Stefano Toxiri

Post Doc
Postdoctoral Researcher - Exoskeleton Design and Ergonomics

Contacts

Via Morego, 30
+39 010 2898 277

Social profiles

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About

Research. The research at our group focuses on the development and testing of wearable assistive exoskeletons. Driven by the desire to help exoskeletons succeed in real-life applications, I am interested in studying how the human body performs certain tasks and in using this knowledge to design the best possible exoskeletons. My doctoral research contributed to the Robo-Mate EU project in the development of a back-support exoskeleton to protect factory workers from lumbar spine injuries. The focus was on two aspects: modulating the device in real time to provide meaningful physical assistance, and exploiting elastic elements to minimize the need for active actuation.
An ongoing national project has allowed our group to expand and to further research the design of previous and new exoskeletons, extending the focus from lumbar spine to other human joints. As part of this endeavor, I strive to make exoskeletons impactful in real-life. From my perspective, this includes understanding how the way they are built and controlled affects the resulting physical effectiveness and ergonomics for the users.
 
Bio. I was born and grew up in Sardinia (Italy). There, I enrolled at the University of Cagliari and obtained a BSc in Biomedical Engineering in 2011. Driven by the possibility to work on wearable robots, I moved to Zurich (Switzerland) and earned a MSc in Robotics from the Swiss Federal Institute of Technology (ETH), taking part in research projects in the field of rehabilitation robotics. In September 2014 I joined Advanced Robotics at the Italian Institute of Technology (IIT) as a PhD candidate and Early Stage Researcher in the SMART-E ITN. I defended my PhD thesis in February 2018. Since then, I have been working as a postdoctoral researcher in the same group.

Projects

IIT - INAIL Occupational Exoskeletons (Sistemi Cibernetici Collaborativi)

ASTM Committee F48 on Exoskeletons and Exosuits (website)

EU H2020 - Wearable Robots COST Action CA16116 (https://wearablerobots.eu/)

EU FP7 - Robo-Mate (http://www.robo-mate.eu/)

EU FP7 - SMART-E (http://www.smart-e-mariecurie.eu)

IIT Publications

  • 2020
  • Calanca A., Toxiri S.iit, Costanzi D.iit, Sartori E., Vicario R., Poliero T., Natali C.D.iit, Caldwell D.G.iit, Fiorini P., Ortiz J.iit
    DOI

    Actuation Selection for Assistive Exoskeletons: Matching Capabilities to Task Requirements

    IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28, (no. 9), pp. 2053-2062
  • 2019
  • Lazzaroni M.iit, Toxiri S.iit, Caldwell D.G.iit, Anastasi S., Monica L., Momi E.D., Ortiz J.iit
    DOI

    Acceleration-based assistive strategy to control a back-support exoskeleton for load handling: Preliminary evaluation

    IEEE International Conference on Rehabilitation Robotics, vol. 2019-June, pp. 625-630
  • Toxiri S.iit, Calanca A., Poliero T.iit, Caldwell D.G.iit, Ortiz J.iit
    DOI

    Actuation requirements for assistive exoskeletons: Exploiting knowledge of task dynamics

    Biosystems and Biorobotics, vol. 22, pp. 381-385
  • Poliero T.iit, Toxiri S.iit, Caldwell D.G.iit, Ortiz J.iit
    DOI

    Actuator optimization for a back-support exoskeleton: The influence of the objective function

    Biosystems and Biorobotics, vol. 22, pp. 530-534
  • Poliero T., Toxiri S.iit, Anastasi S., Monica L., Caldwell D.G., Ortiz J.
    DOI

    Assessment of an on-board classifier for activity recognition on an active back-support exoskeleton

    IEEE International Conference on Rehabilitation Robotics, vol. 2019-June, pp. 559-564
  • Toxiri S.iit, Näf M. B., Lazzaroni M., Fernández J., Sposito M.iit, Poliero T.iit, Monica L., Anastasi S., Caldwell D. G.iit, Ortiz J.iit
    DOI

    Back-Support Exoskeletons for Occupational Use: An Overview of Technological Advances and Trends

    IISE Transactions on Occupational Ergonomics and Human Factors
  • Ortiz J.iit, Toxiri S.iit, Caldwell D.G.iit
    DOI

    Beyond robo-mate: Towards the next generation of industrial exoskeletons in Europe

    Biosystems and Biorobotics, vol. 22, pp. 365-369
  • Koopman A.S., Toxiri S.iit, de Looze M.P., Kingma I., van Dieen J.H.
    DOI

    Effects of an inclination-controlled active spinal exoskeleton on spinal compression forces

    Biosystems and Biorobotics, vol. 22, pp. 505-509
  • Lazzaroni M.iit, Toxiri S.iit, Caldwell D.G.iit, De Momi E., Ortiz J.iit
    DOI

    Overview and challenges for controlling back-support exoskeletons

    Biosystems and Biorobotics, vol. 22, pp. 435-439
  • Koopman A.S., Toxiri S.iit, Power V., Kingma I., van Dieen J.H., Ortiz J.iit, de Looze M.P.
    DOI

