm Control Strategies. - Riccardo Galviati; Nicoló Boccardo; Michele Canepa; Dario Di Domenico; Andrea Marinelli; Carlo Albino Frigo; Matteo Laffranchi; Lorenzo De Michieli (ICORR, 2023)

Exploiting Natural Locomotion Synergies to Incorporate Motion of Crutches for Adaptive Gait Pattern Shaping. - Hossein Karami 003; Stefano Maludrottu; Gaia Zinni; Christian Vassallo; Matteo Laffranchi; Lorenzo De Michieli (ICORR, 2023)

Use of Metamaterials to Reduce Acoustic Noise Emissions from Lower Limb Prostheses: An Experimental Validation. - Marco Puliti; Josephus Driessen; Nicolò Vitale; Federico Tessari; Simone Traverso; Matteo Laffranchi; Lorenzo De Michieli; Louena Shtrepi (ICORR, 2023)

Modeling the Human Gait Phases by Using Bèzier Curves to Generate Walking Trajectories for Lower-Limb Exoskeletons. - Matteo Zuccatti; Gaia Zinni; Stefano Maludrottu; Valentina Pericu; Matteo Laffranchi; Andrea Del Prete; Lorenzo De Michieli; Christian Vassallo (ICORR, 2023)

Competitive Training in Spatial Augmented Reality for Prosthetic Leg Embodiment. - Giulia Mariani; Federico Tessari; Carlo Ferraresi; Elena Lucania; Rebecca Lo Tauro; Marco Freddolini; Simone Traverso; Andrea Cherubini; Emanuele Gruppioni; Matteo Laffranchi; Lorenzo De Michieli; Giacinto Barresi (SeGAH, 2023)

An Augmented Cooperative Setting for Training the Embodiment of an Artificial Lower Limb. - Giulia Mariani; Federico Tessari; Carlo Ferraresi; Elena Lucania; Rebecca Lo Tauro; Marco Freddolini; Simone Traverso; Andrea Cherubini; Emanuele Gruppioni; Matteo Laffranchi; Lorenzo De Michieli; Giacinto Barresi (SMC, 2023)

A Novel Method for Vibrotactile Proprioceptive Feedback Using Spatial Encoding and Gaussian Interpolation. - Andrea Marinelli; Nicoló Boccardo; Michele Canepa; Dario Di Domenico; Marianna Semprini; Michela Chiappalone; Matteo Laffranchi; Lorenzo De Michieli; Strahinja Dosen (IEEE Trans. Biomed. Eng., 2023)

Development of a high backdrivable partially powered Swing assistive actuator knee design: a multiobjective optimization framework. - Andrea Berettoni; Simone Traverso; Samuele De Giuseppe; Carlo De Benedictis; Carlo Ferraresi; Nicoló Boccardo; Matteo Laffranchi (AIM, 2024)

Design and Validation of a Novel Partially Powered Knee Prosthesis. - Marco Puliti; Federico Tessari; Josephus J. M. Driessen; Renato Galluzzi; Michele Paravano; Nicola Amati; Andrea Tonoli; Lorenzo De Michieli; Matteo Laffranchi (AIM, 2024)

Effects of a Memory-Engaging Secondary Task in a Virtual Setting for Stimulating the Embodiment of an Artificial Upper Limb. - Andrea Lucaroni; Andrea Bottino; Fabrizio Lamberti; Giulia Mariani; Andrea Marinelli; Nicoló Boccardo; Emanuele Gruppioni; Lorenzo De Michieli; Matteo Laffranchi; Giacinto Barresi (ARSO, 2024)

Enhancing TWIN Lower-Limb Exoskeleton Functionalities Through Sensorized Crutches and a Trunk Inertial Measurement Unit. - Valerio Antonio Arcobelli; A. Bruschi; Christian Vassallo; Matteo Zauli; Luca De Marchi; Stefano Maludrottu; Matteo Laffranchi; Lorenzo Chiari; Sabato Mellone (BioRob, 2024)

Identification of the Most Significant Tactile Sensing Pressure Points Towards Biomimetic Sensory Prosthetic Design. - Nicoló Boccardo; Michele Canepa; L. Sacchi; Andrea Marinelli; Dario Di Domenico; Lorenzo De Michieli; Matteo Laffranchi (BioRob, 2024)

Human Exoskeleton Interfaces and Precision Robotic-Human Joint Alignment for Enhanced Upper Limb Rehabilitation. - Giulia Bodo; Agnese De Angelis; Elisa Taglione; Gianluca Capitta; Luca De Guglielmo; Stefano Buccelli; Matteo Laffranchi (BioRob, 2024)

A Modular, Time-Independent, Path-Based Controller for Assist- as- Needed Rehabilitative Exoskeletons. - Giulia Bodo; Raffaele Giannattasio; Vishal Ramadoss; Federico Tessari; Matteo Laffranchi (BioRob, 2024)

Social Tasks in a Spatial Augmented Training for the Embodiment of Prosthetic Lower Limbs. - Giulia Mariani; Chiara Dominici; Federico Tessari; Marco Freddolini; Simone Traverso; Samuele De Giuseppe; Andrea Cherubini; Emanuele Gruppioni; Lorenzo De Michieli; Carlo Ferraresi; Matteo Laffranchi; Giacinto Barresi (BioRob, 2024)

