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Hugh Miller Herr, PH.D.

TitleLecturer on Physical Medicine and Rehabilitation
InstitutionSpaulding Rehabilitation Hospital
DepartmentPhysical Medicine and Rehabilitation
AddressMass Institute Of Technology
Computer Science Department
77 Massachusetts Ave
Cambridge MA 02139
Phone617/253-2475
Fax617/253-5060

 Bibliographic 
 selected publications
Publications listed below are automatically derived from MEDLINE/PubMed and other sources, which might result in incorrect or missing publications. Faculty can login to make corrections and additions.
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  1. Rouse EJ, Mooney LM, Martinez-Villalpando EC, Herr HM. Clutchable series-elastic actuator: Design of a robotic knee prosthesis for minimum energy consumption. IEEE Int Conf Rehabil Robot. 2013 Jun; 2013:1-6.
    View in: PubMed
  2. Wang J, Kannape OA, Herr HM. Proportional EMG control of ankle plantar flexion in a powered transtibial prosthesis. IEEE Int Conf Rehabil Robot. 2013 Jun; 2013:1-5.
    View in: PubMed
  3. McGowan CP, Grabowski AM, McDermott WJ, Herr HM, Kram R. Leg stiffness of sprinters using running-specific prostheses. J R Soc Interface. 2012 Aug 7; 9(73):1975-82.
    View in: PubMed
  4. Herr HM, Grabowski AM. Bionic ankle-foot prosthesis normalizes walking gait for persons with leg amputation. Proc Biol Sci. 2012 Feb 7; 279(1728):457-64.
    View in: PubMed
  5. Markowitz J, Krishnaswamy P, Eilenberg MF, Endo K, Barnhart C, Herr H. Speed adaptation in a powered transtibial prosthesis controlled with a neuromuscular model. Philos Trans R Soc Lond B Biol Sci. 2011 May 27; 366(1570):1621-31.
    View in: PubMed
  6. Krishnaswamy P, Brown EN, Herr HM. Human leg model predicts ankle muscle-tendon morphology, state, roles and energetics in walking. PLoS Comput Biol. 2011 Mar; 7(3):e1001107.
    View in: PubMed
  7. Mancinelli C, Patritti BL, Tropea P, Greenwald RM, Casler R, Herr H, Bonato P. Comparing a passive-elastic and a powered prosthesis in transtibial amputees. Conf Proc IEEE Eng Med Biol Soc. 2011; 2011:8255-8.
    View in: PubMed
  8. Farrell MT, Herr H. A method to determine the optimal features for control of a powered lower-limb prostheses. Conf Proc IEEE Eng Med Biol Soc. 2011; 2011:6041-6.
    View in: PubMed
  9. Martinez-Villalpando EC, Mooney L, Elliott G, Herr H. Antagonistic active knee prosthesis. A metabolic cost of walking comparison with a variable-damping prosthetic knee. Conf Proc IEEE Eng Med Biol Soc. 2011; 2011:8519-22.
    View in: PubMed
  10. Farahat WA, Herr HM. Optimal workloop energetics of muscle-actuated systems: an impedance matching view. PLoS Comput Biol. 2010 Jun; 6(6):e1000795.
    View in: PubMed
  11. Geyer H, Herr H. A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities. IEEE Trans Neural Syst Rehabil Eng. 2010 Jun; 18(3):263-73.
    View in: PubMed
  12. Kram R, Grabowski AM, McGowan CP, Brown MB, McDermott WJ, Beale MT, Herr HM. Last Word on Point:Counterpoint: Artificial limbs do/do not make artificially fast running speeds possible. J Appl Physiol. 2010 Apr; 108(4):1020.
    View in: PubMed
  13. Kram R, Grabowski AM, McGowan CP, Brown MB, Herr HM. Counterpoint: Artificial legs do not make artificially fast running speeds possible. J Appl Physiol. 2010 Apr; 108(4):1012-4; discussion 1014; author reply 1020.
    View in: PubMed
  14. Eilenberg MF, Geyer H, Herr H. Control of a powered ankle-foot prosthesis based on a neuromuscular model. IEEE Trans Neural Syst Rehabil Eng. 2010 Apr; 18(2):164-73.
    View in: PubMed
  15. Grabowski AM, McGowan CP, McDermott WJ, Beale MT, Kram R, Herr HM. Running-specific prostheses limit ground-force during sprinting. Biol Lett. 2010 Apr 23; 6(2):201-4.
