Papers by Applied Intelligent Systems Laboratory (AIS-Lab)

A. Patents

B. International Journals

Human Motion analysis, Modeling, Education and Rehabilitation (ICT papers)
85) M. Luperto, J. Monroy, F. Moreno, F. Lunardini, J. Renoux, A. Krpic, C. Galindo, S. Ferrante, N. Basilico, J. Gonzalez-Jimenez, N.A. Borghese. Seeking at-home long-term autonomy of assistive mobile robots through the integration with an IoT-based monitoring system Robotics and Autnomous Systems, p. 104346. [10.1016/j.robot.2022.104346] Volume 161, March 2023, 104346.
84) Matteo Luperto et al., User Feedback and Remote Supervision for Assisted Living with Mobile Robots: a Field Study in Long-Term Autonomy. Robotics and Autonomous Systems. Volume 155, 2022, https://www.sciencedirect.com/science/article/pii/S0921889022000963?via%3Dihub
83) Matteo Luperto, Javier Monroy, · Jennifer Renoux, · Francesca Lunardini, · Nicola Basilico, · Maria Bulgheroni, · Angelo Cangelosi, · Matteo Cesari, · Manuel Cid, · Aladar Ianes, · Javier Gonzalez-Jimenez, · Anastasis Kounoudes, · David Mari, · Victor Prisacariu, · Arso Savanovic, · Simona Ferrante, · N. Alberto Borghese. Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project. Social Robotics. Luperto, M., Monroy, J., Renoux, J. et al. Integrating Social Assistive Robots, IoT, Virtual Communities and Smart Objects to Assist at-Home Independently Living Elders: the MoveCare Project. Int J of Soc Robotics 15, 517–545 (2023). https://doi.org/10.1007/s12369-021-00843-0
82) F. Lunardini, M, Malavolti, A. Pedrocchi, N. Alberto Borghese, S. Ferrante. A mobile app to transparently distinguish single- from dual-task walking for the ecological monitoring of age-related changes in daily-life gait. Gait & Posture 86 (2021) 27–32.
81) Dui LG, Lunardini F, Termine C, Matteucci M, Stucchi NA, Borghese NA, Ferrante S (2020) A Tablet App for Handwriting Skill Screening at the Preliteracy Stage: Instrument Validation Study JMIR Serious Games 2020;8(4):e20126 DOI: 10.2196/20126
80) F. Lunardini, D. Di Febbo, M. Malvolti, M. Cid, M. Serra, L. Piccini, A. Pedrocchi, N.A. Borghese, S. Ferrante. (2021) "A Smart Ink Pen for the Ecological Assessment of Age-Related Changes in Writing and Tremor Features," in IEEE Transactions on Instrumentation and Measurement, vol. 70, pp. 1-13, 2021, Art no. 4002613, doi: 10.1109/TIM.2020.3045838.
76) F. Lunardini, N.A. Borghese, L. Piccini, G. Bernardelli, M. Cesari, S. Ferrante. (2020) Validity and usability of a smart ball–driven serious game to monitor grip strength in independent elderlies. Health Informatics, ISSN 1460-4582. - (2020 Jan 06).
74) N. Alberto Borghese, Jacopo Essenziale, Renato Mainetti, Elena Mancon, Rossella Pagliaro, Giorgio Pajardi. (2019) Hand rehabilitation and tele monitoring through smart toys. Sensors. DOI. 10.3390/s19245517.
65) M Pirovano, R Mainetti, G Baud-Bovy, PL Lanzi, NA Borghese, (2016) IGER - Intelligent Game Engine for Rehabilitation, IEEE Trans. on CIAIG. Vol.8(1), March 2016, pp. 43-55.
63) M. Pirovano, E. Surer, R. Mainetti, P.L. Lanzi, and N.A. Borghese (2016). Exergaming and rehabilitation: a methodology for the design of effective and safe therapeutic exergames", Entertainment Computing 2016, pp. 55-65.
