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Antonio Frisoli - IEEE Xplore Author Profile
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Antonio Frisoli

Also published under: A. Frisoli

Publications
137
Citations
3,179
Publications by Year
19992025
Co-Authors:
Show All Co-Authors (251)
Image of author Antonio Frisoli

Antonio Frisoli

Also published under: A. Frisoli

Affiliation

Institute of Mechanical Intelligence
Scuola Superiore Sant'Anna
Pisa, Italy

Publication Topics

Biography

Antonio Frisoli, Laboratory of Perceptual Robotics, Institute of Communication, Information and Perceptual Technologies, Sant’Anna School of Advanced Studies, Pisa, Italy. Email: antonio.frisoli@@santannapisa.it.(Based on document published on 22 October 2019).
Publications
137
Citations
3,179
Publications by Year
19992025
Co-Authors:
Show All Co-Authors (251)
Author's Published Works

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Design and Performance Assessment of a Cable-Driven, 3-DoFs Exoskeleton for Orthopedic and Poststroke Rehabilitation of the Wrist

Greta Vazzoler;Cristian Camardella;Massimiliano Gabardi;Simone Marcheschi;Massimiliano Solazzi;Giovanni Berselli;Antonio Frisoli

IEEE/ASME Transactions on Mechatronics
Year: 2025 | Early Access Article |
This research presents the mechanical design and performance evaluation of a novel 3-Degrees-of-Freedom (DoFs) wrist exoskeleton (W-EXOS) for orthopedic and poststroke patients' upper limbs rehabilitation. The device covers the 93.3% of the human Range of Motion (RoM), simulating the pronosupination, radioulnar deviation, and flexion–extension motion. W-EXOS is actuated through electric motors via...Show More

Design and Performance Assessment of a Cable-Driven, 3-DoFs Exoskeleton for Orthopedic and Poststroke Rehabilitation of the Wrist

Greta Vazzoler;Cristian Camardella;Massimiliano Gabardi;Simone Marcheschi;Massimiliano Solazzi;Giovanni Berselli;Antonio Frisoli

Year: 2025 | Early Access Article |

Design and Overground Testing of a Portable Hip Exosuit for Enhancing Running Efficiency

Alessandro Ciaramella;Tommaso Bagneschi;Enrica Tricomi;Francesco Missiroli;Xiaohui Zhang;Antonio Frisoli;Lorenzo Masia

IEEE Transactions on Medical Robotics and Bionics
Year: 2025 | Volume: 7, Issue: 1 | Journal Article |
Over the past decade, considerable steps have been made in designing wearable assistive devices that reduce the metabolic cost of walking. As the field continues to advance, a growing emphasis is extending to human running, driven by the goal of improving efficiency and reducing metabolic strain. In our study, we developed a portable active exosuit to support hip extension during endurance running...Show More

Design and Overground Testing of a Portable Hip Exosuit for Enhancing Running Efficiency

Alessandro Ciaramella;Tommaso Bagneschi;Enrica Tricomi;Francesco Missiroli;Xiaohui Zhang;Antonio Frisoli;Lorenzo Masia

Year: 2025 | Volume: 7, Issue: 1 | Journal Article |

A Brain-Controlled Mobile Robot System Integrating Deep Neural Networks and Model Predictive Control

Mengfan Gui;Hui Zhou;Qingquan Na;Omar Abdulaziz Hussein Al-Radhi;Antonio Frisoli;Li Yang

2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2024 | Conference Paper |
This paper presents a brain-controlled mobile robot system integrating Task-Related Component Analysis (TRCA) filtering, deep learning networks, and Model Predictive Control (MPC). By incorporating an MPC predictive controller between the brain-computer interface and the mobile robot, the system can monitor obstacle distances, ensuring the safety of the mobile robot. By combining TRCA spatial filt...Show More

A Brain-Controlled Mobile Robot System Integrating Deep Neural Networks and Model Predictive Control

Mengfan Gui;Hui Zhou;Qingquan Na;Omar Abdulaziz Hussein Al-Radhi;Antonio Frisoli;Li Yang

