Publications

  • Grace Hunt, Sarah Hood & Tommaso Lenzi (2020). Powered Knee-Ankle Prosthesis Reduces Effort in Intact Limb During Sit-to-Stand Transitions. The American Society of Biomechanics. Published, 08/01/2020.
  • Sarah Hood, Grace Hunt & Tommaso Lenzi (2020). Open Dataset of 18 Above-Knee Amputees Walking at 5 Different Speeds with their Prescribed Prostheses. The American Society of Biomechanics. Published, 08/01/2020.
  • Joel Mendez, Sarah Hood, Andy Gunell & Tommaso Lenzi (2020). Powered knee and ankle prosthesis with indirect volitional swing control enables level-ground walking and crossing over obstacles. Science Robotics. Published, 06/25/2020.
    https://doi.org/10.1126/scirobotics.aba6635
  • Sarah Hood, Marshall Ishmael, Andrew Gunnell, Kenneth Bo Foreman & Tommaso Lenzi (2020). A kinematic and kinetic dataset of 18 above-knee amputees walking at various speeds. Nature Scientific Data. Published, 05/21/2020.
    https://www.nature.com/articles/s41597-020-0494-7
  • Sergei Sarkissian, Marshall Ishmael, Grace Hunt & Tommaso Lenzi (2020). Design, Development, and Validation of a Self-Aligning Mechanism for High-Torque Powered Knee Exoskeletons. IEEE Transactions on Medical Robotics and Bionics. Vol. 2, 248-259. Published, 05/01/2020.
    https://ieeexplore.ieee.org/abstract/document/9042...
  • Sarah Hood, Lukas Gabert, Minh Tran & Tommaso Lenzi (2020). Stair Ambulation with a Lightweight Powered Knee and Ankle Prosthesis Across Functional Classification Levels: A Case Series. The American Academy of Orthotists & Prosthetists. Published, 03/01/2020.
  • Lukas Gabert, Sarah Hood, Minh Tran, Marco Cempini & Tommaso Lenzi (2020). A Compact, Lightweight Robotic Ankle-Foot Prosthesis: Featuring a Powered Polycentric Design. IEEE Robotics and Automation Magazine. Published, 01/20/2020.
    https://ieeexplore.ieee.org/document/8963856
  • Marshall Ishmael, Minh Tran & Tommaso Lenzi (2019). ExoProsthetics: Assisting Above-Knee Amputees with a Lightweight Powered Hip Exoskeleton. IEEE International Conference on Rehabilitation Robotics. Published, 06/24/2019.
    https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumb...
  • Lukas Gabert & Tommaso Lenzi (2019). Instrumented Pyramid Adapter for Amputee Gait Analysis and Powered Prosthesis Control. IEEE Sensors. Published, 05/31/2019.
    https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumb...
  • Minh Tran, Lukas Gabert, Marco Cempini & Tommaso Lenzi (2019). A Lightweight, Efficient Fully Powered Knee Prosthesis With Actively Variable Transmission. IEEE Robotics and Automation Letters. Published, 01/11/2019.
    https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumb...
  • Tommaso Lenzi, Marco Cempini, Levi Hargrove & Todd Kuiken (2019). Design, development, and validation of a lightweight nonbackdrivable robotic ankle prosthesis. IEEE/ASME Transactions on Mechatronics. Published, 01/11/2019.
    https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumb...
  • Tommaso Lenzi & Levi Hargrove (2018). USER-ADAPTIVE CONTROL OF ROBOTIC LOWER LIMB PROSTHESES. (pp. 89-110). Vol. 4, World scientific. Published, 03/01/2018.
  • Lenzi T, Cempini M, Newkirk J, Hargrove LJ & Kuiken TA (2018). A lightweight robotic ankle prosthesis with non-backdrivable cam-based transmission. IEEE ... International Conference on Rehabilitation Robotics : [proceedings]. Vol. 2017, 1142-1147. Published, 03/01/2018.
  • Marco Cempini & Levi J Hargrove, Tommaso Lenzi (2017). Design, development, and bench-top testing of a powered polycentric ankle prosthesis. Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on. Published, 09/24/2017.
  • Tommaso Lenzi & Marco Cempini, Jeremy Newkirk, Levi J Hargrove, Todd A Kuiken (2017). A lightweight robotic ankle prosthesis with non-backdrivable cam-based transmission. Rehabilitation Robotics (ICORR), 2017 International Conference on. Published, 07/17/2017.
  • Tommaso Lenzi & Marco Cempini, Levi J Hargrove, Todd A Kuiken (2017). Actively variable transmission for robotic knee prostheses. Robotics and Automation (ICRA), 2017 IEEE International Conference on. Published, 05/29/2017.