62) G. Baud-Bovy, F. Tatti and N.A. Borghese (2015) Influence of Haptic Effects Rendered by a Low-Cost Force-Feedback Device on Postural Stability in Younger and Older Adults, IEEE Trans. on Haptics, Vol. 8 No. 2, pp. 130-139, 2015.
61) Seline Wüest, Nunzio Alberto Borghese, Michele Pirovano, Rolf van de Langenberg, Eling D. de Bruin (2014), Usability and Effects of an Exergame-Based Balance Training Program, Games for Health Journal. Volume 3, Number 2, 2014, pp. 106-113. DOI: 10.1089/g4h.2013.0093.
57) Mainetti R, Sedda A, Ronchetti M, Bottini G, Borghese NA. (2013) Duckneglect: video-games based neglect rehabilitation. Technology and Health Care 21 97–111 97. DOI 10.3233/THC-120712 IOS Press.
54) NA Borghese, M Pirovano, PL Lanzi, S Wuest and ED de Bruin (2013), Computational Intelligence and Game Design for effective home-based stroke at Home Rehabilitation. Games for Health Journal. April 2013, Vol. 2, No. 2: 81-88.
43) I. Cattinelli, M. Goldwurm, N.A. Borghese (2008), Interacting with an artificial partner: modeling the role of emotional aspects, Biol. Cybern., Vol. 99(6), pp. 473-481.
38) F. Sibella, I. Frosio, F. Schena, N.A. Borghese (2007), 3D analysis of the body centre of mass in rock climbing, Human Movement Science, Vol. 26, pp. 841–852
30) N.A. Borghese and A. Calvi (2003) Learning to maintain upright posture: what can be learnt using adaptive neural networks models?, Adaptive Behavior, 11(1):19-35, 2003.
14) Borghese N.A., Redolfi M., Ferrigno G., and Pedotti A. (1997) Automatic integrated analysis of jaw and lips movement in speech production. J. Acoustic Soc. Am., 101(1) pp. 482-487.
10) Borghese N.A. Arbib M., (1995) Generation of Temporal Sequences using Local Dynamic Programming, Neural Networks, 8(1):pp39-54.

Cognitive Aspects, Human Motion analysis and Rehabilitation (neuroscience papers)
77) F. Lunardini, M. Luperto, M. Romeo, N. Basilico, K. Daniele, D. Azzolino, S. Damanti, C. Abbate, D. Mari, M. Cesari, N. Borghese, S. Ferrante. Supervised digital neuropsychological tests for cognitive decline in elderly: usability and clinical validity / - In: JMIR MHEALTH AND UHEALTH. - ISSN 2291-5222. - (2020). doi:10.2196/17963.
75) Cikajlo I, Rudolf M, Mainetti R, Borghese NA. Multi-Exergames to Set Targets and Supplement the Intensified Conventional Balance Training in Patients With Stroke: A Randomized Pilot Trial. Front Psychol. 2020;11:572. Published 2020 Apr 2. doi:10.3389/fpsyg.2020.00572.
73) K. Daniele, M. Marcucci, C. Cattaneo, N.A. Borghese, L. Zannini. (2019) How Prefrail Older People Living Alone Perceive Information and Communications Technology and What They Would Ask a Robot for: Qualitative Study / JMIR. Journal of Medical Internet Research - ISSN 1438-8871. - 21:7(2019), pp. 1-12. [Epub ahead of print].
72) Oliveri S, Mainetti R, Gorini A, Cutica I, Candiani G, Borghese NA, Pravettoni G (2018) Serious Games for Improving Genetic Literacy and Genetic Risk Awareness in the General Public: Protocol for a Randomized Controlled Trial. JMIR Res Protoc 2018;7(12):e189.
71) J.P. Held, B. Ferrer, R. Mainetti, A. Steblin, B. Hertler, J. Cerny, A. Moreno-Conde, A. Dueñas, M. Pajaro, C. Parra, E. Vargiu, M. Josè Zarco, M. Barrera, C. Echevarria, F. Jódar-Sánchez, A.R. Luft, N. Alberto Borghese (2017). Autonomous rehabilitation at home based on virtual rehabilitation: safety, usability and compliance, a pilot study, Eur J Phys Rehabil Med. 2017 Sep 25. doi: 10.23736/S1973-9087.17.04802-X.