Year: 2024 | Conference Paper |

Virtual Dashboard Design for Grasping Operations in Teleoperation Systems

Antonio Di Tecco;Cristian Camardella;Daniele Leonardis;Claudio Loconsole;Antonio Frisoli

2024 IEEE International Conference on Metrology for eXtended Reality, Artificial Intelligence and Neural Engineering (MetroXRAINE)
Year: 2024 | Conference Paper |
A known issue in teleoperation concerns dexterity in grasping objects, which can be severely limited if not properly coupled with perfect stereoscopic vision and force/tactile feedback. This work presents the development and testing of a subsystem used for a virtual dashboard within the Sully teleoperation system, with hardware and software components. It is used to capture images, gather object i...Show More

Virtual Dashboard Design for Grasping Operations in Teleoperation Systems

Antonio Di Tecco;Cristian Camardella;Daniele Leonardis;Claudio Loconsole;Antonio Frisoli

Year: 2024 | Conference Paper |

Estimation of Elbow Joint Angle from EMG and IMU measurements based on Graph Convolution Neural Network

Hongjing Teng;Genning Zhang;Hui Zhou;S M Atoar Rahman;Antonio Frisoli

2024 30th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
Year: 2024 | Conference Paper |
To ensure effective and safe human-robot interaction in rehabilitation or performance enhancement using robotic devices, it is crucial to accurately estimate human motion. However, achieving high-precision joint angle measurement using surface electromyography (sEMG) has remained a challenge. In this study, a novel deep learning framework that combines Graph Convolutional Neural Networks (GCN) wit...Show More

Estimation of Elbow Joint Angle from EMG and IMU measurements based on Graph Convolution Neural Network

Hongjing Teng;Genning Zhang;Hui Zhou;S M Atoar Rahman;Antonio Frisoli

Year: 2024 | Conference Paper |

Rendering Fine Tactile Feedback With a Novel Hydraulic Actuation Method for Wearable Haptic Devices

Daniele Leonardis;Domenico Chiaradia;Giancarlo Santamato;Cristian Camardella;Antonio Frisoli

IEEE Access
Year: 2024 | Volume: 12 | Journal Article |
Tiny contact transients prove very informative for dexterous, fine manipulation, both in virtual environments and teleoperation. Yet, it is challenging to obtain such quality of the rendering in compact and highly wearable haptic devices. To this aim we propose a novel miniature hydraulic actuator, aiming at low-noise rendering of tiny tactile signals, fully enclosed in a fingertip haptic device. ...Show More

Rendering Fine Tactile Feedback With a Novel Hydraulic Actuation Method for Wearable Haptic Devices

Daniele Leonardis;Domenico Chiaradia;Giancarlo Santamato;Cristian Camardella;Antonio Frisoli

Year: 2024 | Volume: 12 | Journal Article |

An Affordable Hardware-Aware Neural Architecture Search for Deploying Convolutional Neural Networks on Ultra-Low-Power Computing Platforms

Andrea Mattia Garavagno;Edoardo Ragusa;Antonio Frisoli;Paolo Gastaldo

IEEE Sensors Letters
Year: 2024 | Volume: 8, Issue: 5 | Journal Article |
Hardware-aware neural architecture search (HW-NAS) allows the integration of convolutional neural networks (CNNs) in microcontrollers devices by automatically designing neural architectures that can fit prearranged hardware constraints. However, state-of-the-art HW-NAS target high-performance microcontrollers, whose power consumption does not meet sensing nodes requirements. This letter presents a...Show More

An Affordable Hardware-Aware Neural Architecture Search for Deploying Convolutional Neural Networks on Ultra-Low-Power Computing Platforms

Andrea Mattia Garavagno;Edoardo Ragusa;Antonio Frisoli;Paolo Gastaldo

Year: 2024 | Volume: 8, Issue: 5 | Journal Article |

Evaluating Efficacy of Continuous Assistance Control During Orientation Tasks with an Active Wrist Exoskeleton