    View in: PubMed
  16. Weyand PG, Bundle MW, McGowan CP, Grabowski A, Brown MB, Kram R, Herr H. The fastest runner on artificial legs: different limbs, similar function? J Appl Physiol. 2009 Sep; 107(3):903-11.
    View in: PubMed
  17. Grabowski AM, Herr HM. Leg exoskeleton reduces the metabolic cost of human hopping. J Appl Physiol. 2009 Sep; 107(3):670-8.
    View in: PubMed
  18. Endo K, Swart E, Herr H. An artificial gastrocnemius for a transtibial prosthesis. Conf Proc IEEE Eng Med Biol Soc. 2009; 2009:5034-7.
    View in: PubMed
  19. Martinez-Villalpando EC, Herr H. Agonist-antagonist active knee prosthesis: a preliminary study in level-ground walking. J Rehabil Res Dev. 2009; 46(3):361-73.
    View in: PubMed
  20. Au S, Berniker M, Herr H. Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits. Neural Netw. 2008 May; 21(4):654-66.
    View in: PubMed
  21. Herr H, Popovic M. Angular momentum in human walking. J Exp Biol. 2008 Feb; 211(Pt 4):467-81.
    View in: PubMed
  22. Herr H, Au S. Biomimetic prostheses: the next generation. Med Health R I. 2007 Jan; 90(1):10-2.
    View in: PubMed
  23. Martinez-Villalpando EC, Herr H, Farrell M. Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis. Conf Proc IEEE Eng Med Biol Soc. 2007; 2007:4687-92.
    View in: PubMed
  24. Au SK, Herr H, Weber J, Martinez-Villalpando EC. Powered ankle-foot prosthesis for the improvement of amputee ambulation. Conf Proc IEEE Eng Med Biol Soc. 2007; 2007:3020-6.
    View in: PubMed
  25. Aaron RK, Herr HM, Ciombor DM, Hochberg LR, Donoghue JP, Briant CL, Morgan JR, Ehrlich MG. Horizons in prosthesis development for the restoration of limb function. J Am Acad Orthop Surg. 2006; 14(10 Spec No.):S198-204.
    View in: PubMed
  26. Farahat W, Herr H. Workloop energetics of antagonist muscles. Conf Proc IEEE Eng Med Biol Soc. 2006; 1:3640-3.
    View in: PubMed
  27. Farahat W, Herr H. An apparatus for characterization and control of isolated muscle. IEEE Trans Neural Syst Rehabil Eng. 2005 Dec; 13(4):473-81.
    View in: PubMed
  28. Johansson JL, Sherrill DM, Riley PO, Bonato P, Herr H. A clinical comparison of variable-damping and mechanically passive prosthetic knee devices. Am J Phys Med Rehabil. 2005 Aug; 84(8):563-75.
    View in: PubMed
  29. Farahat W, Herr H. A method for identification of electrically stimulated muscle. Conf Proc IEEE Eng Med Biol Soc. 2005; 6:6225-8.
    View in: PubMed
  30. Blaya JA, Herr H. Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait. IEEE Trans Neural Syst Rehabil Eng. 2004 Mar; 12(1):24-31.
    View in: PubMed
  31. Gates DH, Lelas J, Della Croce U, Herr H, Bonato P. Characterization of ankle function during stair ambulation. Conf Proc IEEE Eng Med Biol Soc. 2004; 6:4248-51.
    View in: PubMed
  32. Seyfarth A, Geyer H, Herr H. Swing-leg retraction: a simple control model for stable running. J Exp Biol. 2003 Aug; 206(Pt 15):2547-55.
    View in: PubMed
  33. Herr H, Seyfarth A, Huang G. Running Stability: Limb Rotational Control in Quadrupedal Animals. IVth World Congress of Biomechanics. 2002.
  34. Seyfarth A, Geyer H, Blichhan R, Herr H. Does Leg retraction Simplify Control in Running?. IVth World Congress of Biomechanics. 2002.
  35. Geyer H, Seyfarth A, Blickhan R, Herr H. Local Feedback Mechanisms for Stable Bouncing. IVth World Congress of Biomechanics. 2002.
  36. Herr HM, Huang GT, McMahon TA. A model of scale effects in mammalian quadrupedal running. J Exp Biol. 2002 Apr; 205(Pt 7):959-67.
    View in: PubMed
  37. Kerdok AE, Biewener AA, McMahon TA, Weyand PG, Herr HM. Energetics and mechanics of human running on surfaces of different stiffnesses. J Appl Physiol. 2002 Feb; 92(2):469-78.