70) L.Danelli, M.Berlingeri, G.Bottini, N.A.Borghese, M.Lucchese, M.Sberna, C.J.Price, E.Paulesu (2017). How many deficits in the same dyslexic brains? A behavioural and fMRI assessment of comorbidity in adult dyslexics. Cortex. 2017 Dec;97:125-142. doi: 10.1016/j.cortex.2017.08.038. Epub 2017 Sep 22.
69) Tobler-Ammann BC, Surer E, de Bruin ED, Rabuffetti M, Borghese NA, Mainetti R, Pirovano M, Wittwer L, Knols RH (2017). Exergames Encouraging Exploration of Hemineglected Space in Stroke Patients With Visuospatial Neglect: A Feasibility Study. https://doi.org/10.2196/games.7923. doi: 10.2196/games.7923. JMIR Serious Games 2017;5(3):e17.
68) B. Tobler-Ammann, E. Surer, R. Knols, N. Alberto Borghese, E. de Bruin. (2017) Users’ Perspectives on Exergames Designed to Explore the Hemineglected Space for Stroke Patients with Visuo-spatial Neglect: a Usability Study. Int. J. JMIR. Aug 25;5(3):e18. doi: 10.2196/games.8013.
67) Camila Shirota, Jelka Jansa, Javier Diaz, Sivakumar Balasubramanian, Stefano Mazzoleni, N. Alberto Borghese and Alejandro Melendez-Calderon, (2016) On the assessment of coordination between upper extremities: towards a common language between rehabilitation engineers, clinicians and neuroscientists, ,Journal of NeuroEngineering and Rehabilitation 201613:80. https://doi.org/ 10.1186/s12984-016-0186-x.
59) Davide Crepaldi, Manuela Berlingeri, Isabella Cattinelli, Nunzio Alberto Borghese, Claudio Luzzatti, Eraldo Paulesu (2013) Clustering the Lexicon in the Brain: A Meta-Analysis of the Neurofunctional Evidence on Noun and Verb Processing, Frontiers in Human Neuroscience. 27 June 2013  | doi: 10.3389/fnhum.2013.00303.
58) N. Alberto Borghese, Gabriella Bottini, Anna Sedda, (2013) Videogame based Neglect rehabilitation: a role for spatial remapping and multisensory integration? Frontiers in Human Neuroscience, doi: 10.3389/fnhum.2013.00116. Vol. 7(116), pp. 1-3.
56) Cattinelli I., Borghese N.A., Gallucci M. and Paulesu E. (2013) Reading the reading brain: a new meta-analysis of functional imaging data on reading. J. Neurolinguistic,Volume 26, Issue 1, January 2013, Pages 214–238. http://dx.doi.org/10.1016/j.jneuroling.2012.08.001.
55) Sedda A., Borghese N.A., Ronchetti M., Mainetti R., Pasotti F., Beretta G.,Bottini G. (2012) .Using Virtual Reality to Rehabilitate Neglect. Behav. Neurology, DOI - 10.3233/BEN-2012-129006,ISSN 0953-4180 .
31) E. Paulesu, D. Perani, V. Blasi, G. Silani, N.A. Borghese, U. De Giovanni, S. Sensolo, F. Fazio, (2003). A functional-anatomical model for lip-reading, J. Neurophysiology, Vol. 90: 2005–2013.
25) Perani D., Fazio F., Borghese N.A., Tettamanti M., Ferrari S., Decety J. and Gilardi M.C. (2001). Different brain correlates for watching real and virtual hand actions. NeuroImage, Vol. 14, pp. 749-758.
20) Borghese N. A.: (1998) About the Control of Human Locomotion (invited paper). Revista Brasileira de Postura e Movimento, 2(3):100-103.
