Fabrizio Sergi, Ph.D.

Fabrizio Sergi

Assistant Professor

Assistant Professor

540 S. College Avenue
STAR Campus, Room 201H
Newark, DE 19713
P: 302-831-6404
E: fabs@udel.edu

Lab Website


  • Ph.D. in Biomedical Engineering, 2011, Università Campus Bio-Medico di Roma
  • M.Sc. in Biomedical Engineering, 2007, Università Campus Bio-Medico di Roma
  • B.Sc. in Biomedical Engineering, 2005, Università Campus Bio-Medico di Roma


  • Wearable robot technologies
  • MR-compatible mechatronics
  • Compliant actuation
  • Robotic neurorehabilitation
  • Sensorimotor learning and control


Dr. Sergi is the director of the Human Robotics (HuRo) lab at the University of Delaware.

Research in the HuRo lab aims to achieve the dual goals of developing and validating robotic technologies for human assistance and rehabilitation, and of using such novel technologies in experimental studies modeling the healthy and impaired human motor control.

Example areas of interests of the HuRo lab include:

  • the combination of high-fidelity haptic feedback devices with neuroimaging to study the neural substrates of motor control;
  • the development of energy-recycling wearable orthoses for gait assistance and augmentation;
  • the development of high performance compliant actuators and interaction controllers.
  • the implementation and validation of robotic assistance schemes in neurorehabilitation


  1. A. J. Farrens, A. Zonnino, A. Erwin, M. K. O’Malley, C. L. Johnson, D. Ress, F. Sergi, “Quantitative testing of fMRI-compatibility of an electrically active mechatronic device for robot-assisted sensorimotor protocols”, Transactions on Biomedical Engineering, in press.
  2. R. L. McGrath, M. Pires-Fernandes, B. Knarr, J. S. Higginson, F. Sergi, “Toward goal-oriented robotic gait training: the effect of gait speed and stride length on lower extremity joint torques”, IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, London, UK, July 2017
  3. A. Erwin, M. K. O’Malley, D. Ress, F. Sergi, “Kinesthetic Feedback during 2DOF Wrist Pointing with a Novel MR-Compatible Robot”, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2016 – doi: 10.1109/TNSRE.2016.2634585.
  4. F. Sergi, M. K. O’Malley, “On the stability and accuracy of high stiffness haptic rendering in non-backdrivable actuators through series elasticity”, Mechatronics, vol. 26, pp. 64-75, 2015 – doi: 10.1016/j.mechatronics.2015.01.007.
  5. F. Sergi, A. Erwin, M. K. O’Malley, “Interaction control capabilities of an MR-compatible compliant actuator for wrist sensorimotor protocols during fMRI”, IEEE/ASME Transactions on Mechatronics, vol. 20, no. 6, pp. 2678-2690, 2015 – doi: 10.1109/TMECH.2015.2389222.
  6. F. Sergi, D. Accoto, N. L. Tagliamonte, G. Carpino, E. Guglielmelli, “A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for the lower limbs”, Frontiers of Mechanical Engineering, vol. 6, no. 1, pp. 61-70, 2011, doi: 10.1007/s11465-011-0206-2.
  7. D. Accoto, F. Sergi, N. L. Tagliamonte, G. Carpino, A. Sudano, E. Guglielmelli, “Robomorphism: a nonanthropomorphic wearable robot”, IEEE Robotics and Automation Magazine, vol. 21, no. 4, pp. 45-55, 2014, doi: 10.1109/MRA.2014.2360276.
  8. J. M. Frullo, J. Elinger, A. U. Pehlivan, K. Fitle, K. Nedley, G. E. Francisco, F. Sergi, M. K. O’Malley, “Effects of assist-as-needed upper extremity robot therapy after incomplete spinal cord injury: a parallel-group controlled balanced trial”, Frontiers in Neurorobotics, vol. 11, pp 1-26, 2017 – doi: 10.3389/fnbot.2017.00026.
  9. D. Losey, A. Erwin, C. G. McDonald, F. Sergi, M. K. O’Malley, “A Time Domain Approach to Control of Series Elastic Actuators: Adaptive Torque and Passivity-Based Impedance Control”, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 4, 2016 – doi: 10.1109/TMECH.2016.2557727.
  10. A. U. Pehlivan, F. Sergi, M. K. O’Malley, “A subject-adaptive controller for wrist robotic rehabilitation”, IEEE/ASME Transactions on Mechatronics, vol. 20, no. 3, pp.1338-1350 2015 – doi: 10.1109/TMECH.2014.2340697.