Research
City Science

Looking beyond smart cities
Project Research

Elowan: A plant-robot hybrid

Elowan is a cybernetic lifeform, a plant in direct dialogue with a machine. Using its own internal electrical signals, the plant is inter...
Research
Signal Kinetics

Extending human and computer abilities in sensing, communication, and actuation through signals and networks
Research
Space Exploration Initiative

Space Exploration Initiative
Project Research

Designing social robots for older adults

The increasing geographical separation and technological divide between generations have made it more difficult for older adults to inter...
Research
Open Agriculture (OpenAg)

Open Agriculture Initiative (OpenAg)
Article Research

These adorable robots work together to build alien structures

Fiberbots have the potential to construct a variety of structures, from art installations to buildings.
Article Research

Social robots will become family members in the homes of the future

Home robots won’t just be helpers and cleaners—they’ll be teachers and trainers, too.
Project Research

Personalized Machine Learning for Autism Therapy

EngageME: Personalized machine learning and humanoid robots for measuring affect and engagement of children with autismEngageME is a proj...
Research
Social Machines

Promoting deeper learning and understanding in human networks
Research
Affective Computing

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

Personal Food Computer

The OpenAg™ Personal Food Computer is a tabletop-sized, controlled environment agriculture technology platform that uses robotic systems ...
Publication Research

Personal Food Computer: A New Device for Controlled-Environment Agriculture

Castelló Ferrer E. et al. (2019) Personal Food Computer: A New Device for Controlled-Environment Agriculture. In: Arai K., Bhatia R., Kapoor S. (eds) Proceedings of the Future Technologies Conference (FTC) 2018. FTC 2018. Advances in Intelligent Systems and Computing, vol 881. Springer, Cham
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

Urban Swarms

Modern cities have to respond to the growing demands of more efficient and sustainable urban development, as well as an increased quality...
Project Research

Transdermal Optogenetic Peripheral Nerve Stimulation

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

Personal Food Computer: A new device for controlled-environment agriculture

Castelló Ferrer E. et al. (2019) Personal Food Computer: A New Device for Controlled-Environment Agriculture. In: Arai K., Bhatia R., Kapoor S. (eds) Proceedings of the Future Technologies Conference (FTC) 2018. FTC 2018. Advances in Intelligent Systems and Computing, vol 881. Springer, Cham
Publication Research

Urban Swarms: A new approach for autonomous waste management

Alfeo, A. L., Ferrer, E. C., Carrillo, Y. L., Grignard, A., Pastor, L. A., Sleeper, D. T., Cimino, M. G. C. A., Lepri, B., Vaglini, G., Laron, K., Dorigo, M., Pentland, A. `Sandy’. (2018). Urban Swarms: A new approach for autonomous waste management. ArXiv:1810.07910 [Cs].
Publication Research

Managing Byzantine Robots via Blockchain Technology in a Swarm Robotics Collective Decision Making Scenario

Volker Strobel, Eduardo Castelló Ferrer, and Marco Dorigo. 2018. Managing Byzantine Robots via Blockchain Technology in a Swarm Robotics Collective Decision Making Scenario. In Proc. of the 17th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2018), Stockholm, Sweden, July 10–15, 2018, IFAAMAS
Publication Research

The blockchain: a new framework for robotic swarm systems

Castelló Ferrer E. (2019) The Blockchain: A New Framework for Robotic Swarm Systems. In: Arai K., Bhatia R., Kapoor S. (eds) Proceedings of the Future Technologies Conference (FTC) 2018. FTC 2018. Advances in Intelligent Systems and Computing, vol 881. Springer, Cham
Project Research

SkinBot: A Wearable, Skin-Climbing Robot

We introduce SkinBot: a lightweight robot that moves over the skin's surface with a two-legged suction-based locomotion mechanism and cap...
Project Research

Circuit Robots: Mass Manufacturing of Self-Actuating Robots

Integrating sensors and actuators using flexible electronicsCurrently, the manufacturing of self-actuating and self-sensing robots requir...
Project Research

Ritual I: The Thing Itself

Ritual I: The Thing Itself consists of a choreographed robotic body that is in constant flux. It performs a dance of repetitive patt...
Project Research

Robot Expressiveness Affects Children's Learning

Prior research with preschool children has established that book reading, especially when children are encouraged to actively process the...
Project Research

Relational AI

Creating long-term interpersonal interaction and shared experiences with social robots Many of our current projects explore the use ...
Project Research

Emotionally Aware Robot Teammates

Emotionally supportive robots improve overall team functioning!
Project Research

Designing Robots in Mixed Reality

This is a joint proposal from graduate students Vik Parthiban (Media Lab) and Andrew Spielberg (MIT CSAIL, Distributed Robotics Laborator...
Research
Opera of the Future

Extending expression, learning, and health through innovations in musical composition, performance, and participation
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Inventing the future of digitally augmented objects and environments.
Archived
Research
Personal Robots

Building socially engaging robots and interactive technologies to help people live healthier lives, connect with others, and learn better
Publication Research

Epidermal Robots: Wearable Sensors that Climb on The Skin

Dementyev A., Hernandez J., Choi I., Follmer S., Paradiso J., "Epidermal Robots: Wearable Sensors That Climb On The Skin" In Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies, 2 (3), September 2018.
Project Research

LuminAR

LuminAR reinvents the traditional incandescent bulb and desk lamp, evolving them into a new category of robotic, digital information devi...
Archived
Publication Research

SkinBot: A Wearable Skin Climbing Robot

A. Dementyev, J. Hernandez, S. Follmer, I. Choi, and J. Paradiso. "SkinBot: A Wearable Skin Climbing Robot." ACM User Interface Software and Technology Symposium, October 2017.
Project Research

FIBERBOTS: Design of a multi-agent, fiber composite digital fabrication system

FIBERBOTS is a digital fabrication platform fusing cooperative robotic manufacturing with abilities to generate highly sophisticated mate...
Archived
Project Research

Amoeba Wall: A context-aware wall system

Amoetecture is a set of amoeba-like dynamic spatial elements, including transformable floors, ceilings, tables, chairs, and workstations....
Archived
Research
Mediated Matter

Designing for, with, and by nature
Project Research

Wireless Communication from Underwater to the Air

Did you know that submarines today still cannot wirelessly communicate with airplanes? For decades, communicating between underwater and ...
Research
Biomechatronics

Enhancing human physical capability
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.