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Space Exploration Initiative
Designing systems for cognitive enhancement
Reconnecting muscle pairs during amputation gives patients more sensory feedback from the limb.
Enhancing human physical capability
Yeon, Seong Ho, et al. "Flexible Dry Electrodes for EMG Acquisition within Lower Extremity Prosthetic Sockets." 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). IEEE.
Acquisition of surface electromyography (sEMG) from a person with an amputated lower extremity (LE) during prosthesis-assisted walking re...
We are engineering a better healthcare system for people with diabetes and limb loss such that we can physically bridge gaps to...
Humans can accurately sense the position, speed, and torque of their limbs, even with their eyes shut. This sense, known as proprioceptio...
Although there have been great advances in the control of lower extremity prostheses, transitioning between terrains such as ramps or sta...
Augmenting and mediating human experience, interaction, and perception with sensor networks
Designing for, with, and by nature
For the robotics category of the innovation series, the USPS chose the bionic prosthesis designed by Media Lab PhD graduate Matt Carney
The stamp is part of a new USPS series on innovation, representing computing, biomedicine, genome sequencing, robotics, and solar technology
Everett Lawson and Matt Carney worked with Biomechatronics group head Hugh Herr to fit Everett with a bionic prosthesis.
The design of next-generation bionic ankles and knees aims to improve bionic actuators on all metrics: range of motion, power density, ba...
SpaceHuman is a soft robotics device designed to facilitate the exploration of environments with reduced gravity in a view of democratiza...
Center for Extreme Bionics
Developed by a team of Media Lab researchers, SpaceHuman is a seahorse-inspired additive prosthetic for use in microgravity environments.
Matt Carney discusses his interest in humanoid robots and the importance of design aesthetics and user experience in developing prostheses.
Mechanical, electrical, and dynamic control systems recreate biological behavior with synthetic hardware.
Cristina Quinn profiles Morgan Stickney, an elite swimmer who's the first person to undergo a bilateral Ewing amputation.
A research team, including members of the Biomechatronics group, devises a new surgery for hand amputations and prostheses.
Morgan Stickney is an elite swimmer who's helping pave the way for the next generation of bionic prosthetics and para-athletes.
Envisioning the future (and challenges) of designing affordable technology-enabled mobility devices.
Three-dimensional Digital Image Correlation (3D-DIC) is a non-contact optical-numerical technique for evaluating the dynamic mechani...
This research track focuses on the use of computational (and experimental) techniques to understand the biomechanical behavior of human t...
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, 2, eaan2971 (2017).
Recent advances in artificial limbs have resulted in the provision of powered ankle and knee function for lower extremity amputees and po...
Optogenetic techniques have recently been applied to peripheral nerves as a scientific tool with the translatable go...
Nerve-Muscle Graft Chamber and micro-channel arrays tor interface to peripheral nerves for prosthesis control. This research effort ...
Because old-school surgical amputation hasn’t kept up with modern-day medicine.
Electrical stimulation (FES) is the current clinical stimulation modality used to restore function and provide therapy in a variety of cl...
New optogenetic technique could help restore limb movement, treat muscle tremor.
New device gives an amputee the ability to feel the location of his foot
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.
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.
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.
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.
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.
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.
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.
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.
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.
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
L. M. Mooney and H. M. Herr Continuously-Variable Series-Elastic Actuator, Proceedings of the IEEE International Conference on Rehabilitation Robotics, 2013
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
H. M. Herr and B. Dennis. A swimming robot actuated by living muscle tissue, Journal of NeuroEngineering and Rehabilitation, vol. 1, no. 6, 2004.
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.
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.
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.
D.H. Gates, J. Lelas, U. Della Croce, H. M. Herr, P. Bonato
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.
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.
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.
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.
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.
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.
H. Herr, G. P. Whiteley, and D. Childress. Chapter 5: Cyborg Technology – Biomimetic Orthotic and Prosthetic Technology, SPIE Press, Bellingham, WA, 2003.