Publication

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

Optogenetics: Tools for Controlling and Monitoring Neuronal Activity

T. Knopfel and E. Boyden, eds. (2012) Optogenetics: Tools for Controlling and Monitoring Neuronal Activity, Progress in Brain Research, vol. 196, Elsevier.

Publication

A method to determine the optimal features for control of a powered lower-limb prostheses

M. T. Farrell, H. M. Herr

Publication

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

Bionic ankle-foot prosthesis normalizes walking gait for persons with leg amputation

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.

Publication

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

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

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

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

Running-specific prostheses limit ground-force during sprinting

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.

Publication

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

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

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

Exoskeletons and orthoses: classification design challenges and future directions

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

Publication

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

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

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

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

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

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

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

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

Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits

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

Publication

Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art

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.

Publication

Angular momentum in human walking

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

Publication

An Inertial Measurement-Based Gait Detection System for Active Leg Prostheses

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

Publication

Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis

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.

Publication

Powered ankle-foot prosthesis for the improvement of amputee ambulation

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.

Publication

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

Biomechanical design of a powered ankle-foot prosthesis

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.

Publication

A quasi-passive leg exoskeleton for load-carrying augmentation

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.

Publication

An autonomous underactuated exoskeleton for loadcarrying augmentation

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.

Publication

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Characterization of ankle function during stair ambulation

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

Publication

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

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

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

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

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

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

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

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

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

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

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

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

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.

Publication

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

Virtual model based adaptive dynamic control of a biped walking robot

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.

Publication

Optimization of human-powered elastic mechanisms for endurance amplification

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.