The Animaris Ordis walk will take place even if it is raining.

Strandbeest creator Theo Jansen in conversation with Neri Oxman and Trevor Smith.

Strandbeest creator Theo Jansen in conversation with Neri Oxman and Trevor Smith.

Former Research Assistant

Former Advisory Council Member

Graduate Student

Bauhaus artist Paul Klee considered a line to be  one of the atomic elements of art and architecture. He famously described a line dra…

The "dream" has historically been conceived in the West as internal, entirely private, impossibly personal. This is at odds with much of th…

Tune in for the FINAL event of this fall featuring Elijah Anderson on November 17 at 2pm.

Revolutionary prosthetic knee fuses with bone and muscle to restore lifelike motion to above-the-knee amputees.

Research finds Covid-19-related lockdowns led to a marked reduction in walking in lower-income areas of major metropolises.

P. Krishnaswamy, E. N. Brown, H. M. Herr

A new surgical procedure gives people more neural feedback from their residual limb. With it, seven patients walked more naturally

H.M. Herr and M. Popovic. Angular momentum in human walking, Journal of Experimental Biology, vol. 211, no. 4, pp. 467-481, 2008.

Matthew Aldrich, Akash Badshah, Brian Mayton, Nan Zhao, Joseph A. Paradiso

Rogers-Bradley, E., Yeon, S.H., Landis, C. et al. Variable-stiffness prosthesis improves biomechanics of walking across speeds compared to a passive device. Sci Rep 14, 16521 (2024). https://doi.org/10.1038/s41598-024-67230-3

M. Popovic and A. Englehart. Angular momentum primitives for human walking: Biomechanics and control, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1685–1691, 2004.

L. M. Mooney, E. J. Rouse and H. M. Herr. Autonomous exoskeleton reduces metabolic cost of walking, International Conference of the IEEE Engineering in Medicine and Biology Society, August. 2014.

We are studying the mechanical behavior of leg muscles and tendons during human walking in order to motivate the design of power-efficient …

Sourabh A. Niyogi, Edward H. Adelson

Our group is excited to share that Leticia Izquierdo will be presenting at the DIS 2026 (Designing Interactive Systems) conference in Singa…

Leticia Izquierdo Garcia, Miguel Ureña-Pliego, Adrian Mora-Carrero, and Kent Larson. 2026. My Digital Twin Walks the City: Decisional Symmetry in Human—Agent Urban Navigation. In Companion Publication of the 2026 ACM Designing Interactive Systems Conference (DIS '26 Companion). Association for Computing Machinery, New York, NY, USA, 194–204. https://doi.org/10.1145/3802974.3809415

L. M. Mooney, E. J. Rouse and H. M. Herr. Autonomous exoskeleton reduces metabolic cost of human walking, Journal of NeuroEngineering and Rehabilitation, vol. 11, pp. 151, November. 2014

K. Endo and H. Herr. A model of muscle-tendon function in human walking, IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 2009.

Tune in for the next event featuring Topher Sanders on November 10 at 2pm.

Katie Matton, Robert Ness, John, Guttag and Emre Kıcıman. Walk the Talk? Measuring the Faithfulness of Large Language Model Explanations. In The Thirteenth International Conference on Learning Representations, ICLR 2025, Singapore, April 24-28, 2025. OpenReview.net, 2025. URL https://openreview.net/forum?id=4ub9gpx9xw.

Farrell, M. T. "Pattern Classification of Terrain During Amputee Walking"

M. Popovic, A. Hofmann, and H. Herr. Angular momentum regulation during human walking: Biomechanics and control, IEEE International Conference on Robotics and Automation, vol. 3, pp. 2405–2411, 2004.

Handford, Matthew L., and Manoj Srinivasan. "Sideways walking: preferred is slow, slow is optimal, and optimal is expensive." Biology letters 10.1 (2014): 20131006.

K. Endo and H. Herr. Human walking model predicts joint mechanics, electromyography and mechanical economy, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, MO, Oct. 2009.

J. Hu, J. Pratt, C.-M. Chew, H. Herr, G. Pratt

H. M. Herr and A. M. Grabowski. Bionic ankle-foot prosthesis normalizes walking gait for persons with leg amputation, Proceedings of the Royal Society B, vol. 279, no. 1728, pp. 457–464, Feb. 2012.