13) Lacquaniti F., Maioli C., Borghese N.A. and Bianchi L. (1997) Posture and Movement: Coordination and Control. Archives Italiannes de Biologie, 135, pp. 353-367.
12) Nocentini U., Borghese N.A., Caltagirone C., Fadda L. and Lacquaniti F. (1997) A callosal disconnection syndrome of vascular origin J. Neurosurgical Science. Vol. 41:1, pp. 107-111.
11) Borghese N.A., Bianchi L. and Lacquaniti F. (1996). Kinematic Determinants of Human Locomotion, J. of Physiology, 494.3, 863-879.
9) Lacquaniti, F., Carrozzo, M., Borghese N.A. (1993) Time-varying mechanical behavior of multi-jointed arm in man. J. Neurohysiol., 69(5) 1443-1464.
8) Lacquaniti, F., Carrozzo, M., Borghese N.A. (1992) Neural control of mechanical interaction in man. Funct. Neurol. suppl., 7:69-72.
7) Lacquaniti, F., Borghese N.A., Carrozzo, M. (1992) Coordinate transformations in the control of limb stiffness. Exp. Brain Res. Ser. 22:17-25, Springer-Verlag, Berlin.
6) Lacquaniti, F., Borghese N.A., Carrozzo, M. (1992) Internal models of limb geometry in the control of hand compliance. J. Neurosci. 12:1750-1762.
5) Lacquaniti, F., Borghese N.A., Carrozzo, M. (1991) Transient reversal of the stretch reflex in human arm muscles. J. Neurophysiol. 66:939-954.

Learning from data and models
78) M. Luperto, M. Antonazzi, F. Amigoni, N.A. Borghese Robot exploration of indoor environments using incomplete and inaccurate prior knowledge Robotics and Autonomous Systems[s.l] : Elsevier, 2020 Sep 01. - pp. 103622
52) I.Cattinelli, G.Valentini, E.Paulesu, and N.A. Borghese. A novel approach to non-uniqueness of solution in hierarchical clustering (2013). IEEE Trans. on Neural Networks and Learning Systems. Vol. 24(7), July, pp: 1-8, DOI: 10.1109/TNNLS.2013.2247058.
50) F. Bellocchio, S. Ferrari, V. Piuri and N.A. Borghese (2012). Hierarchical Approach for Multiscale Support Vector Regression. IEEE Trans. on Neural Networks and Learning Systems. - 23:9, pp. 1448-1460. ISSN 2162-2388.
41) Bellocchio F., Ferrari S., Piuri V., and Borghese N.A. (2010) A hierarchical RBF online learning algorithm for real-time 3-D scanner. IEEE Trans. on Neural Networks. Volume 21(2), Feb 2010 Pages: pp. 275-285.
37) S. Ferrari, G. Ferrigno, V. Piuri, N.A. Borghese. (2007) Reducing and Filtering Point Clouds with Enhanced Vector Quantization. IEEE Trans. on Neural Networks. Volume 18,  Issue 1,  Jan. 2007 Pages:161 - 177.
33) Ferrari S., Frosio I., Piuri V., and N.A. Borghese. (2005) Automatic multi-scale meshing through HRBF Networks. IEEE Trans. Instrumentation & Measurements, Vol.54(4), pp. 1463-1470.
32) Borghese N.A., Maggioni M. and Ferrari S., (2004). Multi-Scale Approximation with Hierarchical Radial Basis Functions Networks. IEEE Trans. on Neural Networks. Volume: 15 , Issue: 1 , Jan. 2004. Pages:178 - 188.
27) Ferrari S., Borghese N.A. and Piuri V. (2001), Multi-resolution Models for Data Processing: an Experimental Sensitivity Analysis, IEEE Trans. on Instrumentation & Measurement.  Vol. 50(4), pp. 995-1002.
18) Borghese N.A., Ferrari S. (1998) Hierarchical RBF networks in function approximation. NeuroComputing, 19, 259-283.