A Novel Assistive Controller for Gait Rehabilitation Through the TWIN Lower-Limb Exoskeleton in Individuals with Residual Motor Functionalities. - Valentina Pericu; Christian Vassallo; Gaia Zinni; W. Hinterlang; Tiziana Lencioni; M. Ferrarin; J. Jonsdottir; Lorenzo De Michieli; Marianna Semprini; Stefano Maludrottu; Matteo Laffranchi (BioRob, 2024)

Effect of Prosthetic Mass Reduction on Metabolic Cost and Walking Symmetry: A Case Study on Lower Limbs. - Irene Reginaldi; Marco Puliti; Alessandro Bunt; Benedetta Franconi; Luca Michele Martulli; Andrea Bernasconi; Carlo Albino Frigo; Lorenzo De Michieli; Matteo Laffranchi (BioRob, 2024)

Improving SEA Joint Torque Sensing for Enhanced Torque Estimation in Human-Machine Interaction. - Giulia Bodo; Christian Vassallo; Luca De Guglielmo; Matteo Laffranchi (CASE, 2024)

Exploring the Potential of Mixed Reality for Functional Assessment in Multiple Sclerosis. - Anna Bucchieri; Andrea Lucaroni; Miriam Moschetta; Lorenzo Ricci; Etty Sabatino; Erica Grange; Andrea Tacchino; Jessica Podda; Elena De Momi; Carlo Ferraresi; Matteo Laffranchi; Lorenzo De Michieli; et al. (GEM, 2024)

An adaptable ankle trajectory generation method for lower-limb exoskeletons by means of safety constraints computation and minimum jerk planning. - Raffaele Giannattasio; Stefano Maludrottu; Gaia Zinni; Elena De Momi; Matteo Laffranchi; Lorenzo De Michieli (ICRA, 2024)

Design Improvements to the Float Upper-Limb Exoskeleton Better Mimics the Glenohumeral Complex Kinematics. - Giulia Bodo; Federico Tessari; Gianluca Capitta; Luca De Guglielmo; Stefano Buccelli; Matteo Laffranchi (IROS, 2024)

Robotic systems for upper-limb rehabilitation in multiple sclerosis: a SWOT analysis and the synergies with virtual and augmented environments. - Giulia Aurora Albanese; Anna Bucchieri; Jessica Podda; Andrea Tacchino; Stefano Buccelli; Elena De Momi; Matteo Laffranchi; Kailynn Mannella; Michael W. R. Holmes; Jacopo Zenzeri; Lorenzo De Michieli; Giampaolo Brichetto; et al. (Frontiers Robotics AI, 2024)

A comparative optimization procedure to evaluate pattern recognition algorithms on hannes prosthesis. - Andrea Marinelli; Michele Canepa; Dario Di Domenico; Emanuele Gruppioni; Matteo Laffranchi; Lorenzo De Michieli; Michela Chiappalone; Marianna Semprini; Nicoló Boccardo (Neurocomputing, 2024)

Long-Term Upper-Limb Prosthesis Myocontrol via High-Density sEMG and Incremental Learning. - Dario Di Domenico; Nicoló Boccardo; Andrea Marinelli; Michele Canepa; Emanuele Gruppioni; Matteo Laffranchi; Raffaello Camoriano (IEEE Robotics Autom. Lett., 2024)

Assessment of gamified mixed reality environments for upper limb robotic rehabilitation: pilot study on healthy adults. - Nadia Vanessa Garcia-Hernandez; Stefano Buccelli; Agnese De Angelis; Elisa Taglione; Matteo Laffranchi; Lorenzo De Michieli (Virtual Real., 2024)

Preliminary Results of a Multimodal Bidirectional Armband for Sensing and Feedback. - Paolo Bianchino; Giulia Caserta; Michele Canepa; Dario Di Domenico; Nicoló Boccardo; Matteo Laffranchi (ICORR, 2025)

A Novel Approach to Trunk Rehabilitation: Designing an Upper Body Robotic Mobilizer for Neurological Disorders. - Giulia Bodo; Gianluca Capitta; Mattia Modenese; Luca De Guglielmo; Eleonora Guanziroli; Matteo Laffranchi (ICORR, 2025)

An AI-Driven Telemonitoring System Exploiting Sensorized Glasses and Insoles to Correlate Cognitive Load and Mobility During ADLs. - Giulia Bodo; Giulio Sciortino; Ludovico Pedullà; Erica Grange; Sara Giordanino; Gian Luca Bailo; Andrea Tacchino; Jessica Podda; Giampaolo Brichetto; Alexey Petrushin; Carlos Beltrán-González; Alessio Del Bue; et al. (ICORR, 2025)

Towards a Real-Time, Interactive, Incremental Learning Algorithm for Prosthetic Myocontrol. - Michele Canepa; Lorenzo Marucchi; Nicoló Boccardo; Andrea Marinelli; Dario Di Domenico; Marta Gandolla; Matteo Laffranchi; Claudio Castellini (ICORR, 2025)

An Augmented and Diminished Reality Exergame for Investigating the Embodiment of a Prosthetic Limb. - Roberta Macaluso; Davide Calandra 001; Filippo Gabriele Pratticò; Edoardo Battegazzorre; Gianmarco Baiocchi; Nicoló Boccardo; Matteo Laffranchi; Andrea Bottino; Giacinto Barresi; Fabrizio Lamberti (VR Workshops, 2025)

Highly Compact Swing Assistive Knee Prosthesis Integrating Active and Passive Hydraulic Systems. - Marco Puliti; Federico Tessari; Renato Galluzzi; Nicola Amati; Andrea Tonoli; Matteo Laffranchi (IEEE Access, 2025)