Peer-Reviewed Publications Prosthetics Orthoses and Exoskeletons Biomechanics and Control Other Publications Book Chapters Theses Patents Prosthetics Au, S. K. and Herr, H. 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. Au, S. K., Dilworth, P., Herr, H. An ankle-foot emulation system for the study of human walking biomechanics, Proc. IEEE Int. Conf. on Robotics and Automation. 2006 May; Orlando, FL, pp. 2939-2945. Aaron R., Herr H., Ciombor D., Hochberg L., Donoghue J., Briant C., Morgan J., Ehrlich M. Horizons in Prosthesis Development for the Restoration of Limb Function, Journal of the American Academy of Orthopaedic Surgeons. 2006; 14 (10): 198-204. Paluska D., Herr H. The effect of series elasticity on actuator power and work output: Implications for robotic and prosthetic joint design, Robotics and Autonomous Systems 54, pp.667–673, 2006. Au S., Bonato P., Herr H. 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; 2005 June 28 - July 1; Chicago, Illinois, USA; pp. 375-379. Johansson J., Sherrill D., Riley P., Paolo B., Herr H. A Clinical Comparison of Variable-Damping and Mechanically-Passive Prosthetic Knee Devices, American Journal of Physical Medicine & Rehabilitation. 2005; 84(8): 563-575. D.H. Gates, J. Lelas, U. Della Croce, H. Herr, P. Bonato Characterization of Ankle Function during Stair Ambulation, 26th International Conference of the IEEE Engineering in Medicine and Biology Society, 2004. Herr H. 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.; October 13-14, 2004 pp. 76-80. Herr H, Kornbluh R.New Horizons For Orthotic And Prosthetic Technology: Artificial Muscle For Ambulation, Smart Structures and Materials: Electroactive Polymer Actuators and Devices; 2004 March; San Diego, CA. Herr H, Wilkenfeld A. User-Adaptive Control of a Magnetorheological Prosthetic Knee, Industrial Robot: An International Journal 2003; 30: 42-55. Herr H, Wilkenfeld A, Blaya J. Patient-Adaptive Prosthetic and Orthotic Leg Systems, Proceedings of the 12th Nordic Baltic Conference on Biomedical Engineering and Medical Physics; 2002 June; Reykjavik, Iceland; 123-128. Orthoses and Exoskeletons Dollar, A., Herr, H. Lower Extremity Exoskeletons and Active Orthoses: Challenges and State of the Art, IEEE Transactions on Robotics, vol. 24(1), 2008. (in press) Walsh, C., Endo, K., Herr, H. A Quasi-Passive Leg Exoskeleton for Load-Carrying Augmentation, International Journal of Humanoid Robotics, 2007. (in press) Dollar, A., Herr, H. 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, June 12-15, 2007. Walsh, C., Pasch, K., Herr, H. An autonomous, underactuated exoskeleton for load-carrying augmentation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); October 9-16, 2006; Beijing, China. Walsh, C., Paluska, D., Pasch, K., Grand, W., Valiente, A., Herr, H. Development of a lightweight, underactuated exoskeleton for load-carrying augmentation, Proc. IEEE Int. Conf. on Robotics and Automation. 2006 May; Orlando, FL, pp. 2939-2945. Blaya J, Herr H. Adaptive Control of a Variable-Impedance Ankle-Foot Orthosis to Assist Drop-Foot Gait, IEEE Transactions on Neural Systems and Rehabilitation Engineering 2004; 12(1): 24-31. Herr H, Langman N. Optimization of Human-Powered Amplification, Journal of the International Society for Structural and Multidisciplinary Optimization (ISSMO). 1997; 13: 65-7. Elastic Mechanisms for Endurance. Biomechanics and Control Herr H., Popovic M. Angular Momentum in Human Walking, Journal of Experimental Biology 211, pp. 467-48, 2008. Spillmann, C.M., Naciri, J., Martin, B.D., Farahat, W., Herr, H., Ratna, B.R. Stacking nematic elastomers for artificial muscle applications, Sensors and Actuators A (Physical), v 133, n 2, 12 Feb. 2007, p 500-505. Endo, K., Paluska D., Herr, H. A quasi-passive model of human leg function in level-ground walking, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS); October 9-16, 2006; Beijing, China. Farahat W., Herr H. Workloop Energetics of Antagonist Muscle Pairs, 28th International Conference of the IEEE Engineering in Medicine and Biology Society, New York, 2006. Paluska D., Herr H. Series Elasticity and Actuator Power Output, Proc. IEEE Int. Conf. on Robotics and Automation. 