top of page

Publications

Our research is focused on intelligent devices that physically assist or monitor human motion.

swoosh.png
dot_white.png

Journals

  • Chen Z, Zhang H, Zaferiou A, Zanotto D, Guo Y. Mobile Robot Assisted Gait Monitoring and Dynamic Margin of Stability Estimation. IEEE Transactions on Medical Robotics and Bionics. 2022 Mar 24;4(2):460-71.

  • Zhang H, Duong TT, Rao AK, Mazzoni P, Agrawal SK, Guo Y, Zanotto D. Transductive Learning Models for Accurate Ambulatory Gait Analysis in Elderly Residents of Assisted Living Facilities. IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2022 Jan 13;30:124-34.

  • Zhang Y, Li S, Nolan KJ, Zanotto D. Shaping Individualized Impedance Landscapes for Gait Training via Reinforcement Learning. IEEE Transactions on Medical Robotics and Bionics. 2021 Dec 23.

  • Bermperidis T, Rai R, Ryu J, Zanotto D, Agrawal SK, Lalwani AK, Torres EB. Optimal time lags from causal prediction model help stratify and forecast nervous system pathology. Scientific reports. 2021 Oct 22;11(1):1-24.

  • B. Szeto, D. Zanotto, EM Lopez, JA Stafford, JS Nemer, AR Chambers, SK Agrawal, AK Lalwani (2021). "Hearing Loss Is Associated with Increased Variability in Double Support Period in the Elderly," in Sensors, vol. 21, no. 1.

  • H. Zhang, Y. Yin, Z. Chen, Y. Zhang, A. K. Rao, Y. Guo and D. Zanotto (2020), "Wearable Biofeedback System to Induce Desired Walking Speed in Overground Gait Training," in Sensors, vol. 20, no. 14.

  • H. Zhang, Y. Guo and D. Zanotto (2020), "Accurate Ambulatory Gait Analysis in Walking and Running Using Machine Learning Models," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28, no. 1, pp. 191-202.

  • Scalera L, Gasparetto A, Zanotto D. Design and experimental validation of a 3-dof underactuated pendulum-like robot. IEEE/ASME Transactions on Mechatronics. 2019 Oct 17;25(1):217-28.

  • Y. Zhang, R. J. Kleinmann, K. J. Nolan and D. Zanotto (2019), "Preliminary Validation of a Cable-driven Powered Ankle-Foot Orthosis with Dual Actuation Mode," in IEEE Transactions on Medical Robotics and Bionics, , vol. 1, no. 1, pp. 30-37.

  • Zhang Y, Nolan KJ, Zanotto D. Oscillator-based transparent control of an active/semiactive ankle-foot orthosis. IEEE Robotics and Automation Letters. 2018 Dec 12;4(2):247-53.​

  • Passarini C, Zanotto D, Boschetti G. Dynamic trajectory planning for failure recovery in cable-suspended camera systems. Journal of Mechanisms and Robotics. 2019 Apr 1;11(2).

  • D. Zanotto, E. M. Mamuyac, A. R. Chambers, J. S. Nemer, J. A. Stafford, S. K. Agrawal, A. K. Lalwani. (2017). "Dizziness Handicap Inventory Score Is Highly Correlated with Markers of Gait Disturbance", Otology and Neurotology. 38.

  • H. Zhang, D. Zanotto and S.K. Agrawal. (2017). "Estimating CoP Trajectories and Kinematic Gait Parameters in Walking and Running Using Instrumented Insoles", IEEE Robotics and Automation Letters. In Press.

  • P. Stegall, D. Zanotto, and S. K. Agrawal. (2017). "Variable Damping Force Tunnel for Gait Training Using ALEX III", IEEE Robotics and Automation Letters, In Press.

  • L. Barbazza, D. Zanotto, G. Rosati, and S. K. Agrawal. (2017). "Design and optimal control of an under-actuated cable-driven micro-macro robot", IEEE Robotics and Automation Letters, In Press.

  • G. Ligorio, D. Zanotto, A. M. Sabatini, and S. K. Agrawal. (2017). "A novel functional calibration method for real-time elbow joint angles estimation with magnetic-inertial sensors", Journal of Biomechanics, Elsevier. In Press.

  • S. Abdolshah, D. Zanotto, G. Rosati, and S. K. Agrawal. (2017). "Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots", ASME Journal of Mechanisms and Robotics, 2017.

