Toward goal-oriented robotic gait training: The effect of gait speed and stride length on lower extremity joint torques. - Robert L. McGrath; Margaret Pires-Fernandes; Brian A. Knarr; Jill S. Higginson; Fabrizio Sergi (ICORR, 2017)

Single-stride exposure to pulse torque assistance provided by a robotic exoskeleton at the hip and knee joints. - Robert L. McGrath; Fabrizio Sergi (ICORR, 2019)

Robot-Aided Training of Propulsion: Effects of Torque Pulses Applied to the Hip and Knee Joint Under User-Driven Treadmill Control. - Robert L. McGrath; Fabrizio Sergi (IEEE DataPort, 2023)

Robot-Aided Training of Propulsion: Effects of Torque Pulses Applied to the Hip and Knee Joint Under User-Driven Treadmill Control. - Robert L. McGrath; Fabrizio Sergi (IEEE Trans. Biomed. Eng., 2025)