Project Research

A Protocol to Characterize pH Sensing Materials and Systems

​Although significant progress is being made in identifying pH sensing materials and device configurations, a standard protocol for ...
Project Research

Miniaturized Neural System for Chronic, Local Intracerebral Drug Delivery (MiNDS)

Recent advances in medications for neurodegenerative disorders are expanding opportunities for improving the debilitating symptoms suffer...
Research
Camera Culture

Making the invisible visible–inside our bodies, around us, and beyond–for health, work, and connection
Research
Mediated Matter

Designing for, with, and by nature
Research
Affective Computing

Advancing wellbeing by using new ways to communicate, understand, and respond to emotion
Research
Conformable Decoders

Converting the patterns of nature and the human body into beneficial signals and energy
Research
Signal Kinetics

Extending human and computer abilities in sensing, communication, and actuation through signals and networks
Research
Fluid Interfaces

Wearable and immersive systems for cognitive enhancement and personal growth
Research
Space Enabled

Advancing justice in Earth's complex systems using designs enabled by space
Research
Social Machines

Promoting deeper learning and understanding in human networks
Research
ML Learning

ML Learning
Project Research

Conformal, Implantable Viscosity, and Electrochemical Sensors

Continuous localized tissue monitoring and disease treatmentThe ability to continuously monitor physical patterns, such as pH in the...
Research
Sculpting Evolution

Exploring evolutionary and ecological engineering
Research
Scalable Cooperation

Reimagining human cooperation in the age of social media and artificial intelligence
Research
Civic Media

Creating technology for social change
Research
Biomechatronics

Enhancing human physical capability
Project Research

Tools for mapping the molecular architecture and wiring of the brain

Complex biological systems such as brain circuits are extended 3-D structures made out of nanoscale building blocks such as proteins, RNA...
Project Research

Self-learning AI model learns from patient data to design novel clinical trials

Technical summaryUnstructured learning problems without well-defined rewards are unsuitable for current reinforcement learning (RL) appro...
Article Research

The public doesn’t trust GMOs. Will it trust CRISPR?

There’s a huge opportunity to improve agriculture with gene editing. But we need to give CRISPR a chance.
Article Research

How AI is making it easier to diagnose disease

What if we could drastically reduce the amount of data needed to train an AI, making diagnoses low-cost and more effective?
Article Research

Prosthetic limb restores a sense of body position

New device gives an amputee the ability to feel the location of his foot
Article Research

Surprising climate change effects: more fatal crashes, less food safety

Add deadly car crashes and food safety risks — and the officials overseeing them — to the list of things affected by climate change.
Project Research

Neural Interfaces

Our team aims to improve bi-directional communication between the human nervous system, biological limbs, and bionic prostheses, through ...
Project Research

Transdermal Optogenetic Peripheral Nerve Stimulation

Optogenetic techniques have recently been applied to peripheral nerves as a scientific tool with the translatable go...
Project Research

Agonist-antagonist Myoneural Interface (AMI)

Humans can accurately sense the position, speed, and torque of their limbs, even with their eyes shut. This sense, known as proprioceptio...
Project Research

Cookbook for Zero Gravity

The human experience of food extends far beyond that of mere nourishment. Debriefs with astronauts tell us that food is a key c...
Project Research

Near-Infrared Imaging for Detecting Dental Caries

Two-dimensional radiographs are commonly used for evaluating sub-surface hard structures of teeth, but they have low sensitivity for earl...
Project Research

Machine Learning for Combined Classification of Fluorescent Biomarkers and Expert Annotations Using White Light Images

Biomarker imaging provides non-invasive indicators of disease and is used by human experts to augment disease diagnosis. It is, however, ...
Project Research

Technology-Enabled Mobile Phone Screenings Augment Routine Primary Care

We have developed a new process to screen patients at the point-of-care with FDA-approved technology-enabled mobile health screenings (TE...
Project Research

OPAL 4 Health

Open Algorithms (OPAL)
Project Research

Identifying the Human Impacts of Climate Change

Climate change is going to alter the environments that we depend on in myriad ways. We're using data to identify and quantify these poten...
Post Research