Greta Vazzoler;Cristian Camardella;Massimiliano Gabardi;Simone Marcheschi;Massimiliano Solazzi;Giovanni Berselli;Antonio Frisoli

2023 21st International Conference on Advanced Robotics (ICAR)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
This article reports a study evaluating the effect of continuous assistance via an active exoskeleton during orientation tasks of the human wrist in a serious game. The proposed platform features a complete system that may be used for robot-assisted rehabilitation in clinics, offering support for both the therapist and the patient. It gives the possibility to customize the rehabilitation session b...Show More

Evaluating Efficacy of Continuous Assistance Control During Orientation Tasks with an Active Wrist Exoskeleton

Greta Vazzoler;Cristian Camardella;Massimiliano Gabardi;Simone Marcheschi;Massimiliano Solazzi;Giovanni Berselli;Antonio Frisoli

Year: 2023 | Conference Paper |

A Sine Wave-Shaped Spring to Enhance the Compactness of Series Elastic Actuators

Marcello Palagi;Gianluca Rinaldi;Giancarlo Santamato;Massimiliano Solazzi;Antonio Frisoli;Domenico Chiaradia

2023 21st International Conference on Advanced Robotics (ICAR)
Year: 2023 | Conference Paper |
In this paper, we discuss the design methodology of a novel torsional spring, embedded in a series elastic actuator (SEA) for portable upper-limb exoskeleton applications. Starting from a simple beam model, a class of design candidates is examined through theoretical formulation and finite element (FE) simulations. We found out that a sine wave shape is the best compromise to achieve the desired c...Show More

A Sine Wave-Shaped Spring to Enhance the Compactness of Series Elastic Actuators

Marcello Palagi;Gianluca Rinaldi;Giancarlo Santamato;Massimiliano Solazzi;Antonio Frisoli;Domenico Chiaradia

Year: 2023 | Conference Paper |

A Decision Support System to Provide an Ongoing Prediction of Robot-Assisted Rehabilitation Outcome in Stroke Survivors

C. Camardella;M. Germanotta;I. Aprile;G. Cappiello;Z. Curto;A. Scoglio;S. Mazzoleni;A. Frisoli

2023 International Conference on Rehabilitation Robotics (ICORR)
Year: 2023 | Conference Paper |
Clinicians often deal with complex robotic platform and serious games in stroke patients rehabilitation contexts, and they face two main problems: 1) the interpretation of either the performance in game or measures of a robotic system from the motor recovery point of view, and 2) the duration and complexity of clinical scales administration that makes repetitive assessments during the therapy unpr...Show More

A Decision Support System to Provide an Ongoing Prediction of Robot-Assisted Rehabilitation Outcome in Stroke Survivors

C. Camardella;M. Germanotta;I. Aprile;G. Cappiello;Z. Curto;A. Scoglio;S. Mazzoleni;A. Frisoli

Year: 2023 | Conference Paper |

Flexos: A Portable, SEA-Based Shoulder Exoskeleton with Hyper-redundant Kinematics for Weight Lifting Assistance

Gianluca Rinaldi;Luca Tiseni;Michele Xiloyannis;Lorenzo Masia;Antonio Frisoli;Domenico Chiaradia

2023 IEEE World Haptics Conference (WHC)
Year: 2023 | Conference Paper |
Cited by: Papers (6)
In this paper, we present Flexos, a fully portable shoulder exoskeleton developed for logistic and industrial tasks. The device presents a simplified design with only a single, series elastic actuated joint employing an active torque control that assists the user in performing weight-lifting tasks. The device is lightweight and can be easily worn as a backpack. Ergonomic-shaped human-robot interfa...Show More

Flexos: A Portable, SEA-Based Shoulder Exoskeleton with Hyper-redundant Kinematics for Weight Lifting Assistance

Gianluca Rinaldi;Luca Tiseni;Michele Xiloyannis;Lorenzo Masia;Antonio Frisoli;Domenico Chiaradia