Medical Imaging
66) Andrea Bassi, Alberto Borghese, Sara Brunetti, Roberto Fedele, Rodolfo Fiorini, Lajos Hajdu, Tatyana Smaglichenko, P. Dulio, A. Frosini, G. Rozenberg. (2013). Strategy for tomogaphy. Preface. Fundamenta Informaticae 01/2013; 125(3-4):I-XVIII. DOI:10.3233/FI-2013-860.
51) I. Frosio, C. Olivieri, M. Lucchese, N.A. Borghese, and P. Boccacci. (2012) Bayesian denoising in digital radiography: a comparison in the dental field. Computerized Medical Imaging and Graphics. Digital Object Identifier (DOI): 10.1016/j.compmedimag.2012.10.003, Nov. 2012.
49) M. Sciarabba, G. Serrao, D. Bauer, F. Arnaboldi, N.A. Borghese, (2009) Automatic neurons identification inside large cortical slice, J. Neurosc. Methods. Volume 182, Issue 1, 30 August 2009, Pages 123-140.
48) P. Tirelli, E. De Momi, N. A. Borghese, G. Ferrigno (2009), An intelligent atlas-based planning system for keyhole neurosurgery, International Journal of Computer Assisted Radiology and Surgery (J. CARS), Volume 4, pp 85-9, DOI - 10.1007/s11548-009-0324.
47) I. Frosio, N. A. Borghese, (2009) Statistical Based Impulsive Noise Removal in Digital Radiography," IEEE Transactions on Medical Imaging, Vol.28, No.1, Jan. 2009, pp.3-16.
46) Frosio I., Abati S., Borghese N.A. (2008) An Expectation Maximization Approach to impulsive Noise Removal in digital Radiography. Int. J. Computer Assisted Radiology and Surgery. Vol. 3, No. 1-2, June 2008, pp. 91-96.
42) Frosio I., Borghese N.A. (2009) Compression and smart coding of offset and gain maps for intraoral digital x-ray sensors, Med. Phys, Vol. 36, No. 2, Feb. 2009, pp. 464-79.
35) I. Frosio, N. A. Borghese, (2006) A New Real Time Filter for Local Exposure Correction in Panoramic Radiography, Medical Physics, Vol. 33, No. 9, Sep. 2006, pp. 3478-88 .
34) Frosio I., Ferrigno G., Borghese N.A. (2006). Enhancing Digital Cephalic Radiography with Mixture Models and Local Gamma Correction. IEEE Trans. Medical Imaging. Volume 25,  Issue 1,  Jan. 2006 Page(s):113 - 121. The material contained here has also been patented: Patents A3 and A4 (see Patents Section).
26) Cerveri P., Forlani C., Borghese N.A., Ferrigno G. (2002), Distortion correction for X-ray image intensifiers: a comparison between local un-warping polynomials and adaptive neural networks. Medical Physics, August 2002, Vol. 29, pp. 1759-1771.
15) Cerveri P.; Borghese N.A.; Pedotti A.; Shukri Z.A.; Champness C.H., (1997) Effect of nonstoichiometry on conductivity type in Bridgman-grown CuInSe 2, J. Crystal Growth, Volume 191, Number 1, 7 January 1998 , pp. 97-107(11).

Motion Capture, Computer Vision and 3D scanning
64) M. Fomasi, N.A: Borghese, (2015) Automatic defect classification on a production line. J. Intelligent Industrial Systems. 2015. DOI: 10.1007/s40903-015-0018-5
60)  Oberti R., Marchi M., Tirelli P., Calcante A., Iriti M., Borghese N.A.,(2014) Automatic Detection of Powdery Midlew on Grapevine Leaves by Image Analysis: Optimal View Angle to Increase the Sensitivity, Journal Computers and Electronics in Agriculture. Vol. 104, pp. 1-8.
53) I. Frosio, A. Alzati, M. Bertolini, C. Turrini, N.A. Borghese. (2013) Linear pose estimate from corresponding conics. Pattern Recognition 45, 2012, 4169–4181.
