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Hugh Miller Herr, Ph.D.

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Mentoring
completed student projects
Metabolic and Biomechanical Evaluation of an Autonomous Exoskeleton on Sloped Terrain
Part Time, 02/01/16 - 01/31/17

Research
research activities and funding
The research activities and funding listed below are automatically derived from NIH ExPORTER and other sources, which might result in incorrect or missing items. Faculty can login to make corrections and additions.
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  1. R01HD097135 (HERR, HUGH M) Mar 14, 2019 - Jan 31, 2024
    NIH/NICHD
    Agonist-Antagonist Myoneural Interface for Functional Limb Restoration after Transtibial Amputation
    Role: Principal Investigator
  2. R01EB024531 (HERR, HUGH M) Sep 15, 2017 - May 31, 2020
    NIH/NIBIB
    Computational Design, Fabrication, and Evaluation of Optimized Patient-Specific Transtibial Prosthetic Sockets
    Role: Principal Investigator

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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PMC Citations indicate the number of times the publication was cited by articles in PubMed Central, and the Altmetric score represents citations in news articles and social media. (Note that publications are often cited in additional ways that are not shown here.) Fields are based on how the National Library of Medicine (NLM) classifies the publication's journal and might not represent the specific topic of the publication. Translation tags are based on the publication type and the MeSH terms NLM assigns to the publication. Some publications (especially newer ones and publications not in PubMed) might not yet be assigned Field or Translation tags.) Click a Field or Translation tag to filter the publications.
  1. Rogers EA, Carney ME, Yeon SH, Clites TR, Solav D, Herr HM. An Ankle-Foot Prosthesis for Rock Climbing Augmentation. IEEE Trans Neural Syst Rehabil Eng. 2020 Oct 23; PP. PMID: 33095704.
    Citations:    Fields:    
  2. Song H, Israel E, Srinivasan S, Herr H. Pressure based MRI-compatible muscle fascicle length and joint angle estimation. J Neuroeng Rehabil. 2020 08 26; 17(1):118. PMID: 32843093.
    Citations:    Fields:    
  3. Stolyarov RM, Carney ME, Herr H. Accurate Heuristic Terrain Prediction in Powered Lower-Limb Prostheses Using Onboard Sensors. IEEE Trans Biomed Eng. 2020 May 11. PMID: 32406822.
    Citations:    Fields:    
  4. Herr HM, Clites TR, Srinivasan S, Talbot SG, Dumanian GA, Cederna PS, Carty MJ. Reinventing Extremity Amputation in the Era of Functional Limb Restoration. Ann Surg. 2020 Apr 20. PMID: 32324689.
    Citations:    Fields:    
  5. Srinivasan S, Schelhaas B, Maimon B, Song H, Herr H. Retinal supplementation augments optogenetic stimulation efficacy in vivo. J Neural Eng. 2019 08 21; 16(5):054002. PMID: 31039554.
    Citations:    Fields:    Translation:Animals
  6. Clites TR, Carty MJ, Srinivasan SS, Talbot SG, Brånemark R, Herr HM. Caprine Models of the Agonist-Antagonist Myoneural Interface Implemented at the Above- and Below-Knee Amputation Levels. Plast Reconstr Surg. 2019 08; 144(2):218e-229e. PMID: 31348345.
    Citations:    Fields:    Translation:Animals
  7. Clites TR, Arnold AS, Singh NM, Kline E, Chen H, Tugman C, Billadeau B, Biewener AA, Herr HM. Goats decrease hindlimb stiffness when walking over compliant surfaces. J Exp Biol. 2019 05 23; 222(Pt 10). PMID: 31085599.
    Citations:    Fields:    Translation:Animals
  8. Srinivasan S, Vyas K, McAvoy M, Calvaresi P, Khan OF, Langer R, Anderson DG, Herr H. Polyimide Electrode-Based Electrical Stimulation Impedes Early Stage Muscle Graft Regeneration. Front Neurol. 2019; 10:252. PMID: 30967830.
    Citations: 2     
  9. Srinivasan SS, Diaz M, Carty M, Herr HM. Towards functional restoration for persons with limb amputation: A dual-stage implementation of regenerative agonist-antagonist myoneural interfaces. Sci Rep. 2019 02 13; 9(1):1981. PMID: 30760764.
    Citations: 1     Fields:    Translation:HumansAnimalsCells
  10. Solav D, Moerman KM, Jaeger AM, Herr HM. A Framework for Measuring the Time-Varying Shape and Full-Field Deformation of Residual Limbs Using 3-D Digital Image Correlation. IEEE Trans Biomed Eng. 2019 10; 66(10):2740-2752. PMID: 30676943.