Exploring the effects of environmental stressors on daily governance

If we are unable to adapt to climate change, it may amplify the marginal gap between citizen need and government assistance.
Publication Research

Human walking model predicts joint mechanics electromyography and mechanical economy

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.
Publication Research

An artificial gastrocnemius for a transtibial prosthesis

K. Endo, E. Swart, H. M. Herr, An artificial gastrocnemius for a transtibial prosthesis, Engineering in Medicine and Biology Society, EMBC, 2009 Annual International Conference of the IEEE, pp.5034-5037, Sep. 2009.
Publication Research

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

R. Kram, A. M. Grabowski, C. P. McGowan, M. B. Brown, and H. M. Herr. Counterpoint: Artificial legs do not make artificially fast running speeds possible, Journal of Applied Physiology, vol. 108, no. 4, pp. 1012–1014, Apr. 2010.
Publication Research

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

M. F. Eilenberg, H. Geyer, and H. M. Herr. Control of a powered ankle-foot prosthesis based on a neuromuscular model, IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 18, no. 2, pp. 164-173, 2010.
Publication Research

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

W. Farahat and H. M. Herr. Optimal workloop energetics of muscle-actuated systems an impedance matching view, PLoS Computational Biology, vol. 6, no. 6, 2010.
Publication Research

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

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.
Publication Research

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 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.
Publication Research

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

G. Elliott, G.S. Sawicki, A. Marecki, H. Herr. The biomechanics and energetics of human running using an elastic knee exoskeleton, International Conference on Rehabilitation Robotics, 2013.
Publication Research

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

D. Hill and H. M. Herr. Effects of a powered ankle-foot prosthesis on kinetic loading of the contralateral limb: a case series, Proceedings of the IEEE International Conference on Rehabilitation Robotics, 2013.
Publication Research

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

J. Wang, O. A. Kannape, and H. M. Herr Proportional EMG Control of Ankle Plantar Flexion in a Powered Transtibial Prosthesis, Proceedings of the IEEE International Conference on Rehabilitation Robotics, 2013
Publication Research

Continuously-Variable Series-Elastic Actuator

L. M. Mooney and H. M. Herr Continuously-Variable Series-Elastic Actuator, Proceedings of the IEEE International Conference on Rehabilitation Robotics, 2013
Publication Research

A model of muscle-tendon function in human walking

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.
Publication Research

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

A. Dollar and H. M. Herr. Active orthoses for the lower-limbs- Challenges and state of the art, Proceedings of the 2007 IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, pp. 968-977, Jun. 2007.
Publication Research

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

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.
Publication Research

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

D. Paluska and H. M. Herr. The effect of series elasticity on actuator power and work output: Implications for robotic and prosthetic joint design, Robotics and Autonomous Systems, vol. 54, pp. 667–673, 2006.
Publication Research

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

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.
Publication Research

An apparatus for characterization and control of isolated muscle

W. Farahat and H. M. Herr. An apparatus for characterization and control of isolated muscle, IEEE Transactions on Neural Systems & Rehabilitation Engineering, vol. 13, no. 4, pp. 473-481, 2005.
Publication Research

Ground reference points in legged locomotion: Definitions biological trajectories and control implications

M. Popovic, A. Goswami, and H. M. Herr. Ground reference points in legged locomotion: Definitions, biological trajectories and control implications, International Journal of Robotics Research, vol. 24, no. 10, pp. 1013-1032, 2005.
Publication Research

A method for identification of hammerstein models of electrically stimulated muscle

W. Farahat and H. M. Herr. A method for identification of hammerstein models of electrically stimulated muscle, 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Shanghai, China, Sep. 2005.
Publication Research

Global motion control and support base planning

M. Popovic and H.M. Herr. Global motion control and support base planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Edmonton, Canada, Aug. 2005.
Publication Research

A clinical comparison of variable-damping and mechanically-passive prosthetic knee devices

J. Johansson, D. Sherrill, P. Riley, P. Bonato, and H. M. Herr. A clinical comparison of variable-damping and mechanically-passive prosthetic knee devices, American Journal of Physical Medicine & Rehabilitation, vol. 84, no. 8, pp. 563-575, 2005.
Publication Research