  • Tommaso Lenzi & Marco Cempini, Levi Hargrove, Todd Kuiken (2017). Hybrid Actuation Systems for Lightweight Transfemoral Prostheses. American Society of Mechanical Engineers. Vol. 2017 Design of Medical Devices. Published, 04/10/2017.
  • Lenzi T, Sensinger J, Lipsey J, Hargrove L & Kuiken T (2016). Design and preliminary testing of the RIC hybrid knee prosthesis. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2015, 1683-6. Published, 01/01/2016.
  • Krausz NE, Lenzi T & Hargrove LJ (2015). Depth Sensing for Improved Control of Lower Limb Prostheses. IEEE transactions on bio-medical engineering. Vol. 62, 2576-87. Published, 10/01/2015.
  • Gregg RD, Lenzi T, Hargrove LJ & Sensinger JW (2015). Virtual Constraint Control of a Powered Prosthetic Leg: From Simulation to Experiments with Transfemoral Amputees. IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society. Vol. 30, 1455-1471. Published, 01/01/2015.
  • Lenzi T, Hargrove LJ & Sensinger JW (2015). Minimum jerk swing control allows variable cadence in powered transfemoral prostheses. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2014, 2492-5. Published, 01/01/2015.
  • Novak D, Reberšek P, De Rossi SM, Donati M, Podobnik J, Beravs T, Lenzi T, Vitiello N, Carrozza MC & Munih M (2013). Automated detection of gait initiation and termination using wearable sensors. Medical engineering & physics. Vol. 35, 1713-20. Published, 12/01/2013.
  • Lenzi T, Carrozza MC & Agrawal SK (2013). Powered hip exoskeletons can reduce the user's hip and ankle muscle activations during walking. IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society. Vol. 21, 938-48. Published, 11/01/2013.
  • Zanotto D, Lenzi T, Stegall P & Agrawal SK (2013). Improving transparency of powered exoskeletons using force/torque sensors on the supporting cuffs. IEEE ... International Conference on Rehabilitation Robotics : [proceedings]. Vol. 2013, 6650404. Published, 11/01/2013.
  • Cempini M, De Rossi SM, Lenzi T, Cortese M, Giovacchini F, Vitiello N & Carrozza MC (2013). Kinematics and design of a portable and wearable exoskeleton for hand rehabilitation. IEEE ... International Conference on Rehabilitation Robotics : [proceedings]. Vol. 2013, 6650414. Published, 11/01/2013.
  • Gregg RD, Lenzi T, Fey NP, Hargrove LJ & Sensinger JW (2013). Experimental effective shape control of a powered transfemoral prosthesis. IEEE ... International Conference on Rehabilitation Robotics : [proceedings]. Vol. 2013, 6650413. Published, 11/01/2013.
  • Chiri A, Cempini M, De Rossi SM, Lenzi T, Giovacchini F, Vitiello N & Carrozza MC (2013). On the design of ergonomic wearable robotic devices for motion assistance and rehabilitation. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2012, 6124-7. Published, 01/01/2013.
  • Crea S, De Rossi SM, Donati M, Reberšek P, Novak D, Vitiello N, Lenzi T, Podobnik J, Munih M & Carrozza MC (2013). Development of gait segmentation methods for wearable foot pressure sensors. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2012, 5018-21. Published, 01/01/2013.
  • Lenzi T, Zanotto D, Stegall P, Carrozza MC & Agrawal SK (2013). Reducing muscle effort in walking through powered exoskeletons. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2012, 3926-9. Published, 01/01/2013.
  • Lenzi T, De Rossi SM, Vitiello N & Carrozza MC (2012). Intention-based EMG control for powered exoskeletons. IEEE transactions on bio-medical engineering. Vol. 59, 2180-90. Published, 10/01/2012.
  • De Rossi SM, Vitiello N, Lenzi T, Ronsse R, Koopman B, Persichetti A, Vecchi F, Ijspeert AJ, van der Kooij H & Carrozza MC (2012). Sensing pressure distribution on a lower-limb exoskeleton physical human-machine interface. Sensors (Basel, Switzerland). Vol. 11, 207-27. Published, 02/01/2012.
  • Lenzi T, De Rossi SM, Vitiello N & Carrozza MC (2012). Proportional EMG control for upper-limb powered exoskeletons. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2011, 628-31. Published, 01/01/2012.
  • Vozzi G, Lenzi T, Montemurro F, Pardini C, Vaglini F & Ahluwalia A (2012). A novel method to produce immobilised biomolecular concentration gradients to study cell activities: design and modelling. Molecular biotechnology. Vol. 50, 99-107. Published, 01/01/2012.