    Citations:    Fields:    Translation:Humans
  11. Ranger BJ, Feigin M, Zhang X, Moerman KM, Herr H, Anthony BW. 3D Ultrasound Imaging of Residual Limbs With Camera-Based Motion Compensation. IEEE Trans Neural Syst Rehabil Eng. 2019 02; 27(2):207-217. PMID: 30676967.
    Citations:    Fields:    Translation:Humans
  12. Srinivasan SS, Maimon BE, Diaz M, Song H, Herr HM. Closed-loop functional optogenetic stimulation. Nat Commun. 2018 12 13; 9(1):5303. PMID: 30546051.
    Citations: 5     Fields:    Translation:Animals
  13. Clites TR, Herr HM, Srinivasan SS, Zorzos AN, Carty MJ. The Ewing Amputation: The First Human Implementation of the Agonist-Antagonist Myoneural Interface. Plast Reconstr Surg Glob Open. 2018 Nov; 6(11):e1997. PMID: 30881798.
    Citations:    
  14. Maimon BE, Diaz M, Revol ECM, Schneider AM, Leaker B, Varela CE, Srinivasan S, Weber MB, Herr HM. Optogenetic Peripheral Nerve Immunogenicity. Sci Rep. 2018 09 19; 8(1):14076. PMID: 30232391.
    Citations: 8     Fields:    Translation:AnimalsCells
  15. Maimon BE, Sparks K, Srinivasan S, Zorzos AN, Herr HM. Spectrally distinct channelrhodopsins for two-colour optogenetic peripheral nerve stimulation. Nat Biomed Eng. 2018 07; 2(7):485-496. PMID: 30948823.
    Citations: 2     Fields:    Translation:AnimalsCells
  16. Clites TR, Carty MJ, Ullauri JB, Carney ME, Mooney LM, Duval JF, Srinivasan SS, Herr HM. Proprioception from a neurally controlled lower-extremity prosthesis. Sci Transl Med. 2018 05 30; 10(443). PMID: 29848665.
    Citations: 10     Fields:    Translation:HumansCTClinical Trials
  17. Stolyarov R, Burnett G, Herr H. Translational Motion Tracking of Leg Joints for Enhanced Prediction of Walking Tasks. IEEE Trans Biomed Eng. 2018 04; 65(4):763-769. PMID: 28650802.
    Citations: 1     Fields:    Translation:Humans
  18. Clites TR, Carty MJ, Srinivasan S, Zorzos AN, Herr HM. A murine model of a novel surgical architecture for proprioceptive muscle feedback and its potential application to control of advanced limb prostheses. J Neural Eng. 2017 06; 14(3):036002. PMID: 28211795.
    Citations: 6     Fields:    Translation:HumansAnimals
  19. Maimon BE, Zorzos AN, Bendell R, Harding A, Fahmi M, Srinivasan S, Calvaresi P, Herr HM. Transdermal optogenetic peripheral nerve stimulation. J Neural Eng. 2017 06; 14(3):034002. PMID: 28157088.
    Citations: 7     Fields:    Translation:Animals
  20. Lin B, Moerman KM, McMahan CG, Pasch KA, Herr HM. Low-Cost Methodology for Skin Strain Measurement of a Flexed Biological Limb. IEEE Trans Biomed Eng. 2017 12; 64(12):2750-2759. PMID: 27849521.
    Citations: 1     Fields:    Translation:Humans
  21. Kannape OA, Herr HM, Kannape OA, Herr HM, Kannape OA, Herr HM. Split-belt adaptation and gait symmetry in transtibial amputees walking with a hybrid EMG controlled ankle-foot prosthesis. Conf Proc IEEE Eng Med Biol Soc. 2016 Aug; 2016:5469-5472. PMID: 28227747.
    Citations:    
  22. Kannape OA, Herr HM. Split-belt adaptation and gait symmetry in transtibial amputees walking with a hybrid EMG controlled ankle-foot prosthesis. Annu Int Conf IEEE Eng Med Biol Soc. 2016 Aug; 2016:5469-5472. PMID: 28269495.
    Citations: 3     Translation:Humans
  23. Williams MR, D'Andrea S, Herr HM. Impact on gait biomechanics of using an active variable impedance prosthetic knee. J Neuroeng Rehabil. 2016 06 10; 13(1):54. PMID: 27283318.
    Citations: 1     Fields:    Translation:Humans
  24. Petron A, Duval JF, Herr H. Multi-Indenter Device for in Vivo Biomechanical Tissue Measurement. IEEE Trans Neural Syst Rehabil Eng. 2017 05; 25(5):426-435. PMID: 27244744.
