Research Activity

Current and past research projects

Currently working on the following European research projects:

  • Horizon Europe Marie Skłodowska Curie Postdoctoral Fellowship SCOUT: “Soft Magnetic Exoskin Transducing Human Motion” (grant number 101149980).
  • Horizon Europe SWAG: “Soft Wearable Assistive Garments for Human Empowerment” (grant number 101120408).

My research was also funded by these additional projects:

  • ERC Starting Grant project MYKI: “A Bidirectional MyoKinetic Implanted Interface for Natural Control of Artificial Limbs” (grant number 679820).
  • Inail (the Italian national workers’ compensation) Grant project MIO-PRO: “Engineered Patient-Specific Muscles for the Restoration of Myoelectric Channels and Prosthesis Control” (grant number PR19-CR-P1).
  • Inail (the Italian national workers’ compensation) Grant project CECA2020 (grant number PPR AS 1/2).
  • Horizon 2020 framework program for Research and Innovation project B-CRATOS: “Wireless Brain-Connect Interface to Machines” (grant number 965044).

Awards

  • Best Poster Award: ICRA 2024 Workshop, Supervised Autonomy: How to Shape Human-Robot Interaction from the Body to the Brain.
  • Marie Skłodowska-Curie Action – Postdoctoral Fellowship

Journal papers

  1. Masiero, F., Su, H., Nicchiarelli, G., Sinibaldi, E., and Masia, L. “Geometry-informed magnetic sensing for real-time control of a soft wrist-assistive device.” Early Access IEEE Transactions on Instrumentation and Measurement (https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11593897).
  2. Masiero, F.*, Gentile, M.*, Gherardini, M., …., Marasco, P. D.†, and Cipriani, C.† (2026) “Coordinated hand movement sensation revealed through an implanted magnetic prosthetic kinesthetic interface.” Science Advances, 12(24) adx5046 (https://www.science.org/doi/10.1126/sciadv.adx5046).
  3. Miskovic, L., Tricomi, E., Gerhard, V., Nanni, A., Masiero, F., Urban, J., Palmerini, L., Chiari, L., Masia, L. “Cardan–Worm Bimodal Actuator for Underactuated Walking and Running with Soft Hip Exoskeleton.” Early Access on Transaction on Mechatronics (https://ieeexplore.ieee.org/abstract/document/11550267).
  4. Ferrari, S., Missiroli, F., Terrile, I., Masiero, F., Casadio, M., and Masia, L. (2026). “WearaCob: A Unified Bidirectional Framework for Adaptive Synergy Between Wearable and Collaborative Robotics.” IEEE Robotics and Automation Letters, 11 (4), (https://ieeexplore.ieee.org/abstract/document/11419770)
  5. Masiero, F.*, Ianniciello, V.*, Raeli, R., Sinibaldi, E.†, Masia, L.†, & Cipriani, C.† (2024). Preliminary Assessment of Accurate Motion Detection via Magnetic Tracking towards Wearable Technologies. IEEE Transactions on Medical Robotics and Bionics, 7(1), 59-65.
    (https://ieeexplore.ieee.org/abstract/document/10759804)
  6. Gherardini, M., Ianniciello, V., Masiero, F., Paggetti, F., D’Accolti, D., La Frazia, E., … & Cipriani, C. (2024). Restoration of grasping in an upper limb amputee using the myokinetic prosthesis with implanted magnets. Science Robotics, 9(94), eadp3260.
    (https://www.science.org/doi/full/10.1126/scirobotics.adp3260)
  7. Masiero, F.*, La Frazia, E.*, Ianniciello, V., & Cipriani, C. (2024). Generating Frequency Selective Vibrations in Remote Moving Magnets. Advanced Intelligent Systems, 6(6), 2300751. (https://advanced.onlinelibrary.wiley.com/doi/full/10.1002/aisy.202300751)
  8. Masiero, F., & Sinibaldi, E. (2023). Exact and Computationally Robust Solutions for Cylindrical Magnets Systems with Programmable Magnetization. Advanced Science, 2301033. (https://onlinelibrary.wiley.com/doi/full/10.1002/advs.202301033)
  9. Gherardini, M.*, Masiero, F.*, Ianniciello, V., & Cipriani, C. (2023). The Myokinetic Interface: implanting permanent magnets to restore the sensory-motor control loop in amputees. Current Opinion in Biomedical Engineering, 100460. (https://www.sciencedirect.com/science/article/pii/S2468451123000168)
  10. Masiero, F.*, Fagioli, I.*, Truppa, L., Mannini, A., Cappello, L., & Controzzi, M. (2023). Looking for synergies in healthy upper limb motion: a focus on the wrist. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 31, 1248-1257. (https://ieeexplore.ieee.org/abstract/document/10041208)
  11. Aragón, J. M., Thumser, Z., Masiero, F., Beckler, D., Clemente, F., Marasco, P., & Cipriani, C. (2022). The myokinetic stimulation interface: activation of proprioceptive neural responses with remotely actuated magnets implanted in rodent forelimb muscles. Journal of Neural Engineering, 19(2), 026048. (https://iopscience.iop.org/article/10.1088/1741-2552/ac6537)
  12. Masiero, F., Sinibaldi, E., Clemente, F., & Cipriani, C. (2021). Effects of Sensor Resolution and Localization Rate on the Performance of a Myokinetic Control Interface. IEEE Sensors Journal, 21(20), 22603-22611. (https://ieeexplore.ieee.org/abstract/document/9528378)
  13. Milici, S., Gherardini, M., Clemente, F., Masiero, F., Sassu, P., & Cipriani, C. (2020). The myokinetic control interface: How many magnets can be implanted in an amputated forearm? Evidence from a simulated environment. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 28(11), 2451-2458. (https://ieeexplore.ieee.org/abstract/document/9201086)

