Research
Biomechatronics

Enhancing human physical capability
Research
Center for Extreme Bionics

Center for Extreme Bionics
Project Research

Neural interface technology for advanced prosthetic limbs

Recent advances in artificial limbs have resulted in the provision of powered ankle and knee function for lower extremity amputees and po...
Project Research

Terrain-Adaptive Lower Limb Prosthesis

Although there have been great advances in the control of lower extremity prostheses, transitioning between terrains such as ramps or sta...
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

Neural Interfaces

Nerve-Muscle Graft Chamber and micro-channel arrays tor interface to peripheral nerves for prosthesis control. This research effort ...
Project Research

Mechatronic Systems

Mechanical, electrical, and dynamic control systems recreate biological behavior with synthetic hardware.

Project Research

Computational Biomechanics

This research track focuses on the use of computational (and experimental) techniques to understand the biomechanical behavior of human t...
Project Research

High power bionic joints for dynamic gait actions

The design of next-generation bionic ankles and knees aims to improve bionic actuators on all metrics: range of motion, power density, ba...
Project Research

MultiDIC: a MATLAB Toolbox for Multi-View 3D Digital Image Correlation

 Three-dimensional Digital Image Correlation (3D-DIC) is a non-contact optical-numerical technique for evaluating the dynamic m...
Article Research

The whiz kid building a better cyborg

Because old-school surgical amputation hasn’t kept up with modern-day medicine.
Research
Mediated Matter

Designing for, with, and by nature
Archived
Project Research

Closed-Loop Optogenetics for Peripheral Nerve Control

Electrical stimulation (FES) is the current clinical stimulation modality used to restore function and provide therapy in a variety of cl...
Archived
Article Research

Leg nerves activated by light offer new path to restoring mobility

New optogenetic technique could help restore limb movement, treat muscle tremor.
Article Research

Prosthetic limb restores a sense of body position

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

Design of a quasi-passive knee exoskeleton to assist running

A. M. Dollar and H. Herr. Design of a quasi-passive knee exoskeleton to assist running, Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, Sep. 2008.
Publication Research

Workloop energetics of antagonist muscles

W. Farahat and H. M. Herr. Workloop energetics of antagonist muscles, 28th International Conference of the IEEE Engineering in Medicine and Biology Society, New York, NY, 2006.
Publication Research

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

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.
Publication Research

Design of an agonist-antagonist active knee prosthesis

E.C. Martinez-Villalpando, J. Weber, G. Elliott, and H. M. Herr. Design of an agonist-antagonist active knee prosthesis, Proceedings of IEEE BIORobotics Conference, Scottsdale, AZ, 2008.
Publication Research

Development of a lightweight underactuated exoskeleton for load-carrying augmentation

C. Walsh, D. Paluska, K. Pasch, W. Grand, A. Valiente, and H. M. Herr. Development of a lightweight, underactuated exoskeleton for load-carrying augmentation, Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, FL, pp. 2939-2945, May 2006.
Publication Research

Patient-adaptive prosthetic and orthotic leg systems

H. M. Herr, A. Wilkenfeld, and J. Blaya. Patient-adaptive prosthetic and orthotic leg systems, Proceedings of the 12th Nordic Baltic Conference on Biomedical Engineering and Medical Physics, Reykjavik, Iceland, pp. 123-128, Jun. 2002.
Publication Research

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

S. K. Au and H. M. Herr. Initial experimental study on dynamic interaction between an amputee and a powered ankle-foot prosthesis, Workshop on Dynamic Walking: Mechanics and Control of Human and Robot Locomotion, Ann Arbor, MI, May 2006.
Publication Research

A model of scale effects in mammalian quadrupedal running

H. M. Herr, G. T. Huang, and T. A. McMahon. A model of scale effects in mammalian quadrupedal running, Journal of Experimental Biology, vol. 205, no. 7, pp. 959-967, 2002.
Publication Research

Energetics and mechanics of human running on surfaces of different stiffnesses

A. E. Kerdok, A. A. Biewener, T. A. McMahon, P. G. Weyand, and H. M. Herr. Energetics and mechanics of human running on surfaces of different stiffnesses, Journal of Applied Physiology, vol. 92, no. 2, pp. 469-478, 2002.
Publication Research

A trotting horse model

H. M. Herr and T. A. McMahon. A trotting horse model, The International Journal of Robotics Research, vol. 19, no. 6, pp. 566–581, Jun. 2000.
Publication Research

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, and V. Potkonjak. Biological Principles of Control Selection for a Humanoid Robot’s Dynamic Balance Preservation. International Journal of Humanoid Robotics, vol. 5, no. 4, pp 639-678, 2008.
Publication Research

Autonomous exoskeleton reduces metabolic cost of walking

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.
Publication Research

Powered ankle-foot prosthesis

S. K. Au, and H. M. Herr. Powered ankle-foot prosthesis, IEEE Robotics & Automation Magazine, vol. 15, no. 3, pp. 52-59, 2008.
Publication Research

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

A. Hofmann, M. Popovic, and H. M. Herr. Exploiting angular momentum to enhance bipedal center-of-mass control, IEEE International Conference on Robotics and Automation (ICRA ’09), pp. 4423-4429, 2009.
Publication Research

Volitional Control of Ankle Plantar Flexion in a Powered Transtibial Prosthesis during Stair-Ambulation

O. A. Kannape and H. M. Herr Volitional Control of Ankle Plantar Flexion in a Powered Transtibial Prosthesis during Stair-Ambulation, International Conference of the IEEE Engineering in Medicine and Biology Society, August. 2014.
Publication Research

Humanoid standing control: learning from human demonstration

A. Hofmann, M. Popovic, and H. Herr. Humanoid standing control: learning from human demonstration, Journal of Automatic Control, vol. 12, no. 1, pp. 16–22, 2002.
Publication Research

From swimming to walking: Examples of how biology is helping us design better machines

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.