    Citations: 2     Fields:    Translation:Humans
  25. Markowitz J, Herr H. Human Leg Model Predicts Muscle Forces, States, and Energetics during Walking. PLoS Comput Biol. 2016 05; 12(5):e1004912. PMID: 27175486.
    Citations: 3     Fields:    Translation:Humans
  26. Sengeh DM, Moerman KM, Petron A, Herr H. Multi-material 3-D viscoelastic model of a transtibial residuum from in-vivo indentation and MRI data. J Mech Behav Biomed Mater. 2016 06; 59:379-392. PMID: 26946095.
    Citations: 4     Fields:    Translation:Humans
  27. Mooney LM, Herr HM. Biomechanical walking mechanisms underlying the metabolic reduction caused by an autonomous exoskeleton. J Neuroeng Rehabil. 2016 Jan 28; 13:4. PMID: 26817449.
    Citations: 25     Fields:    Translation:Humans
  28. Williams MR, Herr H, D'Andrea S. Metabolic effects of using a variable impedance prosthetic knee. J Rehabil Res Dev. 2016; 53(6):1079-1088. PMID: 28355031.
    Citations:    Fields:    Translation:Humans
  29. Rouse EJ, Villagaray-Carski NC, Emerson RW, Herr HM. Design and Testing of a Bionic Dancing Prosthesis. PLoS One. 2015; 10(8):e0135148. PMID: 26285201.
    Citations: 2     Fields:    Translation:Humans
  30. Ranger BJ, Feigin M, Pestrov N, Zhang X, Lempitsky V, Herr HM, Anthony BW. Motion compensation in a tomographic ultrasound imaging system: Toward volumetric scans of a limb for prosthetic socket design. Annu Int Conf IEEE Eng Med Biol Soc. 2015 Aug; 2015:7204-7. PMID: 26737954.
    Citations:    Translation:Humans
  31. Mooney LM, Rouse EJ, Herr HM. Autonomous exoskeleton reduces metabolic cost of human walking. J Neuroeng Rehabil. 2014 Nov 03; 11:151. PMID: 25367552.
    Citations: 13     Fields:    Translation:Humans
  32. Mooney LM, Rouse EJ, Herr HM. Autonomous exoskeleton reduces metabolic cost of human walking during load carriage. J Neuroeng Rehabil. 2014 May 09; 11:80. PMID: 24885527.
    Citations: 43     Fields:    Translation:Humans
  33. Endo K, Herr H. A model of muscle-tendon function in human walking at self-selected speed. IEEE Trans Neural Syst Rehabil Eng. 2014 Mar; 22(2):352-62. PMID: 24608689.
    Citations: 4     Fields:    Translation:HumansCells
  34. Mooney LM, Rouse EJ, Herr HM. Autonomous exoskeleton reduces metabolic cost of walking. Annu Int Conf IEEE Eng Med Biol Soc. 2014; 2014:3065-8. PMID: 25570638.
    Citations: 3     Translation:Humans
  35. Pasch KA, Herr HM. Design of a knee joint mechanism that adapts to individual physiology. Annu Int Conf IEEE Eng Med Biol Soc. 2014; 2014:2061-4. PMID: 25570389.
    Citations:    Translation:Humans
  36. Kannape OA, Herr HM. Volitional control of ankle plantar flexion in a powered transtibial prosthesis during stair-ambulation. Annu Int Conf IEEE Eng Med Biol Soc. 2014; 2014:1662-5. PMID: 25570293.
    Citations: 3     Translation:Humans
  37. 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; 2013:6650383. PMID: 24187202.
    Citations: 1     Fields:    Translation:HumansCells
  38. 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; 2013:6650391. PMID: 24187210.
    Citations: 3     Fields:    Translation:Humans
  39. Hill D, Herr H. Effects of a powered ankle-foot prosthesis on kinetic loading of the contralateral limb: a case series. IEEE Int Conf Rehabil Robot. 2013 Jun; 2013:6650375. PMID: 24187194.
    Citations: 2     Fields:    Translation:Humans
  40. Mooney L, Herr H. Continuously-variable series-elastic actuator. IEEE Int Conf Rehabil Robot. 2013 Jun; 2013:6650402. PMID: 24187221.
    Citations:    Fields:    
  41. Elliott G, Sawicki GS, Marecki A, Herr H. The biomechanics and energetics of human running using an elastic knee exoskeleton. IEEE Int Conf Rehabil Robot. 2013 Jun; 2013:6650418. PMID: 24187237.
