Tommaso Lenzi portrait
  • Associate Professor, Mechanical Engineering
  • Assistant Professor, Mechanical Engineering

Publications

  • Kaitlin G Rabe, Tommaso Lenzi & Nicholas Fey (2021). Performance of Sonomyographic and Electromyographic Sensing for Continuous Estimation of Joint Torque During Ambulation on Multiple Terrains. IEEE Transactions on Neural Systems and Rehabilitation Engineering. Vol. 29, 1635-2644. Published, 12/08/2021.
    https://ieeexplore.ieee.org/abstract/document/9643...
  • Jacob George, Andrew Gunnell, Dante Archangeli, Grace hunt, Marshall Ishmael, K. Bo Foreman & Tommaso Lenzi (2021). active exoskeleton assistance despite non-linear reorganization of locomotor output. Frontiers in neurorobotics. Vol. 15. Published, 11/03/2021.
    https://dx.doi.org/10.3389%2Ffnbot.2021.700823
  • Lukas Gabert, Minh Tran & Tommaso Lenzi (2021). Design of an Underactuated Powered Ankle and Toe Prosthesis. IEEE/EMBS 42nd Annual Conference of Engineering in Medicine and Biology Society. 4920-4923. Published, 11/01/2021.
    https://ieeexplore.ieee.org/abstract/document/9629...
  • Marshall Ishmael, Dante Archangeli & Tommaso Lenzi (2021). Powered hip exoskeleton improves walking economy in individuals with above-knee amputation. Nature Medicine. Vol. 27, 1783-1788. Published, 10/01/2021.
    https://www.nature.com/articles/s41591-021-01515-2
  • Grace Hunt & Tommaso Lenzi (2021). Stand-Up, Squat, Lunge, and Walk With a Robotic Knee and Ankle Prosthesis Under Shared Neural Control. IEEE Open Journal of Engineering in Medicine and Biology. Vol. 2, 267-277. Published, 08/11/2021.
    https://ieeexplore.ieee.org/abstract/document/9511...
  • Sergei Sarkissian, Marshall Ishmael & Tommaso Lenzi (2021). Self-aligning mechanism improves comfort and performance with a powered knee exoskeleton. IEEE Transactions on Neural Systems and Rehabilitation Engineering. Vol. 29, 629-640. Published, 03/08/2021.
    https://ieeexplore.ieee.org/abstract/document/9371...
  • 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, 07/22/2020.
    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

  • “Rehabilitation Using Robots: Past, Present, and Future”. 2021IEEE/ASME International Conference on Advanced Intelligent Mechatronics . Invited Talk/Keynote, Presented, 07/12/2022.
  • "Design of an Underactuated Powered Ankle and Toe Prosthesis", presented by Lukas Gabert at the 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Conference Paper, Refereed, Presented, 11/03/2021.
  • “A Powered Toe and Ankle Prosthesis with a Biarticular Connection” presented by Lukas Gabert (PhD student) at the International Conference on Rehabilitation Robotics (ICORR 2021). Conference Paper, Refereed, Presented, 09/24/2021.
  • “A Lightweight, Compact Powered Knee Prosthesis with Elastic Torque-Sensitive Actuation”, presented by Minh Tran (PhD student) at the International Conference on Rehabilitation Robotics (ICORR 2021). Conference Paper, Refereed, Presented, 09/24/2021.
  • “Neural Control Enables Stand-Up, Squat, Lunge, and Walk With a Robotic Knee and Ankle Prosthesis”, presented by Grace Hunt (PhD student) at the International Conference on Rehabilitation Robotics (ICORR 2021). Conference Paper, Refereed, Presented, 09/24/2021.
  • “Powered Knee Exoskeleton With Proportional EMG Control Improves Sit-to-Stand Transition Symmetry in a Stroke Subject”, presented by Andy Gunnell (PhD student), at the International Conference on Rehabilitation Robotics (ICORR 2021) . Conference Paper, Refereed, Presented, 09/24/2021.
  • “Powered Hip Exoskeleton Increases Self-Selected Walking Speed in Stroke: A Case Study” presented by Marshall Ishmael (PhD student) at the International Conference on Rehabilitation Robotics (ICORR 2021) . Conference Paper, Refereed, Presented, 09/24/2021.
  • “Design and Amputee Testing of an Adaptive Stair Ascent Control for Powered Knee and Ankle Prostheses”, presented by Sarah Hood (PhD student) at the International Conference on Rehabilitation Robotics (ICORR 2021). Conference Paper, Refereed, Presented, 09/24/2021. Conference Paper, Refereed, Presented, 09/24/2021.
  • Better, Faster, Stronger, … Lighter? Engineering Next-gen Robotic Leg Prostheses, Dynamic Walking 2021, Episode 1: (Bio)Mechanics. Invited Talk/Keynote, Presented, 05/20/2021.
    https://www.dynamicwalking2021.org/episode-1-biome...
  • Plenary Talk, Annual Meeting of the Rocky Mountain American Society of Biomechanics (RMASB). Invited Talk/Keynote, Presented, 04/02/2021.
    https://sites.google.com/site/asbrockymountain/pas...
  • “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.

Research Groups

  • Lukas Gabert, Senior Associate. 01/12/2022 - present.
  • Rosemarie Murray, Postdoc. 01/01/2022 - present.
  • Selena Cho, Graduate Student. 08/15/2021 - present.
  • Brendon Ortolano, Graduate Student. 08/15/2021 - present.
  • Samuel Westgard, Graduate Student. 06/01/2021 - present.