    The effect of control strategies for an active back-support exoskeleton on spine loading and kinematics during lifting

    Journal of Biomechanics, vol. 91, pp. 14-22
  • Sposito M.iit, Toxiri S.iit, Caldwell D.G.iit, Ortiz J.iit, De Momi E.
    DOI

    Towards design guidelines for physical interfaces on industrial exoskeletons: Overview on evaluation metrics

    Biosystems and Biorobotics, vol. 22, pp. 170-174
  • Toxiri S.iit, Sposito M.iit, Lazzaroni M.iit, Mancini L.iit, Di Pardo M., Caldwell D.G.iit, Ortiz J.iit
    DOI

    Towards standard specifications for back-support exoskeletons

    Biosystems and Biorobotics, vol. 22, pp. 219-223
  • Toxiri S.iit, Verstraten T., Calanca A., Caldwell D.G.iit, Ortiz J.iit
    DOI

    Using parallel elasticity in back-support exoskeletons: A study on energy consumption during industrial lifting tasks

    2019 Wearable Robotics Association Conference, WearRAcon 2019, pp. 1-6
  • 2018
  • Toxiri S.iit, Calanca A., Ortiz J.iit, Fiorini P., Caldwell D.G.iit
    DOI

    A Parallel-Elastic Actuator for a Torque-Controlled Back-Support Exoskeleton

    IEEE Robotics and Automation Letters, vol. 3, (no. 1), pp. 492-499
  • Huysamen K., de Looze M., Bosch T., Ortiz J.iit, Toxiri S.iit, O'Sullivan L.W.
    DOI

    Assessment of an active industrial exoskeleton to aid dynamic lifting and lowering manual handling tasks

    Applied Ergonomics, vol. 68, pp. 125-131
  • Toxiri S.iit, Ortiz J.iit, Caldwell D.G.iit
    DOI

    Assistive strategies for a back support exoskeleton: Experimental evaluation

    Mechanisms and Machine Science, vol. 49, pp. 805-812
  • Shojaei Barjuei E., Toxiri S.iit, Medrano-Cerda G.A., Caldwell D.G.iit, Ortiz J.iit

    Bond Graph Modeling Of An Exoskeleton Actuator

    2018 The 10th Computer Science and Electronic Engineering
  • Deshpande N.iit, Ortiz J.iit, Sarakoglou I.iit, Semini C.iit, Tsagarakis N.iit, Brygo A.iit, Fernandez J.iit, Frigerio M.iit, Saccares L.iit, Toxiri S.iit, Caldwell D.G.iit
    DOI

    Next-generation collaborative robotic systems for industrial safety and health

    WIT Transactions on the Built Environment, vol. 174, pp. 187-200
  • Toxiri S.iit, Koopman A.S., Lazzaroni M.iit, Ortiz J.iit, Power V., de Looze M.P., O'Sullivan L., Caldwell D.G.iit
    DOI

    Rationale, implementation and evaluation of assistive strategies for an active back-support exoskeleton

    Frontiers Robotics AI, vol. 5, (no. MAY)
  • Lazzaroni M., Toxiri S.iit, Ortiz J.iit, De Momi E., Caldwell D.G.iit

    Towards standards for the evaluation of active back-support exoskeletons to assist lifting task

    Congresso Gruppo Nazionale di Bioingegneria
  • 2017
  • Masood J.iit, Mateos L.A.iit, Ortiz J.iit, Toxiri S.iit, O'Sullivan L., Caldwell D.iit
    DOI

    Active safety functions for industrial lower body exoskeletons: Concept and assessment

    Biosystems and Biorobotics, vol. 16, pp. 299-303
  • Toxiri S.iit, Ortiz J.iit, Masood J.iit, Fernandez J.iit, Mateos L.A.iit, Caldwell D.G.iit
    DOI

    A powered low-back exoskeleton for industrial handling: Considerations on controls

    Biosystems and Biorobotics, vol. 16, pp. 287-291
  • 2016
  • Mateos L.A.iit, Ortiz J.iit, Toxiri S.iit, Fernandez J.iit, Masood J.iit, Caldwell D.G.iit
    DOI

    Exoshoe: A sensory system to measure foot pressure in industrial exoskeleton

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2016-July, pp. 99-105
  • Stadler K.S., Altenburger R., Schmidhauser E., Scherly D., Ortiz J.iit, Toxiri S.iit, Mateos L.iit, Masood J.iit
    DOI

    Robo-mate an exoskeleton for industrial use - Concept and mechanical design

    Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016, pp. 806-813
  • 2015
  • Toxiri S.iit, Ortiz J.iit, Masood J.iit, Fernandez J.iit, Mateos L.A.iit, Caldwell D.G.iit
    DOI

    A wearable device for reducing spinal loads during lifting tasks: Biomechanics and design concepts

    2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, pp. 2295-2300