Year: 2023 | Conference Paper |

A Miniature Direct-Drive Hydraulic Actuator for Wearable Haptic Devices based on Ferrofluid Magnetohydrodynamic Levitation

Daniele Leonardis;Domenico Chiaradia;Antonio Frisoli

2023 IEEE World Haptics Conference (WHC)
Year: 2023 | Conference Paper |
Cited by: Papers (2)
Hydraulic and pneumatic actuators in haptics offer the advantage of soft and compliant interfaces, with the drawback of cumbersome driving devices and limited modulation capabilities. We propose a miniature hydraulic actuator based on a linear electromagnetic motor with an embedded ferrofluid sealing. The solution has two main advantages: it shows no static friction due to the magnetohydrodynamic ...Show More

A Miniature Direct-Drive Hydraulic Actuator for Wearable Haptic Devices based on Ferrofluid Magnetohydrodynamic Levitation

Daniele Leonardis;Domenico Chiaradia;Antonio Frisoli

Year: 2023 | Conference Paper |

Actuator Capabilities Aware Limitation for TDPA Passivity Controller Action

Francesco Porcini;Alessandro Filippeschi;Massimiliano Solazzi;Carlo Alberto Avizzano;Antonio Frisoli

2023 IEEE International Conference on Robotics and Automation (ICRA)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Haptic interaction often requires stabilizing controllers for safety. The Time-Domain Passivity Approach guarantees passivity (then stability) by observing and dissipating energy generated from active elements in a network. The dissipating action is performed by a Passivity Controller, whose action is commanded to the physically limited robot actuators. Thus, the controller stabilizing action shou...Show More

Actuator Capabilities Aware Limitation for TDPA Passivity Controller Action

Francesco Porcini;Alessandro Filippeschi;Massimiliano Solazzi;Carlo Alberto Avizzano;Antonio Frisoli

Year: 2023 | Conference Paper |

A hardware-aware neural architecture search algorithm targeting low-end microcontrollers

Andrea Mattia Garavagno;Edoardo Ragusa;Antonio Frisoli;Paolo Gastaldo

2023 18th Conference on Ph.D Research in Microelectronics and Electronics (PRIME)
Year: 2023 | Conference Paper |
Cited by: Papers (3)
Hardware-aware neural architecture search (HW NAS), the process of automating the design of neural architectures taking into consideration hardware constraints, has already outperformed the best human designs on many tasks. However, it is known to be highly demanding in terms of hardware, thus limiting access to non-habitual neural network users. Fostering its adoption for the next-generation IoT ...Show More

A hardware-aware neural architecture search algorithm targeting low-end microcontrollers

Andrea Mattia Garavagno;Edoardo Ragusa;Antonio Frisoli;Paolo Gastaldo

Year: 2023 | Conference Paper |

A Soft Hand Exoskeleton With a Novel Tendon Layout to Improve Stable Wearing in Grasping Assistance

Tommaso Bagneschi;Domenico Chiaradia;Gabriele Righi;Giulio Del Popolo;Antonio Frisoli;Daniele Leonardis

IEEE Transactions on Haptics
Year: 2023 | Volume: 16, Issue: 2 | Journal Article |
Cited by: Papers (9)
We present a novel soft exoskeleton providing active support for hand closing and opening. The main novelty is a different tendon routing, folded laterally on both sides of the hand, and adding clenching forces when the exoskeleton is activated. It improves the stability of the glove, diminishing slippage and detachment of tendons from the hand palm toward the grasping workspace. The clenching eff...Show More

A Soft Hand Exoskeleton With a Novel Tendon Layout to Improve Stable Wearing in Grasping Assistance

Tommaso Bagneschi;Domenico Chiaradia;Gabriele Righi;Giulio Del Popolo;Antonio Frisoli;Daniele Leonardis

Year: 2023 | Volume: 16, Issue: 2 | Journal Article |

A Mechanical Hand-Tracking System With Tactile Feedback Designed for Telemanipulation