  • J. Montes, D. Zanotto, S. Young, R. Salazar, D. De Vivo, and S. Agrawal. (Nov 18, 2016). "Gait Assessment with SoleSound Instrumented Footwear in Spinal Muscular Atrophy", Muscle and Nerve, Wiley. In Press.

  • Luca Turchet, Damiano Zanotto, Simone Minto, Antonio Roda', and Sunil K. Agrawal. (2016). "Emotion rendering in plantar vibro-tactile simulations of imagined walking styles", IEEE Transactions on Affective Computing.

  • Vahab Youssofzadeh, Damiano Zanotto, KongFatt Wong-Lin, Sunil K. Agrawal, and Girijesh Prasad. (2016). "Directed functional connectivity in fronto-centroparietal circuit correlates with motor adaptation in gait training", IEEE Transactions on Neural Systems and Rehabilitation Engineering.

  • Simone Minto, Damiano Zanotto, Emily Marie Boggs, Giulio Rosati, and Sunil K. Agrawal. (Sep 2016). "Validation of a footwear-based gait analysis system with action-related feedback", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 24 (9), 971-980.

  • D Zanotto, Y Akiyama, P Stegall, and S K Agrawal. (2015). "Knee joint misalignment in exoskeletons for the lower extremities: Effects on user's gait", IEEE Transactions on Robotics, 31 (4), 978-987.

  • Shraddha Srivastava, Pei-Chun Kao, Seok Hun Kim, Paul Stegall, Damiano Zanotto, Jill S. Higginson, Sunil K. Agrawal, and John P. Scholz. (Nov 2015). "Assist-as-needed robot-aided gait training improves walking function in individuals following stroke", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23 (6), 956-963.

  • S. Shaharudin, D. Zanotto, and S Agrawal. (2014). "Muscle synergy during wingate anaerobic rowing test of collegiate rowers and untrained subjects", International Journal of Sports Science, 4 (5), 165-172.

  • Shazlin Shaharudin, Damiano Zanotto, and Sunil Agrawal. (2014). "Muscle synergies of untrained subjects during 6 min maximal rowing on slides and fixed ergometer", Journal of sports science & medicine, 13 (4), 793-800.

  • D. Zanotto, G. Rosati, S. Minto, and A. Rossi. (2014). "Sophia-3: a semi-adaptive cable-driven haptic device with tilting working plane", IEEE Transactions on Robotics, 3 (4), 974-979.

  • S. Masiero, P. Poli, G. Rosati, D. Zanotto, M. Iosa, S. Paolucci, and G. Morone. (2014). "The value of robotic systems in stroke rehabilitation", Expert Review of Medical Devices, 11 (2), 187-198.

  • P. Stegall, K. Winfree, D. Zanotto, and S.K. Agrawal. (Aug 2013). "Rehabilitation exoskeleton design: Exploring the effect of the anterior lunge degree of freedom", IEEE Transactions on Robotics, 29 (4), 838-846.

  • D. Zanotto, G. Rosati, S. Spagnol, P. Stegall, and S.K. Agrawal. (Sep 2013). "Effects of complementary auditory feedback in robot-assisted lower extremity motor adaptation", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 21 (5), 775-786.

  • D. Zanotto, S. K. Agrawal, and G. Rosati. (Mar 2013). "A higher-order method for dynamic optimization of controllable linear time-invariant systems", ASME Journal of Dynamic Systems, Measurement, and Control, 135 (2).

  • G. Rosati, D. Zanotto, and S. K. Agrawal.. (2011). "On the design of adaptive cable-driven systems.", ASME Journal of Mechanisms and Robotics, 3 (2).

Conferences

  • M. R. Gibson, R. Boergers, D. Zanotto, "CyberCoach: a Wearable Biofeedback System for Runners", 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Seoul, 2022.

  • T. Duong, L. Musacchia, D. Uher, J. Montes, D. Zanotto, "Free-living Ambulatory Activity Classification: A Comparative Analysis of Wrist-worn, Insole-embedded, and Phone-embedded Sensors", 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Seoul, 2022.

  • Q. Zhao, Z. Chen, C. Landis, A. Lytle, A. K. Rao, Y. Guo, D. Zanotto, "Gait Analysis with an Integrated Mobile Robot and Wearable Sensor System Reveals Associations Between Cognitive Ability and Dynamic Balance in Older Adults", 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Seoul, 2022.

