Hugh Herr

Biomechatronics
Publication

Translational Motion Tracking of Leg Joints for Enhanced Prediction of Walking Tasks

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

Publication

On prosthetic control: A regenerative agonist-antagonist myoneural interface

S. S. Srinivasan, M. J. Carty, P. W. Calvaresi, T. R. Clites, B. E. Maimon, C. R. Taylor, A. N. Zorzos, H. Herr, On prosthetic control: A regenerative agonist-antagonist myoneural interface. Sci. Robot. 2, eaan2971 (2017).

Publication

FlexSEA-Execute: Advanced Motion Controller for Wearable Robotic Applications

J.F. Duval, H. M. Herr

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FlexSEA: Flexible Scalable Electronics Architecture for Wearable Robotic Applications

J.F. Duval, H. M. Herr

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Assessment of Nerve Regeneration through a Novel Microchannel Array

B. Maimon, A. N. Zorzos, K. W. Song, R. Bendell, R. Riso, H. M. Herr

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Multi-Material 3-D Viscoelastic Model of a Transtibial Residuum from In-vivo Indentation and MRI Data

Sengeh DM, Moerman, K. M., Petron A, Herr H.M.

Publication

Biomechanical walking mechanisms underlying the metabolic reduction caused by an autonomous exoskeleton

L. M. Mooney, H. M. Herr

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Design and testing of a bionic dance prosthesis

E. J. Rouse, N. C. Villagaray-Carski, R. W. Emerson, H. M. Herr

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FlexSEA: flexible, scalable electronics architecture for wearable robotic applications

Duval, JF "FlexSEA: flexible, scalable electronics architecture for wearable robotic applications"

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Autonomous exoskeleton reduces metabolic cost of human walking during load carriage

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

Publication

Autonomous exoskeleton reduces metabolic cost of human walking

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

Publication

Clutchable series-elastic actuator: Implications for prosthetic knee design

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

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Design of a Clutch–Spring Knee Exoskeleton for Running

G. Elliott, A. Marecki, H. Herr

Publication

Voxel-based Fabrication through Material Property Mapping

E.L. Doubrovski, Elizabeth Tsai, D. Dikovsky, J.M.P. Geraedts, Hugh Herr, Neri Oxman

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Autonomous exoskeleton reduces metabolic cost of walking

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

Publication

A variable impedance prosthetic socket for a transtibial amputee designed from MRI data

D. Sengeh, H. M. Herr

Publication

A clutchable series-elastic actuator: design of a robotic knee prosthesis for minimum energy consumption

E. J. Rouse, L. M. Mooney, E. C. Martinez-Villalpando, H. M. Herr

Publication

Continuously-Variable Series-Elastic Actuator

L. M. Mooney, H. M. Herr

Publication

Proportional EMG Control of Ankle Plantar Flexion in a Powered Transtibial Prosthesis

J. Wang, O. A. Kannape, H. M. Herr

Publication

Effects of a powered ankle-foot prosthesis on kinetic loading of the contralateral limb: a case series

D. Hill, H. M. Herr

Publication

Pattern Classification of Terrain During Amputee Walking

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

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The biomechanics and energetics of human running using an elastic knee exoskeleton

G. Elliott, G.S. Sawicki, A. Marecki, H. Herr

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Advanced Prototyping of Variable Impedance Prosthetic Sockets for Trans-tibial Amputees: Polyjet Matrix 3D Printing of Comfortable Prostheti

Sengeh, D. "Advanced Prototyping of Variable Impedance Prosthetic Sockets for Trans-tibial Amputees: Polyjet Matrix 3D Printing of Comfortable Prosthetic Sockets Using Digital Anatomical Data"

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Effects of a Powered Ankle Prosthesis on Shock Absorption and Residual Limb/Socket Interface Pressure

Hill, D. "Effects of a Powered Ankle Prosthesis on Shock Absorption and Residual Limb/Socket Interface Pressure"

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Design and Evaluation of a Biomimetic Agonist-Antagonist Active Knee Prosthesis

Martinez-Villalpando, E. "Design and Evaluation of a Biomimetic Agonist-Antagonist Active Knee Prosthesis"

Publication

Leg stiffness of sprinters using running-specific prostheses

C. P. McGowan, A. M. Grabowski, W. J. McDermott, H. M. Herr, R. Kram.

Publication

Antagonistic Active Knee Prosthesis. A Metabolic Cost of Walking Comparison with a Variable-Damping Prosthetic Knee

E. C. Martinez-Villalpando, L. M. Mooney, G. A. Elliott, H. M. Herr

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A method to determine the optimal features for control of a powered lower-limb prostheses

M. T. Farrell, H. M. Herr

Publication

Bionic ankle-foot prosthesis normalizes walking gait for persons with leg amputation

H. M. Herr, A. M. Grabowski

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Human leg model predicts ankle muscle-tendon morphology state roles and energetics in walking

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

Publication

Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model

J. Markowitz, P. Krishnaswamy, M. F. Eilenberg, K. Endo, C. Barnhart, H. M. Herr

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A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities

H. Geyer, H. Herr

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Optimal workloop energetics of muscle-actuated systems an impedance matching view