  • Ronsse R, Koopman B, Vitiello N, Lenzi T, De Rossi SM, van den Kieboom J, van Asseldonk E, Carrozza MC, van der Kooij H & Ijspeert AJ (2012). Oscillator-based walking assistance: a model-free approach. IEEE ... International Conference on Rehabilitation Robotics : [proceedings]. Vol. 2011, 5975352. Published, 01/01/2012.
  • De Rossi SM, Lenzi T, Vitiello N, Donati M, Persichetti A, Giovacchini F, Vecchi F & Carrozza MC (2012). Development of an in-shoe pressure-sensitive device for gait analysis. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2011, 5637-40. Published, 01/01/2012.
  • Ronsse R, Lenzi T, Vitiello N, Koopman B, van Asseldonk E, De Rossi SM, van den Kieboom J, van der Kooij H, Carrozza MC & Ijspeert AJ (2011). Oscillator-based assistance of cyclical movements: model-based and model-free approaches. Medical & biological engineering & computing. Vol. 49, 1173-85. Published, 10/01/2011.
  • Lenzi T, Vitiello N, McIntyre J, Roccella S & Carrozza MC (2011). A robotic model to investigate human motor control. Biological cybernetics. Vol. 105, 1-19. Published, 08/01/2011.
  • Ronsse R, Vitiello N, Lenzi T, van den Kieboom J, Carrozza MC & Ijspeert AJ (2011). Human-robot synchrony: flexible assistance using adaptive oscillators. IEEE transactions on bio-medical engineering. Vol. 58, 1001-12. Published, 03/01/2011.
  • De Rossi SM, Vitiello N, Lenzi T, Ronsse R, Koopman B, Persichetti A, Giovacchini F, Vecchi F, Ijspeert AJ, van der Kooij H & Carrozza MC (2010). Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. Vol. 2010, 1279-82. Published, 11/01/2010.

Presentations

  • “Moving Bionic Legs from the Lab to the Real World”, Department Seminar Series, Electrical and Computer Engineering Division, University of Michigan. Invited Talk/Keynote, Presented, 02/19/2021.
  • Moving Bionic Legs from the Lab to the Real World” Department Seminar Series, Department of Mechanical Engineering, Northern Arizona University. Invited Talk/Keynote, Presented, 02/05/2021.
  • "On the design of Lightweight Robotic Leg Prosthesis", Invited talk for the “State of the Art in Robotic Leg Prostheses: Where We Are and Where We Want to Be" workshop at the International Conference on Intelligent Robots and Systems (IROS 2020). Invited Talk/Keynote, Presented, 10/19/2020.
  • First Demonstration of powered knee-Ankle prosthesis on a K2 above-knee amputee subject. RehabWeek 2019 . Conference Paper, Refereed, Presented, 06/27/2019.
  • ExoProsthetics: Assisting Above-Knee Amputees with a Lightweight Powered Hip Exoskeleton. Conference Paper, Refereed, Presented, 06/26/2019.
  • Annual Conference of the Wearable Robotics Association (WearRAcon). Invited Talk/Keynote, Presented, 03/27/2019.
  • Preliminary Analysis Of Positive Knee Energy Injection In A Transfemoral Amputee Walking With A Powered Prosthesis. Conference Paper, Refereed, Presented, 07/18/2018.
  • Annual Conference of the Wearable Robotics Association (WearRAcon). Invited Talk/Keynote,. Invited Talk/Keynote, Presented, 03/28/2018.
  • Toward Lightweight Robotic Leg Prostheses” invited talk at the Department of Mechanical Engineering of Vanderbilt University. Invited Talk/Keynote, Presented, 12/01/2017.
  • “Design, Development, and Bench-top Testing of a Powered Polycentric Ankle Prosthesis” 2017 International Conference on Intelligent Robots and Systems (IROS 2017). Conference Paper, Refereed, Presented, 10/16/2017.
  • "A Lightweight Robotic Ankle Prosthesis with NonBackdrivable Cam-based Transmission” 2017 IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR 2017). Conference Paper, Refereed, Presented, 07/12/2017.
  • "Actively variable transmission for robotic knee prostheses" (ICRA), 2017 IEEE International Conference on Robotics and Automation (ICRA 2017) . Conference Paper, Refereed, Presented, 06/01/2017.
  • Annual Conference of the Wearable Robotics Association (WearRAcon). Invited Talk/Keynote, Presented, 04/19/2017.
  • “Hybrid Actuation Systems for Lightweight Transfemoral Prostheses” 2017 ASME Medical Devices Conference. Conference Paper, Refereed, Presented, 04/13/2017.