Jody Saglia
Jody Saglia
Researcher in Robotics, Italian Institute of Technology
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A high-performance redundantly actuated parallel mechanism for ankle rehabilitation
JA Saglia, NG Tsagarakis, JS Dai, DG Caldwell
The International Journal of Robotics Research 28 (9), 1216-1227, 2009
1192009
The design of the lower body of the compliant humanoid robot “cCub”
NG Tsagarakis, Z Li, J Saglia, DG Caldwell
2011 IEEE International Conference on Robotics and Automation, 2035-2040, 2011
1182011
Geometry and kinematic analysis of a redundantly actuated parallel mechanism that eliminates singularities and improves dexterity
JA Saglia, JS Dai, DG Caldwell
Journal of Mechanical Design 130 (12), 2008
882008
Control strategies for patient-assisted training using the ankle rehabilitation robot (ARBOT)
JA Saglia, NG Tsagarakis, JS Dai, DG Caldwell
IEEE/ASME Transactions on Mechatronics 18 (6), 1799-1808, 2012
852012
A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation
JA Saglia, NG Tsagarakis, JS Dai, DG Caldwell
2009 IEEE International Conference on Robotics and Automation, 2180-2186, 2009
782009
Tele-impedance based assistive control for a compliant knee exoskeleton
N Karavas, A Ajoudani, N Tsagarakis, J Saglia, A Bicchi, D Caldwell
Robotics and Autonomous Systems 73, 78-90, 2015
602015
Comparison of various active impedance control approaches, modeling, implementation, passivity, stability and trade-offs
M Mosadeghzad, GA Medrano-Cerda, JA Saglia, NG Tsagarakis, ...
2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics …, 2012
492012
Tele-impedance based stiffness and motion augmentation for a knee exoskeleton device
N Karavas, A Ajoudani, N Tsagarakis, J Saglia, A Bicchi, D Caldwell
2013 IEEE International Conference on Robotics and Automation, 2194-2200, 2013
462013
Control strategies for ankle rehabilitation using a high performance ankle exerciser
JA Saglia, NG Tsagarakis, JS Dai, DG Caldwell
2010 IEEE International Conference on Robotics and Automation, 2221-2227, 2010
462010
Inverse-kinematics-based control of a redundantly actuated platform for rehabilitation
JA Saglia, NG Tsagarakis, JS Dai, DG Caldwell
Proceedings of the Institution of Mechanical Engineers, Part I: Journal of …, 2009
382009
Yaw moment compensation for bipedal robots via intrinsic angular momentum constraint
B Ugurlu, JA Saglia, NG Tsagarakis, DG Caldwell
International Journal of Humanoid Robotics 9 (04), 1250033, 2012
332012
Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints
B Ugurlu, JA Saglia, NG Tsagarakis, DG Caldwell
2012 IEEE International Conference on Robotics and Automation, 1436-1443, 2012
212012
Bipedal hopping pattern generation for passively compliant humanoids: Exploiting the resonance
B Ugurlu, JA Saglia, NG Tsagarakis, S Morfey, DG Caldwell
IEEE Transactions on Industrial Electronics 61 (10), 5431-5443, 2014
142014
Linear actuator and rehabilitation device incorporating such an actuator
JA Saglia, NG Tsagarakis, JS Dai, DG Caldwell
US Patent 8,986,232, 2015
112015
A novel actuator with reconfigurable stiffness for a knee exoskeleton: Design and modeling
NC Karavas, NG Tsagarakis, J Saglia, DG Galdwell
Advances in Reconfigurable Mechanisms and Robots I, 411-421, 2012
102012
Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism for Rehabilitation
JA Saglia, JS Dai
ASME 2007 International Design Engineering Technical Conferences and …, 2007
62007
Driving system for controlling the rotation of an object about two perpendicular axes of rotation and rehabilitation machine for rehabilitation of the lower limbs and the trunk …
JA Saglia, S D'angella, L Ciaccia, C Sanfilippo, S Ungaro
US Patent App. 15/560,845, 2018
42018
Assessment of the assistive performance of an ankle exerciser using electromyographic signals
JA Saglia, NG Tsagarakis, JS Dai, DG Caldwell
2010 Annual International Conference of the IEEE Engineering in Medicine and …, 2010
42010
Impedance control of a class of series elastic actuators: performance limitations arising from link dynamics, disturbance attenuation and impedance emulation
M Mosadeghzad, GA Medrano-Cerda, JA Saglia, NG Tsagarakis, ...
IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), 2014
32014
Robot-based assessment of sitting and standing balance: preliminary results in Parkinson’s disease
G Marchesi, M Casadio, G Ballardini, A De Luca, V Squeri, F Vallone, ...
2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR …, 2019
22019
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