Papers
2
Total Citations
132
H-Index
2
About
Paolo Forni is a leading researcher in the field of robotic actuation and control, with a primary focus on variable stiffness systems and bio-inspired locomotion. His work bridges the gap between theoretical control frameworks and practical robotic applications, particularly in the domains of bipedal exoskeletons and humanoid robots. Forni’s most influential contribution, "Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton" (2015, 86 citations), introduced a real-time balance control technique that leverages variable physical stiffness actuators in the ankle joint. By modeling the biped as a torsional spring-loaded flywheel, he demonstrated how tunable stiffness can enhance stability and dynamic balance—a critical insight for assistive and rehabilitation robotics. In his subsequent work, "Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles" (2019, 46 citations), Forni developed a novel controller framework for pneumatic artificial muscle actuators, enabling stable, simultaneous control of torque, position, and stiffness. This achievement is notable for its versatility, allowing seamless switching between torque-stiffness and position-stiffness modes. With over 130 combined citations, Forni’s research has significantly advanced the understanding of compliant actuation, offering robust solutions for safer, more adaptive human-robot interaction.
Research Focus
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Top Papers
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