2006 May; Orlando, FL, pp. 1830-1833. Farahat W., Herr H. 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; September 1-4, 2005. Popovic M., Herr H. Global Motion Control and Support Base Planning, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005); August; Edmonton, Alberta, Canada. Popovic M., Goswami A., Herr H. Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications, International Journal of Robotics Research. 2005; 24(10): 1013-1032. Popovic M, Hofmann A, Herr H. Zero Spin Angular Momentum Control: Definition and Applicability, IEEE-RAS/RSJ International Conference on Humanoid Robots; 2004 November; Santa Monica, Los Angeles, CA, USA; (In press). Popovic M, Englehart A, Herr H. Angular Momentum Primitives for Human Walking: Biomechanics and Control, IEEE/RSJ International Conference on Intelligent Robots and Systems; 2004 October; Sendai, Japan. Hofmann A, Massaquoi S, Popovic M, Herr H. A Sliding Controller for Bipedal Balancing Using Integrated Movement of Non-Contact Limbs, IEEE/RSJ International Conference on Intelligent Robots and Systems; 2004 October; Sendai, Japan. Popovic M, Hofmann A, Herr H. Angular Momentum Regulation During Human Walking: Biomechanics and Control, International Conference on Robotics and Automation; 2004 April; New Orleans, LA; 123-128. Farahat W, Herr H. An Apparatus for Generalized Characterization and Control of Muscle, IEEE Transactions on Neural Systems & Rehabilitation Engineering 2004 (In press). Herr H, Dennis B. A Swimming Robot Actuated by Living Muscle Tissue, Journal of NeuroEngineering and Rehabilitation. 2004. Seyfarth A, Geyer H, Herr H. Swing-leg Retraction: A Simple Control Model for Stable Running, The Journal of Experimental Biology 2003; 206: 2547-2555. Hofmann A, Popovic M, Herr H. Humanoid Standing Control: Learning from Human Demonstration, J Automatic Control 2002; 12: 16-22. Herr H, Huang G, McMahon T. A Model of Scale Effects in Mammalian Quadrupedal Running, J. Exp. Biol. 2002; 205: 959-67. Herr H, Pratt G, Dennis B, Rosenthal N, Marsh R. From Swimming to Walking: Examples of How Biology is Helping us Design Better Machines, Second International Congress on Motion Systems; 2001 July; University of Jena, Jena, Germany. Kerdok A, Biewener A, McMahon T, Weyand P, Herr H. Energetics and Mechanics of Human Running on Surfaces of Different Stiffnesses, J Appl Physiol 2001; 92: 469-78. Herr H, McMahon T. A Galloping Horse Model, International Journal of Robotics Research. 2000; 20: 26-37. Herr H, McMahon T. A Trotting Horse Model, International Journal of Robotics Research. 2000; 19: 566-81. Hu J, Pratt J, Chew C, Herr H, Pratt G. Virtual Model Based Adaptive Dynamic Control of a Biped Walking Robot, International Journal on Artificial Intelligence Tools. 1999; 8: 337-48. Hu J, Pratt J, Chew C, Herr H, Pratt G. Adaptive Virtual Model Control of a Bipedal Walking Robot, Proceedings of IEEE International Joint Symposia on Intelligence and Systems; 1998 May; Dallas, Texas 245-51. Book Chapters Popovic M., Herr H. Ground Reference Points in Legged Locomotion: Definitions, Biological Trajectories and Control Implications, Mobile Robots Towards New Applications, Edited by Aleksandar Lazinica, pp. 79-104, ARS/plV, Germany, December 2006. Dennis R., Herr H. Engineered Muscle Actuators: Cells & Tissues, Biomimetics Mimicking and Inspired by Biology, Bar-Cohen, Y., CRC Press; 2005. Krebs HI, Hogan N, Durfee W, Herr H. Rehabilitation Robotics, Orthotics, and Prosthetics, Chapter 48; In M.E. Selzer, S. Clarke, L.G. Cohen, P.W. Duncan, F.H. Gage (Eds); Textbook of Neural Repair and Rehabilitation; Cambridge University Press 2004. Herr H, Whiteley G, Childress D. Cyborg Technology—Biomimetic Orthotic and Prosthetic Technology, Biologically Inspired Intelligent Robots, Bar-Cohen, Y. and C. Breazeal, Eds., SPIE Press; Bellingham, Washington; 2003. Theses Waleed FarahatOptimal Workloop Energetics of Muscle-Actuated Systems, Ph.D. MIT, Mechanical Engineering, 2007. Samuel AuPowered Ankle-Foot Prosthesis