  • Duong TT, Uher D, Young SD, Duong T, Sangco M, Cornett K, Montes J, Zanotto D., "Gaussian Process Regression for COP Trajectory Estimation in Healthy and Pathological Gait Using Instrumented Insoles". In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 9548-9553). IEEE.

  • Gebre BA, Nogueira R, Patidar S, Belle-Isle R, Nolan K, Pochiraju K, Zanotto D., "Efficient Digital Modeling and Fabrication Workflow for Individualized Ankle Exoskeletons". In ASME International Mechanical Engineering Congress and Exposition 2021 Nov 1 (Vol. 85598, p. V005T05A068). American Society of Mechanical Engineers.

  • Li S, Zanotto D., "Multi-UAV Cooperative Transportation Using Dynamic Control Allocation and a Reinforcement Learning Compensator". In International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2021 Aug 17 (Vol. 85468, p. V009T09A034). American Society of Mechanical Engineers.

  • Y. Zhang, S. Li, K. J. Nolan, D. Zanotto, "Reinforcement Learning Assist-as-needed Control for Robot Assisted Gait Training", 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, New York City, 2020.

  • T. Duong, S. Goldman, H. Zhang, R. Salazar, S. Beenders, K. M. Cornett, J. M. Bain, J. Montes, D. Zanotto, "Validation of Insole-based Gait Analysis System in Young Children with a Neurodevelopmental Disorder and Autism Traits", 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, New York City, 2020.

  • T. Duong, D. R. Whittaker, D. Zanotto, "An Outsole-Embedded Optoelectronic Sensor to Measure Shear Ground Reaction Forces During Locomotion", IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020.

  • H. Zhang, Z. Chen, D. Zanotto, Y. Guo, "Robot-Assisted and Wearable Sensor-Mediated Autonomous Gait Analysis", IEEE International Conference on Robotics and Automation (ICRA), Paris, 2020.

  • Y. Zhang, S. Li, K. J. Nolan,  D. Zanotto. "Adaptive Assist-as-needed Control Based on Actor-Critic Reinforcement Learning", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.

  • S. Li, D. Zanotto. "Tracking Control of Fully-Constrained Cable-Driven Parallel Robots Using Adaptive Dynamic Programming", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.

  • Y. Zhang, K. J. Nolan,  D. Zanotto. "Immediate Effects of Force Feedback and Plantar Somatosensory Stimuli on Inter-limb Coordination During Perturbed Walking", 16th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Toronto, 2019.

  • T. Duong, H. Zhang, T. S. Lynch, D. Zanotto. "Improving the Accuracy of Wearable Sensors for Human Locomotion Tracking Using Phase-Locked Regression Models", 16th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Toronto, 2019.

  • Y. Zhang, R. J. Kleinmann, K. J. Nolan, D. Zanotto, "Design and Evaluation of an Active/Semiactive Ankle-Foot Orthosis for Gait Training," 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Enschede, 2018.

  • H. Zhang, M. Tay, Z. Suar, M. Kurt, D. Zanotto, "Regression Models for Estimating Kinematic Gait Parameters with Instrumented Footwear ," 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Enschede, 2018.

  • Y. Chen, D. Napoli, S. K. Agrawal, D. Zanotto, "Smart Crutches: Towards Instrumented Crutches for Rehabilitation and Exoskeletons-Assisted Walking," 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Enschede, 2018.

  • M. Fürth, K. Raleigh, T. Duong and D. Zanotto, "SmartPFD: Towards an Actively Controlled Inflatable Life Jacket to Reduce Death at Sea," 13th International Marine Design Conference (IMDC 2018), June 10-14, 2018, Helsinki, Finland.

  • G. Boschetti, C. Passarini, A. Trevisani, D. Zanotto. (Aug 2-4, 2017). "A Fast Algorithm for Wrench Exertion Capability Computation", Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), August 2-4, 2017, Quebec City, Canada.

  • S. Abdolshah, D. Zanotto, G. Rosati, and S. K. Agrawal. (2017). "Performance Evaluation of a New Design of Cable-Suspended Camera System", IEEE International Conference on Robotics and Automation (ICRA). Accepted for publication.

  • L. Barbazza, D. Zanotto, G. Rosati, and S. K. Agrawal. (Dec 1-2, 2016). "Optimal design of a reconfigurable end-effector for cable-suspended parallel robots.", In Proc. of the 1st International Conference of IFToMM Italy.