Conference Papers

  1. Ferrari S., Aimi, E., Missiroli, F., Masiero, F, Casadio, M., Masia, L. (2026). Integrating Artificial Vision and Wearable Robotics: Adaptive Assistance enabled by Manipulation Context Awareness. In IEEE International Conference on Robotics & Automation (ICRA) 2026.
  2. Su, H., Masiero, F, Missiroli, F., El Sidani, M., Piazza, C., and Masia, L. (2025). Soft Wearable Robotic Kit for Forearm Rotation and Grasping Motion Tracking Based on Embedded End-Effector-Level Sensor System”. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025.
  3. Masiero, F., Mori, T., Reho, R., Gherardini, M., Marasco, P., Cipriani, C. (2025, February). Validation of an implanted remotely actuated magnetic human-machine interface to study kinesthesia in limb amputees. In Dimensions of Motor Control (DMC) 2025.
  4. Gherardini, M., Ianniciello, V., Masiero, F., Paggetti, F., D’Accolti, D., La Frazia, E., … & Cipriani, C. (2024, November). The Myokinetic Interface for Prosthetic Control: Preliminary Results from a Pilot Study with an Amputee. In International Conference on NeuroRehabilitation (pp. 7-10). Cham: Springer Nature Switzerland.
  5. Masiero, F., Gherardini, M., & Cipriani, C. (2024, November). The Myokinetic Control and Stimulation Interface: A Robotic Platform to Study Kinesthesia in Humans. In International Conference on NeuroRehabilitation (pp. 123-126). Cham: Springer Nature Switzerland.
  6. Prange-Lasonder, G. B., Oberschmidt, K., Pacifico, I., Jamšek, M., Babič, J., Masiero, F., … & Prinsen, E. C. (2024, November). User-Centered Design Approach for Development of an Assistive Soft Exosuit and Initial Results on User Requirements. In International Conference on NeuroRehabilitation (pp. 63-67). Cham: Springer Nature Switzerland.
  7. Moore, C., Kilic, B. U., Masiero, F., Gherardini, M., Cipriani, C., & Marasco, P. (2024, August). Comparative Kinematic Analysis of two Kinesthetic Interfaces from Distinct Recording Methodologies. In Myoelectric Controls Symposium.
  8. Gherardini, M., Masiero, F., Milici, S., Clemente, F., & Cipriani, C. (2020, July). The Myokinetic Control Interface: How Many Magnets can be Implated in an Amputated Forearm? Evidences from a Simulated Environment. In Myoelectric Controls Symposium.

Conference Abstracts (Poster Presentations)

  1. Masiero, F., Nicchiarelli, G., Masia, L. (2024, May). Magnetic Tracking for a Soft Wearable Exoglove. In 2024 International conference on robotics and automation (ICRA).
  2. Masiero, F. (2024, April). The myokinetic control and stimulation interface: a robotic platform to study kinesthesia in humans. In Neural Control of Movement (NCM) 2024.