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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

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.

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.

J. J. Hu, J. E. Pratt, C.-M. Chew, H. M. Herr, and G. A. Pratt. Virtual model based adaptive dynamic control of a biped walking robot, International Journal on Artificial Intelligence Tools, vol. 8, no. 3, pp. 337–348, Sep. 1999.

H. Herr and N. Langman. Optimization of human-powered elastic mechanisms for endurance amplification, Structural Optimization, vol. 13, no. 1, pp. 65–67, Feb. 1997.

C. Walsh, K. Pasch, and H. M. Herr. An autonomous, underactuated exoskeleton for loadcarrying augmentation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, China, Oct. 2006.

C. Walsh, K. Endo, and H. M. Herr. A quasi-passive leg exoskeleton for load-carrying augmentation, International Journal of Humanoid Robotics, vol. 4, no. 3, pp. 487-506, 2007.

S. K. Au, J. Weber, and H. Herr. Biomechanical design of a powered ankle-foot prosthesis, IEEE 10th International Conference on Rehabilitation Robotics, pp. 298–303, 2007.

S. K. Au, J. Weber, H. M. Herr and E.C. Martinez-Villapando, Powered ankle-foot prosthesis for the improvement of amputee ambulation, IEEE Engineering in Medicine and Biology International Conference, Lyon, France, pp. 3020-3026, 2007.

E. C. Martinez-Villalpando, H. M. Herr. Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis, IEEE Engineering in Medicine and Biology International Conference, Lyon, France, pp. 4687-4692, 2007.

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

H.M. Herr and M. Popovic. Angular momentum in human walking, Journal of Experimental Biology, vol. 211, no. 4, pp. 467-481, 2008.

A. Dollar and H. M. Herr. Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art, IEEE Transactions on Robotics, Special Issue on Biorobotics, vol. 24, no. 1, pp. 144-158, 2008.

E. J. Rouse, L. M. Mooney, E. C. Martinez-Villalpando and H. M. Herr A clutchable series-elastic actuator: design of a robotic knee prosthesis for minimum energy consumption, Proceedings of the IEEE International Conference on Rehabilitation Robotics, 2013

M. T. Farrell, H. M. Herr

G. Elliott, A. Marecki and H. Herr. Design of a Clutch–Spring Knee Exoskeleton for Running, Journal of Medical Devices, vol 8, no. 3, 031002-031002-11, July. 2014.

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

H. M. Herr and A. M. Grabowski. Bionic ankle-foot prosthesis normalizes walking gait for persons with leg amputation, Proceedings of the Royal Society B, vol. 279, no. 1728, pp. 457–464, Feb. 2012.

H. Herr. Exoskeletons and orthoses: classification, design challenges and future directions, Journal of NeuroEngineering and Rehabilitation, vol. 6, no. 1, p. 21, Jun. 2009.

A. M. Grabowski, C. P. McGowan, W. J. McDermott, M. T. Beale, R. Kram, and H. M. Herr. Running-specific prostheses limit ground-force during sprinting, Biology Letters, vol. 6, no. 2, pp. 201-204, 2010.

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

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

L. M. Mooney, E. J. Rouse and H. M. Herr. Autonomous exoskeleton reduces metabolic cost of human walking, Journal of NeuroEngineering and Rehabilitation, vol. 11, pp. 151, November. 2014

D. Sengeh, H. M. Herr

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

E. J. Rouse, L. M. Mooney and H. M. Herr Clutchable series-elastic actuator: Implications for prosthetic knee design International Journal of Robotics Research, 2014, in press

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

Moerman, K. M., Simms, C. K., Nagel, T. Control of tension-compression asymmetry in Ogden hyperelasticity with application to soft tissue modelling Journal of the Mechanical Behavior of Biomedical Materials, 56, 218–228, 2016

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

H. M. Herr, R. R. Riso, K. W. Song, R. J.Casler, M. J. Carty, Peripheral Neural Interface Via Nerve Regeneration to Distal Tissues. US Patent US20160346099 (2016).

L. M. Mooney, H. M. Herr

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

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

J.F. Duval, H. M. Herr

J.F. Duval, H. M. Herr

Maimon BE, Zorzos AN, Bendell R, Harding A, Fahmi M, Srinivasan S, Calvaresi P, Herr HM. J Neural Eng. 2017 Feb 3;14(3): 034002