W. Farahat, H. M. Herr

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Control of a powered ankle-foot prosthesis based on a neuromuscular model

M. F. Eilenberg, H. Geyer, H. M. Herr

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Counterpoint: Artificial legs do not make artificially fast running speeds possible

R. Kram, A. M. Grabowski, C. P. McGowan, M. B. Brown, H. M. Herr

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Running-specific prostheses limit ground-force during sprinting

A. M. Grabowski, C. P. McGowan, W. J. McDermott, M. T. Beale, R. Kram, H. M. Herr

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Human walking model predicts joint mechanics electromyography and mechanical economy

K. Endo, H. Herr

Publication

An artificial gastrocnemius for a transtibial prosthesis

K. Endo, E. Swart, H. M. Herr

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Exoskeletons and orthoses: classification design challenges and future directions

H. Herr

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The fastest runner on artificial legs: Different limbs similar function?

P. G. Weyand, M. W. Bundle, C. P. McGowan, A. Grabowski, M. B. Brown, R. Kram, H. Herr

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Angular Momentum in Turns and Abrupt Starts: Strategies for Bipedal Balance Control

Farrell, M. T. "Angular Momentum in Turns and Abrupt Starts: Strategies for Bipedal Balance Control"

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A model of muscle-tendon function in human walking

K. Endo, H. Herr

Publication

Exploiting angular momentum to enhance bipedal center-of-mass control

A. Hofmann, M. Popovic, H. M. Herr

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Leg exoskeleton reduces the metabolic cost of human hopping

A. M. Grabowski, H. M. Herr

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Agonist-antagonist active knee prosthesis: A preliminary study in level-ground walking

E. C. Martinez-Villalpando, H. M. Herr

Publication

Powered Ankle-Foot Prosthesis Improves Walking Metabolic Economy

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

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Angular momentum primitives for human turning: Control implications for biped robots

T. Farrell, H. Herr

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Biomimetic prosthetic knee using antagonistic muscle-like activation

E.C. Martinez-Villalpando, J. Weber, G. Elliott, H. M. Herr

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Workloop energetics of antagonist muscles

W. Farahat, H. M. Herr

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Design of an agonist-antagonist active knee prosthesis

E.C. Martinez-Villalpando, J. Weber, G. Elliott, H. M. Herr

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Design of a quasi-passive knee exoskeleton to assist running

A. M. Dollar, H. Herr

Publication

Powered ankle-foot prosthesis

S. K. Au, H. M. Herr

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Impedance matching as a means of enhancing mechanical energetics in muscle-actuated systems

W. Farahat, H. M. Herr

Publication

Biological Principles of Control Selection for a Humanoid Robot's Dynamic Balance Preservation.

M. Vukobratovic, H. Herr, B. Borovac, M. Popovic, A Hofmann, M Jovanovic, V. Potkonjak.

Publication

Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits

S. K. Au, M. Berniker, H. M. Herr

Publication

Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art

A. Dollar, H. M. Herr

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Angular momentum in human walking

H.M. Herr, M. Popovic

Publication

An Inertial Measurement-Based Gait Detection System for Active Leg Prostheses

Aisen, B. "An Inertial Measurement-Based Gait Detection System for Active Leg Prostheses"

Publication

Powered ankle-foot prosthesis for the improvement of amputee ambulation

S. K. Au, J. Weber, H. M. Herr, E.C. Martinez-Villapando

Publication

Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis

E. C. Martinez-Villalpando, H. M. Herr

Publication

Biomechanical design of a powered ankle-foot prosthesis

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

Publication

Active orthoses for the lower-limbs- Challenges and state of the art

A. Dollar, H. M. Herr

Publication

A quasi-passive leg exoskeleton for load-carrying augmentation

C. Walsh, K. Endo, H. M. Herr

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A quasi-passive model of human leg function in level-ground walking

K. Endo, D. Paluska, H.M. Herr

Publication

An autonomous underactuated exoskeleton for loadcarrying augmentation

C. Walsh, K. Pasch, H. M. Herr

Publication

Estimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prothesis

Martinez-Villalpando, E. "Estimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prothesis"

Publication

Horizons in prosthesis development for the restoration of limb function

R. Aaron, H. M. Herr, D. Ciombor, L. Hochberg, J. Donoghue, C. Briant, J. Morgan, M. Ehrlich.

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The effect of series elasticity on actuator power and work output: Implications for robotic and prosthetic joint design

D. Paluska, H. M. Herr

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A Vibrotactile Display Design for the Feedback of External Prosthesis Sensory Information to the Amputee Wearer

Chew, A. "A Vibrotactile Display Design for the Feedback of External Prosthesis Sensory Information to the Amputee Wearer"

Publication

An ankle-foot emulation system for the study of human walking biomechanics

S. K. Au, P. Dilworth, H. M. Herr

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Initial experimental study on dynamic interaction between an amputee and a powered ankle-foot prosthesis

S. K. Au, H. M. Herr

Publication

Development of a lightweight underactuated exoskeleton for load-carrying augmentation

C. Walsh, D. Paluska, K. Pasch, W. Grand, A. Valiente, H. M. Herr