Marcello Palagi;Giancarlo Santamato;Domenico Chiaradia;Massimiliano Gabardi;Simone Marcheschi;Massimiliano Solazzi;Antonio Frisoli;Daniele Leonardis

IEEE Transactions on Haptics
Year: 2023 | Volume: 16, Issue: 4 | Journal Article |
Cited by: Papers (10)
In this paper, we present a mechanical hand-tracking system with tactile feedback designed for fine manipulation in teleoperation scenarios. Alternative tracking methods based on artificial vision and data gloves have become an asset for virtual reality interaction. Yet, occlusions, lack of precision, and the absence of effective haptic feedback beyond vibrotactile still appear as a limit for tele...Show More

A Mechanical Hand-Tracking System With Tactile Feedback Designed for Telemanipulation

Marcello Palagi;Giancarlo Santamato;Domenico Chiaradia;Massimiliano Gabardi;Simone Marcheschi;Massimiliano Solazzi;Antonio Frisoli;Daniele Leonardis

Year: 2023 | Volume: 16, Issue: 4 | Journal Article |

Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators

Francesco Porcini;Massimiliano Solazzi;Antonio Frisoli

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (4)
The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization and discretization negatively affect system stability and might be overcome with Time Domain Passivity Approach (TDPA), a model-free and robust way to cope with energy injection due to communication delay. However, this...Show More

Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators

Francesco Porcini;Massimiliano Solazzi;Antonio Frisoli

Year: 2022 | Conference Paper |

EMG-based Feedback Modulation for Increased Transparency in Teleoperation

Luc Schoot Uiterkamp;Francesco Porcini;Gwenn Englebienne;Antonio Frisoli;Douwe Dresscher

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Year: 2022 | Conference Paper |
Cited by: Papers (2)
In interacting with stiff environments through teleoperated systems, time delays cause a mismatch between haptic feedback and the expected feedback by the operator. This mismatch causes artefacts in the feedback, which decrease transparency, but so does filtering these artefacts. Through modelling of operator stiffness and the expected feedback force with EMG, the artifacts can be selectively filt...Show More

EMG-based Feedback Modulation for Increased Transparency in Teleoperation

Luc Schoot Uiterkamp;Francesco Porcini;Gwenn Englebienne;Antonio Frisoli;Douwe Dresscher

Year: 2022 | Conference Paper |

A Random Tree Forest decision support system to personalize upper extremity robot-assisted rehabilitation in stroke: a pilot study

C. Camardella;G. Cappiello;Z. Curto;M. Germanotta;I. Aprile;S. Mazzoleni;A. Scoglio;A. Frisoli

2022 International Conference on Rehabilitation Robotics (ICORR)
Year: 2022 | Conference Paper |
Cited by: Papers (5)
Robotic-based rehabilitation administered by means of serious games certainly represents the frontier of rehabilitation treatments, offering a high degree of customization of therapy, to meet individual patients’ needs and to tailor a proper rehabilitation therapy. Despite the rush on developing complex rehabilitation systems, they often do not provide clinicians with long-term information about t...Show More

A Random Tree Forest decision support system to personalize upper extremity robot-assisted rehabilitation in stroke: a pilot study

C. Camardella;G. Cappiello;Z. Curto;M. Germanotta;I. Aprile;S. Mazzoleni;A. Scoglio;A. Frisoli

Year: 2022 | Conference Paper |

Large monitors reduce tracking error in robot-assisted visual-motor tasks

Fabio Stroppa;Farshid Amirabdollahian;Antonio Frisoli

2022 15th International Conference on Human System Interaction (HSI)
Year: 2022 | Conference Paper |
Robot-assisted rehabilitation often makes use of virtual environments to present the therapy tasks. Virtual reality has the ability of providing valuable visual feedback and enjoyable interaction to the patients; therefore, the way they are displayed to users becomes crucial. Is the monitor size an important feature that influences how the task is perceived and thus affects patients’ performance?T...Show More