  • V Youssofzadeh, D Zanotto, P Stegall, M Naeem, K Wong-Lin, S K Agrawal, and G Prasad. (Aug 26-30, 2014). "Directed neural connectivity changes in robot-assisted gait training: A partial granger causality analysis.", In Proc. of the 36th Int. Conf. of the IEEE Eng. in Medicine and Biology Soc. (EMBC 2014), Chicago.

  • D. Zanotto, P. Stegall, and S. K. Agrawal. "Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training", In Proc. of the IEEE International Conference on Robotics and Automation, ICRA 2014, 2014 .

  • D. Zanotto, L. Turchet, E. M. Boggs, and S. K. Agrawal. "Solesound: towards a novel portable system for ecological audio-tactile underfoot feedback", In Proc. of the IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, August 12-15 2014.

  • J.H. Park, D Zanotto, V Vashista, X Jin, P Stegall, and S Agrawal. "Second spine: a device to reduce body compensations in loaded walking", In Proc. of the IEEE International Conference on on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, August 12-15 2014.

  • B. Lenzo, D. Zanotto, V. Vashista, and S. K. Agrawal. "A new constant pushing force device for human walking analysis", In Proc. of the IEEE International Conference on Robotics and Automation, ICRA 2014, 2014.

  • J H Park, P Stegall, D Zanotto, V Vashista, X Jin, and S K Agrawal. "Design of the second spine: A secondary pathway to transfer loads from the shoulders to the pelvis", In Proc. of the International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013, Portland, OR, USA, August 4-7 2013.

  • D. Zanotto, T. Lenzi, P. Stegall, and S.K. Agrawal. "Improving transparency of powered exoskeletons using force/torque sensors on the supporting cuffs", In Proc. of the IEEE International Conference on Rehabilitation Robotics, ICORR 2013, Seattle, Washington, USA, June 24-26 2013.

  • D. Zanotto, P. Stegall, and S. K. Agrawal. "ALEX III: A novel robotic platform with 12 DOFs for human gait training", In Proc. of the IEEE International Conference on Robotics and Automation, ICRA 2013, 2013 .

  • T. Lenzi, D. Zanotto, P. Stegall, M. C. Carrozza, and S. K. Agrawal. "Reducing muscle effort in walking through powered exoskeletons", In Proc. of the International Conference of the IEEE Engineering in Medicine & Biology Society, EMBC 2012, pages 3926-3929, San Diego, August 28 - September 1 2012.

  • D. Zanotto, G. Rosati, F. Avanzini, P. Stegall, and S. K. Agrawal. "Robot-assisted gait training with complementary auditory feedback: results on short-term motor adaptation", In Proc. of the IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, Rome, Italy, June 24-27 2012 .

  • D. Zanotto, S. K. Agrawal, and G. Rosati. "A higher-order method for dynamic optimization of LTI systems", In Proc. of the ASME Dynamic Systems and Control Conference, DSCC 2011, Arlington VA, October 31 - November 2 2011 .

  • D. Zanotto, S. K. Agrawal, and G. Rosati. "Modeling and control of a 3-DOF pendulum-like manipulator", In Proc. of the IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, May 9-13 2011 .

  • A. Rossi, D. Zanotto, and G. Rosati. "Cable-based robotic systems for post-stroke neurorehabilitation", In Terza giornata di studio Ettore Funaioli, pages 289-298, Bologna (Italy), 2010. Edited by U. Meneghetti, A. Maggiore e V. Parenti Castelli .

  • D. Zanotto, G. Rosati, and A. Rossi. "Performance analysis of planar cable-based parallel manipulators", In Proc. of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, Istanbul, Turkey, July 12-14 2010.

  • S. Cenci, G. Rosati, D. Zanotto, F. Oscari, and A. Rossi. "First test results of a haptic tele-operation system to enhance stability of telescopic handlers", In Proc. of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, Istanbul, Turkey, July 12-14 2010.

  • G. Rosati, D. Zanotto, R. Secoli, and A. Rossi. "Design and control of two planar cable-driven robots for upper-limb neurorehabilitation", In Proc. of the IEEE International Conference on Rehabilitation Robotics, ICORR 2009, Kyoto, Japan, June 23-26 2009.