Zero spin angular momentum control: Definition and applicability

M. Popovic, A. Hofmann, and H. Herr. Zero spin angular momentum control: Definition and applicability, 4th IEEE/RAS International Conference on Humanoid Robots, vol. 1, pp. 478–493, 2004.
Publication Research

A swimming robot actuated by living muscle tissue

H. M. Herr and B. Dennis. A swimming robot actuated by living muscle tissue, Journal of NeuroEngineering and Rehabilitation, vol. 1, no. 6, 2004.
Publication Research

Multidisciplinary approaches to limb loss: A chain of events leading to a single step

H. M. Herr. Multidisciplinary approaches to limb loss: A chain of events leading to a single step, Journal of Rehabilitation Research and Development, White House/VA Conference, Emerging Technologies, Washington, D.C., pp. 76-80, Oct. 2004.
Publication Research

A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs

A. Hofmann, S. Massaquoi, M. Popovic, and H. Herr. A sliding controller for bipedal balancing using integrated movement of contact and non-contact limbs, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, pp. 1952–1959, 2004.
Publication Research

Angular momentum primitives for human walking: Biomechanics and control

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.
Publication Research

Characterization of ankle function during stair ambulation

D.H. Gates, J. Lelas, U. Della Croce, H. M. Herr, P. Bonato
Publication Research

New horizons for orthotic and prosthetic technology: Artificial muscle

H. M. Herr and R. Kornbluh. New horizons for orthotic and prosthetic technology: Artificial muscle, Smart Structures and Materials: Electroactive Polymer Actuators and Devices, San Diego, CA, Mar. 2004.
Publication Research

Chapter 48: Rehabilitation Robotics Orthotics and Prosthetics

H. Krebs, N. Hogan, W. Durfee, and H. Herr. Chapter 48: Rehabilitation Robotics, Orthotics, and Prosthetics, Textbook of Neural Repair and Rehabilitation Vol. 2, 2004.
Publication Research

Angular momentum regulation during human walking: Biomechanics and control

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.
Publication Research

Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait

J. Blaya and H. M. Herr. Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait, IEEE Transactions on Neural Systems & Rehabilitation Engineering. vol. 12, no. 1, pp. 24-31, 2004.
Publication Research

Swing-leg retraction: a simple control model for stable running

A. Seyfarth, H. Geyer, and H. M. Herr. Swing-leg retraction: a simple control model for stable running, The Journal of Experimental Biology, vol. 206, pp. 2547-2555, 2003.
Publication Research

User-adaptive control of a magnetorhelogical prosthetic knee

H. M. Herr and A. Wilkenfeld. User-adaptive control of a magnetorhelogical prosthetic knee, Industrial Robot: An International Journal, vol. 30, pp. 42-55, 2003.
Publication Research

Chapter 5: Cyborg Technology – Biomimetic Orthotic and Prosthetic Technology

H. Herr, G. P. Whiteley, and D. Childress. Chapter 5: Cyborg Technology – Biomimetic Orthotic and Prosthetic Technology, SPIE Press, Bellingham, WA, 2003.
Publication Research

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, and H. Herr. The fastest runner on artificial legs: Different limbs, similar function?, Journal of Applied Physiology, vol. 107, no. 3, pp. 903–911, Sep. 2009.
Publication Research

Leg stiffness of sprinters using running-specific prostheses

C. P. McGowan, A. M. Grabowski, W. J. McDermott, H. M. Herr, and R. Kram. Leg stiffness of sprinters using running-specific prostheses, Journal of the Royal Society Interface, vol. 9, no. 73, pp. 1975-1982, 2012.
Publication Research

An EMG-position controlled system for an active ankle-foot prosthesis: An initial experimental study

S. K. Au, P. Bonato, and H. M. Herr. An EMG-position controlled system for an active ankle-foot prosthesis: An initial experimental study, IEEE 9th International Conference on Rehabilitation Robotics (ICORR): Frontiers of the Human-Machine Interface, Chicago, IL, pp. 375-379, Jun. 2005.