    View in: PubMed
  38. Herr H, Huang G, Langman N, Gamow R. Coupled Spring Midsole Improves Stability and Economy of Running. J Appl Physiol. 2002.
  39. Herr H, Deffenbaugh B, Pratt G. An Electronically Controllable Magnetorheological External Knee Prosthesis. IEEE Rehabilitation Journal. 2002.
  40. Seyforth A, Geyer H, Herr H. Leg Retraction: A Simple Control Strategy for Stable Running. J. Exp. Biol. 2002.
  41. Herr H. Langman N. Parallel Spring Amplifiers Lower Metabolic Demands for Human Cyclic Movement. J Appl Physiol. 2002.
  42. Hoffman A, Popovic M, Herr H. Humanoid Standing Control: Learning from Human Demonstration. J Automated Control. 2002; 10(2).
  43. Palmer M, Herr H. Controlled Plantar Flexion: The Elasticity of the Human Ankle During Unimpaired Walking. J Exp Biol. 2002.
  44. Geyer H, Herr H. Local Feedback Mechanisms for Stable Bouncing. J Exp. Biol. 2002.
  45. Herr H, Dennis B. Biologically-Inspired Intelligent Robots. Human-Machine Systems. 2002; Ch. 4.
  46. Herr H, Pratt G, Dennis B, March R. From Swimming to Walking: Examples of How Biology is Helping us Design Better Machines. 2nd International Congress on Motion Systems. 2001.
  47. Huang G, Hofmann A, Riley P, Pratt G, Herr H. Toward a Robust Control of Bipedal Walking from Human Demonstration. 5th Intntl. Conf. on Cognitive and Neural Systems. 2001.
  48. Huang G, Herr H. Stabilty and Gait Mechanics of a Quadripedal Animal Model. Soc for Exp Bio Mtg. Animal and Cell Biology Abstracts. 2001.
  49. Herr H, Huang G, McMahon T. The Economy of Stability: A Model of Scale Effects in Running Mammals. Soc for Exp Bio Mtg. Animal and Cell Biology Abstracts. 2001.
  50. Seyfarth , Herr H, Blickhan R. Bipedal and Quadrupedal Running: Body design and leg control. Soc for Exp Bio Mtg. Animal and Cell Biology Abstracts. 2001.
  51. Herr H. An Auto-Adaptive External Knee Prosthesis. Am Academy Orth & Pros, Ann.Mtg.& Scientific Symposium. 2001.
  52. Herr H, Gamow I. Shoe and Foot Prosthesis with bending Beam Spring Structures. 2001.
  53. Herr H, Wilkenfeld A, Olaf B. Speed-Adaptive and Patient-Adaptive Prosthetic Knee. 2001.
  54. Deffenbaugh B, Herr H, Pratt G, Wittig M. Electronically Controlled Prosthetic Knee. 2001.
  55. Herr H, McMahon T. A Running Horse Model. Soc for Exp Bio Mtg. Animal and Cell Biology Abstracts. 2000; A3.33.
  56. Hu J, Pratt J, Chew C, Herr H, Pratt G. Virtual Model Based Adaptive Dynamic Control of a Biped Walking Robot. J International Soc. Structural & Multidisciplinary Optimization. 1999; (8):337-48.
  57. Herr H, McMahon TA. The effect of body size on mammalian quadrupedal running: a theoretical model. 1999.
  58. Herr H, McMahon TA. A Galloping Horse Model. International J Robotics Research. 1999.
  59. Herr H, McMahon TA. A Trotting Horse Model. International J Robotics Research. 1999.
  60. Hu J, Pratt J, Chew C, Herr H, Pratt G. Adaptive Virtual Model Control of a Bipedal Walking Robot. 1998; 245-251.
  61. Herr H, Langman N. Optimization of Human-Powered Elastic Mechanisms for Endurance Amplification. J International Soc. Structural & Multidisciplinary Optimization. 1997; (13):65-67.
  62. Herr H, Gamow I. Shoe and Foot Prosthesis with Bending Beam Spring Structures. 1997.
  63. Herr H. Crutch with Elbow and Shank Springs. 1995.
  64. Gamow I, Herr H. Shoe and Foot Prosthesis with a Coupled Spring System. 1994.
  65. Gosthnian BM, Herr H. Inflatable Limb Prosthesis with Preformed Inner Surface. 1990.
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