  • G. Rosati, S. Cenci, G. Boschetti, D. Zanotto, and S. Masiero. "Design of a single-dof active hand orthosis for neurorehabilitation", In Proc. of the IEEE International Conference on Rehabilitation Robotics, ICORR 2009, Kyoto, Japan, June 23-26 2009.

  • G. Rosati, D. Zanotto, and A. Rossi.. "Performance assessment of a 3D cable-driven haptic device", In Proc. of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, Massachusetts, October 31 - November 6 2008.

  • G. Rosati and D. Zanotto. "A novel perspective in the design of cable-driven systems.", In Proc. of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, Massachusetts, October 31 - November 6 2008.

  • G. Rosati, R. Secoli, D. Zanotto, and A. Rossi.. "Planar robotic systems for upper-limb post-stroke rehabilitation.", In Proc. of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, Boston, Massachusetts October 31 - November 6 2008 .

Book Chapters

  • Fraize J., Furth M., Zanotto D. (2019) Design and Preliminary Validation of a Smart Personal Flotation Device. In: Carrozza M., Micera S., Pons J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham

  • E. M. Mamuyac, D. Zanotto, A. Rao, S. K. Agrawal, and A. K. Lalwani. (2017). "Gait Disturbance in the Elderly", Recent Advances in Otolaryngology - Head and Neck Surgery, 6th Edition, Jaypee Brothers Medical Publisher. In Press.

Meetings and Workshops

  • H. Zhang, R. Salazar, E. Cooke, D. Zanotto, J. Montes, J. M. Bain and S. Goldman. "Gait Analysis in Children and Young Adults with Autism Spectrum Disorders Using Instrumented Insoles", INSAR 2019, Palais des Congres de Montreal, QC, Canada, May 1-4, 2019.

  • V. Dearing, F. Jih, H. Zhang, A. Goodwin, M. O. Tay, L. Yoon, A. Rao, D. Zanotto, and J. Montes. "Evaluation of muscle strength and gait parameters in ambulatory children and adults with spinal muscular atrophy." APTA 2019 Combined Sections Meeting, Washington DC, January 23-26 2019.

  • D. Zanotto, E. M. Mamuyac, A. R. Chambers, J. A. Stafford, S. K. Agrawal, A. K. Lalwani. (Apr 29-30, 2017). "Dizziness Handicap Inventory Score Is Highly Correlated with Markers of Gait Disturbance", San Diego, CA. 150th Annual Meeting of the American Otological Society (AOS 2017).

  • Mazzoni, P.; Zanotto, D.; Maget, F. & Agrawal, S.. "Freezing of gait in Parkinson's disease consists of unique pressure-based gait phase transitions", Society for Neuroscience's 46th annual meeting, Neuroscience, 2016.

  • J. Montes, D. Zanotto, S. Young, R. Salazar, D. De Vivo, and S. Agrawal. "Characterization of gait and fatigue in children and adults with spinal muscular atrophy using instrumented footwear", 68th Annual Meeting of the American Academy of Neurology Institute, Vancouver, BC, Canada, April 15-21 2016 .

  • J. Stafford, J. Nemer, D. Zanotto, F. Caruana, S. Agrawal, and A. Lalwani. "Associations between patient-reported handicap scores for dizziness, hearing, and tinnitus", Combined Meeting of the Triological Society, Miami, FL, January 21-24 2016 .

  • V. Youssofzadeh, D. Zanotto, P. Stegall, M. Naeem, K. Wong-Lin, S. Agrawal, and G. Prasad. "Towards stratifying rehabilitation of stroke patients through measuring causal brain connectivity", 6th Annual Translational Medicine Conference, C-TRIC, 2014.

  • D. Zanotto. (Apr 2015). "SoleSound: A fully portable system for accurate gait analysis with feedback capabilities", Mini-Symposium on the Internet of Things - Human-Machine and Wearable Systems, Columbia University, New York.

  • D. Zanotto. (Aug 2014). "Robot-assisted gait training with the Active Leg Exoskeleton (ALEX)", ASME IDETC/CIE 2014 - 7th Frontiers in Biomedical Devices, Buffalo (NY).

  • D. Zanotto. (May 2014). "Adaptive assist-as-needed controller to improve gait symmetry in robot-assisted gait training", 2014 New England Manipulation Symposium, NEMS 2014, Columbia University, New York.

bottom of page