J. J. Hu, J. E. Pratt, C.-M. Chew, H. M. Herr, and G. A. Pratt. Virtual model based adaptive dynamic control of a biped walking robot, International Journal on Artificial Intelligence Tools, vol. 8, no. 3, pp. 337–348, Sep. 1999.

Karl Sims has spent his career exploring the boundaries of computer animation.

Dissertation Title: A Crown vs A Question Mark: Integrating Liberatory AI Principles into Responsible AI

Transients occur in human walking during a transition to, from, and between steady state walking and acts as an impulse destabilizing a gai…

S. Au, J. Weber, H.M Herr

Handford, Matthew L., and Manoj Srinivasan. "Energy-optimal human walking with feedback-controlled robotic prostheses: A computational study." IEEE Transactions on Neural Systems and Rehabilitation Engineering 26.9 (2018): 1773-1782.

Research Scientist

L. M. Mooney, H. M. Herr

K. Endo, D. Paluska, and H.M. Herr. A quasi-passive model of human leg function in level-ground walking, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, Oct. 2006.

E. C. Martinez-Villalpando, and H. M. Herr. Agonist-antagonist active knee prosthesis: A preliminary study in level-ground walking, Journal of Rehabilitation Research & Development (JRRD), vol. 46, no. 3, pp. 361-73, 2009.

Designing Walkable CommunitiesA tangible interface for exploring how the distribution of urban amenities shapes walkability, mobility, and …

Boston.com reports on research conducted by Human Dynamics head Sandy Pentland, visiting professor Esteban Moro, and collaborators.

S. K. Au, P. Dilworth, and H. M. Herr. An ankle-foot emulation system for the study of human walking biomechanics, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, pp. 2939-2945, May 2006.

J. Markowitz and H. Herr. Human Leg Model Predicts Muscle Forces, States, and Energetics during Walking, PLoS Computational Biology, vol. 5, no. 12, May. 2016.

Xiao Xiao, Basheer Tome, Hiroshi Ishii

Sanchez, N.C. and Larson, K., 2024. Shared autonomous micro-mobility for walkable cities. Transportation Research Interdisciplinary Perspectives, 27, p.101236.

L. M. Mooney, E. J. Rouse, H. M. Herr

E. C. Martinez-Villalpando, L. M. Mooney, G. A. Elliott and H. M. Herr. Antagonistic Active Knee Prosthesis. A Metabolic Cost of Walking Comparison with a Variable-Damping Prosthetic Knee, Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE, 2011.

Selected proposals seek to develop positive alternative visions for the future of algorithmic systems and their research communities.

Excessive power consumption and dissipation of electronics with technology scaling, is a serious threat to the Information Society as well …

H. Herr, G. Pratt, R. Dennis, N. Rosenthal, and R. Marsh. From swimming to walking: Examples of how biology is helping us design better machines, Second International Congress on Motion Systems, Jena, Germany, Jul. 2001.

Stolyarov, R. M., Burnett, G., & Herr, H. (2017). Translational Motion Tracking of Leg Joints for Enhanced Prediction of Walking Tasks. IEEE Transactions on Biomedical Engineering, 1-1. doi:10.1109/tbme.2017.2718528

Weinberg, G.

Waleed Akbar, Ahmed Allam, and Fadel Adib. 2023. The Underwater Backscatter Channel: Theory, Link Budget, and Experimental Validation. Proceedings of the 29th Annual International Conference on Mobile Computing and Networking. Association for Computing Machinery, New York, NY, USA, Article 51, 1–15. https://doi.org/10.1145/3570361.3613265

The “Keep Walking City Collection" features art that uses Graviky Lab's AIR-INK to evoke a strong sense of place.

Professor Fadel Adib gave a 30-minute talk about networked control and communications for robotics and sensing at this year's IEE…

H. Geyer and H. Herr. A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities, IEEE Transactions on Neural Systems & Rehabilitation Engineering, 2010.

Picard, R. W., Fedor, S., & Ayzenberg, Y. (2016). Response to Commentaries on “Multiple Arousal Theory and Daily-Life Electrodermal Activity Asymmetry”. Emotion Review, 8(1), 84-86. https://doi.org/10.1177/1754073914565523