Large monitors reduce tracking error in robot-assisted visual-motor tasks

Fabio Stroppa;Farshid Amirabdollahian;Antonio Frisoli

Year: 2022 | Conference Paper |

Analysis and Preliminary Design of a Passive Upper Limb Exoskeleton

Greta Vazzoler;Pietro Bilancia;Giovanni Berselli;Marco Fontana;Antonio Frisoli

IEEE Transactions on Medical Robotics and Bionics
Year: 2022 | Volume: 4, Issue: 3 | Journal Article |
Cited by: Papers (7)
This article reports the analysis and preliminary design of a passive, wearable, upper limb exoskeleton to support workers in industrial environments in a vast range of repetitive tasks, offering an effective strategy to reduce the risk of injuries in production lines. The system primary purpose is to compensate for gravity loads acting on the human upper limb. The proposed exoskeleton is based on...Show More

Analysis and Preliminary Design of a Passive Upper Limb Exoskeleton

Greta Vazzoler;Pietro Bilancia;Giovanni Berselli;Marco Fontana;Antonio Frisoli

Year: 2022 | Volume: 4, Issue: 3 | Journal Article |

Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit

Nicola Lotti;Michele Xiloyannis;Francesco Missiroli;Casimir Bokranz;Domenico Chiaradia;Antonio Frisoli;Robert Riener;Lorenzo Masia

IEEE Transactions on Robotics
Year: 2022 | Volume: 38, Issue: 3 | Journal Article |
Cited by: Papers (23)
The intention-detection strategy used to drive an exosuit is fundamental to evaluate the effectiveness and acceptability of the device. Yet, current literature on wearable soft robotics lacks evidence on the comparative performance of different control approaches for online intention-detection. In the present work, we compare two different and complementary controllers on a wearable robotic suit, ...Show More

Myoelectric or Force Control? A Comparative Study on a Soft Arm Exosuit

Nicola Lotti;Michele Xiloyannis;Francesco Missiroli;Casimir Bokranz;Domenico Chiaradia;Antonio Frisoli;Robert Riener;Lorenzo Masia

Year: 2022 | Volume: 38, Issue: 3 | Journal Article |

Preliminary Analysis and Design of a Passive Upper Limb Exoskeleton

Greta Vazzoler;Pietro Bilancia;Giovanni Berselli;Marco Fontana;Antonio Frisoli

2021 20th International Conference on Advanced Robotics (ICAR)
Year: 2021 | Conference Paper |
Cited by: Papers (7)
This article reports the preliminary analysis and design of a novel 6 degrees of freedom, passive, upper limb exoskeleton for industrial applications. The aim is to conceive a wearable device to support workers in a vast range of repetitive tasks, offering an effective strategy to reduce the risk of injuries in production lines. The exoskeleton primary purpose is to compensate for the gravity load...Show More

Preliminary Analysis and Design of a Passive Upper Limb Exoskeleton

Greta Vazzoler;Pietro Bilancia;Giovanni Berselli;Marco Fontana;Antonio Frisoli

Year: 2021 | Conference Paper |

Angular Velocity Profiles of Upper Limb Joint Synergies in Reaching Movements: a pilot study

Lin Zhang;Bo W. Xiao;Xiao Y. Wu;Lin Chen;Yi L. Wang;Shang J. Tang;Antonio Frisoli;Wen S. Hou

2021 43rd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC)
Year: 2021 | Conference Paper |
The spatiotemporal kinematic synergy, a coupling of multiple degrees of freedom (DoF), runs through human activities of daily living (ADL). And it is an entry point for exploring the central nervous system’s (CNS) control process of musculoskeletal system by analyzing the time-varying kinematic synergy. The aim of this study was to find more physiological properties from the angular velocity profi...Show More

Angular Velocity Profiles of Upper Limb Joint Synergies in Reaching Movements: a pilot study

Lin Zhang;Bo W. Xiao;Xiao Y. Wu;Lin Chen;Yi L. Wang;Shang J. Tang;Antonio Frisoli;Wen S. Hou

Year: 2021 | Conference Paper |

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