45) N.A. Borghese, I. Frosio, (2013) Compact tracking of surgical instruments through structured markers, Med Biol Eng Comput. Jul;51(7):823-33. doi: 10.1007/s11517-013-1052-7.
44) I. Frosio, F. Pedersini and N. A. Borghese, (2012) Autocalibration of Triaxial MEMS Accelerometers with Automatic Sensor Model Selection, IEEE Sensors Journal, Vol. 2, No. 6, June 2012, pp. 2100-2108.
40) I. Frosio, F. Pedersini and N.A. Borghese (2009). Autocalibration of MEMS Accelerometers. IEEE Trans. on Instr. & Measurements, Vol. 58, Issue 6, June 2009 Page(s):2034 - 2041.
39) I. Frosio, N.A. Borghese (2008), Real-time accurate circle fitting with occlusion. Pattern Recognition. Vol. 41, No. 3, pp. 1041-1055.
36) N. Alberto Borghese, F. M. Colombo, and A. Alzati (2006), Computing Camera Focal Length by Zooming a Single Point, Pattern Recognition. Vol. 39, pp. 1522-1529.
29) Borghese N.A. Cerveri P. and Rigiroli P. (2001), A fast method for calibrating a video camera pair using only a rigid bar,  Medical & Biological Engineering & Computing. January 2001, Vol. 39, pp. 76-81.
28) Cerveri P., Pedotti A. and Borghese N.A (2001), Combined evolution strategies for dynamic calibration of video based measurement systems. IEEE Trans. Evolutionary Computation, Vol. 5, No. 3, June 2001, pp. 271-282.
24) Rigiroli P. Campadelli P., Pedotti A  and Borghese N.A., (2001), Mesh Refinement with Colour Attributes, Computers & Graphics. Vol. 25, No. 3, June 2001, pp. 449-461.
23) Borghese N.A. and Ferrari S. (2000), A Portable Modular System for Automatic Acquisition of 3D Objects, IEEE Trans. Instrumentation & Mesurement, Vol. 49(5), pp. 1128-1136.
22) Borghese N.A. and Cerveri P. (2000) Calibrating a video camera pair with a rigid bar. Pattern Recognition, Vol. 33, No. 1, pp. 81-95.
21) Cerveri P., Borghese N.A. and Ferrigno G.,  (1999) Evolution Strategies and epipolar geometry for dynamic calibration of a photogrammetric camera system. Medical & Biological Engineering & Computing, Vol. 37 (Supplement 2), pp. 830-831.
19) Borghese N.A., Ferrigno G., Baroni G., Savarè R., Ferrari S. and Pedotti A. (1998) AUTOSCAN: A flexible and portable scanner of 3D surfaces. IEEE Graphics & Applications, May/June, pp. 38-41.
17) Cerveri P., Borghese N.A. and Pedotti A., (1998) Complete calibration of a stereo photogrammetric system through control points of unknown coordinates. J. Biomech., 10, pp. 935-940.
16) Borghese N.A., Cerveri P., and Ferrigno G. (1997) Statistical comparison of ILSSC versus DLT in the calibration of a photogrammetric stereo-system. J. Biomech., Vol. 30(4), pp. 409-413.
4) Ferrigno G., Borghese N.A., D'Amico M. and Pedotti A. (1991) - Elite: a fully automatic 3-D system for movement analysis assessment. J. Rehab. Res. & Develop. Vol. 28(1), pp. 90-91.
3) Borghese N.A., Di Rienzo M., Ferrigno G. and Pedotti A. (1991) - Elite: a goal-oriented vision system for moving objects detection, Robotica, Vol. 9, pp 275-282.
2) Ferrigno G., Borghese N.A., and Pedotti A. (1990) - Pattern Recognition in 3D Automatic Human Motion Analysis - ISPRS J. of Photogr. and Rem. Sens. 45 pp.227-246.
1) Borghese N.A., Ferrigno G. (1990) - An algorithm for 3D Automatic Movement Analysis by means of standard TVcameras - IEEE Trans. on Biom. Eng. , Vol. 37 pp. 1221-1225.


Book chapters and Conference papers