for the Improvement of Amputee Walking Economy, Ph.D. MIT, Mechanical Engineering, 2007. Ernesto C. MartinezEstimation of Ground Reaction Force and Zero Moment Point on a Powered Ankle-Foot Prosthesis, S.M. MIT, Media Arts and Sciences, 2006. Andrea ChewA Vibrotactile Display for Afferent Feedback of Prosthetic Ankle Joint Position and Impedance, S.M. MIT, Media Arts and Sciences, 2006. Danielle ChouEfficacy of Hammerstein Models in Capturing the Dynamics of Isometric Muscle Stimulated at Various Frequencies, S.M. MIT, Mechanical Engineering, 2006. Conor WalshBiomimetic Design of an Under-Actuated Leg Exoskeleton For Load-Carrying Augmentation, S.M. MIT, Mechanical Engineering, 2006. Goutam ReddyUsing a Gimbal To Calibrate An Inertial Measurement Unit, S.M. MIT, EECS, 2005. Andreas HofmannRobust Execution of Bipedal Walking Tasks From Biomechanical Principles, Ph.D. MIT, EECS, 2005. Benjamin SwillingHuman Walking Adaptations to Distal Limb Mass Disturbances: Investigating Biomimetic Performance Objectives, S.M. MIT, Mechanical Engineering, 2005. Deanna GatesCharacterizing Ankle Function During Stair Ascent, Decent, and Level Walking for Ankle Prosthesis and Orthosis Design, M.S. Boston University, Biomedical Engineering, 2004. (co-advised with Paolo Bonato) Andrew ValienteDesign of a Quasi-Passive Parallel Leg Exoskeleton to Augment Load Carrying for Walking, S.M. MIT, Mechanical Engineering, 2005. Jianwen Wendy GuThe Regulation of Angular Momentum During Human Walking, S.B. MIT, Physics, 2003. Joaquin BlayaAdaptive Control of a Variable-Impedance Ankle-Foot Orthosis to Assist Drop-Foot Gait, S.M. MIT, Mechanical Engineering, 2003. Matt MalchanoBiologically-Plausible Six-Legged Running: Control and Simulation, S.M. MIT, EECS, 2003. Sneha ThakkarEnergy Economy Gait Analysis of an Auto-Adaptive Prosthetic Knee, S.M. MIT, Physics, 2002. Michael Lars PalmerSagittal Plane Characterization of Normal Human Ankle Function Across a Range of Walking Gait Speeds, S.M. MIT, Mechanical Engineering, 2002. Ari WilkenfeldBiologically Inspired Autoadaptive Control of a Knee Prosthesis, Ph.D. MIT, EECS, 2000. (co-advised with Gill Pratt) Amy KerdokEnergetics and mechanics of human running on surfaces of different stiffnesses, S.M. Harvard University, Engineering Sciences, 2000. Patents Herr H., Paluska D., Walsh C., inventors; Leg Exoskeleton. Pending 2006. Herr H., Hoffman A., Popovic M., inventors; Humaniod Control. Pending 2006. Herr H., Paluska D., Dilworth P., Kwau S., inventors; An Agonist-Antagonist Actuator. Pending 2006. Herr H., Paluska D., Dilworth P., Kwau S., inventors; A Hybrid Actuator Comprising Motor, Spring and Variable-Damper Elements. Pending 2005. Farahat W, Herr H, inventors; An Apparatus for Generalized Characterization and Control of Muscle. Pending 2004. Herr H, inventor; Variable-Mechanical-Impedance Artificial Legs. Pending. 2003. Herr H, Blaya J, Pratt G, inventors; Adaptive Control of a Variable-Impedance Ankle-Foot Orthosis to Assist Drop-Foot Gait. Pending. 2003. Seyfarth A, Geyer H, Herr H, inventors; A Speed-Adaptive Control Scheme for Legged Running Robots. Pending. 2003. Herr H, Wilkenfeld A, Olaf B, inventors; Speed-Adaptive and Patient-Adaptive Prosthetic Knee. US Patent 6,610,101. 2003. Deffenbaugh B, Herr H, Pratt G, Wittig M, inventors; Electronically Controlled Prosthetic Knee. US Patent 6,764,520. 2001. Herr H, Gamow I, inventors; Shoe and Foot Prosthesis with Bending Beam Spring Structures. US Patent 6,029,374. 2000. Herr H, Gamow I, inventors; Shoe and Foot Prosthesis with Bending Beam Spring Structures. US Patent 5,701,686. 1997. Herr H, inventor; Crutch with Elbow and Shank Springs. US Patent 5,458,143. 1995. Gamow I, Herr H, inventors; Shoe and Foot Prosthesis with a Coupled Spring System. US Patent 5,367,790. 1994. Gosthnian B, Herr H, inventors; Inflatable Limb Prosthesis with Preformed Inner Surface. US patent 4,923,475. 1990.
Peer-Reviewed Publications Prosthetics Orthoses and Exoskeletons Biomechanics and Control Other Publications Book Chapters Theses Patents
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