    Citations: 7     Fields:    Translation:Humans
  42. McGowan CP, Grabowski AM, McDermott WJ, Herr HM, Kram R. Leg stiffness of sprinters using running-specific prostheses. J R Soc Interface. 2012 Aug 07; 9(73):1975-82. PMID: 22337629.
    Citations: 16     Fields:    Translation:HumansCTClinical Trials
  43. Herr HM, Grabowski AM. Bionic ankle-foot prosthesis normalizes walking gait for persons with leg amputation. Proc Biol Sci. 2012 Feb 07; 279(1728):457-64. PMID: 21752817.
    Citations: 55     Fields:    Translation:Humans
  44. 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. PMID: 21502131.
    Citations: 13     Fields:    Translation:Humans
  45. 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. PMID: 21445231.
    Citations: 15     Fields:    Translation:Humans
  46. 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. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:8255-8. PMID: 22256259.
    Citations: 3     Translation:HumansCTClinical Trials
  47. Farrell MT, Herr H. A method to determine the optimal features for control of a powered lower-limb prostheses. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:6041-6. PMID: 22255717.
    Citations: 1     Translation:Humans
  48. 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. Annu Int Conf IEEE Eng Med Biol Soc. 2011; 2011:8519-22. PMID: 22256326.
    Citations: 6     Translation:HumansCTClinical Trials
  49. Farahat WA, Herr HM. Optimal workloop energetics of muscle-actuated systems: an impedance matching view. PLoS Comput Biol. 2010 Jun 03; 6(6):e1000795. PMID: 20532203.
    Citations: 6     Fields:    Translation:Animals
  50. 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. PMID: 20378480.
    Citations: 55     Fields:    Translation:Humans
  51. 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. PMID: 20368391.
    Citations:    
  52. Kram R, Grabowski AM, McGowan CP, Brown MB, Herr HM. Counterpoint: Artificial legs do not make artificially fast running speeds possible. J Appl Physiol (1985). 2010 Apr; 108(4):1012-4; discussion 1014; author reply 1020. PMID: 20368386.
    Citations: 2     Fields:    Translation:Humans
  53. 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. PMID: 20071268.
    Citations: 53     Fields:    Translation:Humans
  54. 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. PMID: 19889694.
    Citations: 15     Fields:    Translation:Humans
  55. 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 (1985). 2009 Sep; 107(3):903-11. PMID: 19541739.
    Citations: 18     Fields:    Translation:HumansCells
  56. Herr H. Exoskeletons and orthoses: classification, design challenges and future directions. J Neuroeng Rehabil. 2009 Jun 18; 6:21. PMID: 19538735.
    Citations: 29     Fields:    Translation:Humans
  57. Grabowski AM, Herr HM. Leg exoskeleton reduces the metabolic cost of human hopping. J Appl Physiol (1985). 2009 Sep; 107(3):670-8. PMID: 19423835.
    Citations: 16     Fields:    Translation:Humans
  58. Endo K, Swart E, Herr H. An artificial gastrocnemius for a transtibial prosthesis. Annu Int Conf IEEE Eng Med Biol Soc. 2009; 2009:5034-7. PMID: 19964375.
    Citations: 4     Translation:Humans
  59. 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. PMID: 19675988.
    Citations: 25     Fields:    Translation:Humans
  60. 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. PMID: 18499394.
    Citations: 56     Fields:    Translation:Humans
  61. Herr H, Popovic M. Angular momentum in human walking. J Exp Biol. 2008 Feb; 211(Pt 4):467-81. PMID: 18245623.
    Citations: 46     Fields:    Translation:Humans
  62. Herr H, Au S. Biomimetic prostheses: the next generation. Med Health R I. 2007 Jan; 90(1):10-2. PMID: 17487028.
    Citations:    Fields:    Translation:Humans
  63. Martinez-Villalpando EC, Herr H, Farrell M. Estimation of ground reaction force and zero moment point on a powered ankle-foot prosthesis. Annu Int Conf IEEE Eng Med Biol Soc. 2007; 2007:4687-92. PMID: 18003052.
    Citations: 1     Translation:Humans
  64. Au SK, Herr H, Weber J, Martinez-Villalpando EC. Powered ankle-foot prosthesis for the improvement of amputee ambulation. Annu Int Conf IEEE Eng Med Biol Soc. 2007; 2007:3020-6. PMID: 18002631.
    Citations: 12     Translation:Humans
  65. 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. PMID: 17003199.
    Citations: 7     Fields:    Translation:Humans
  66. Farahat W, Herr H. Workloop energetics of antagonist muscles. Conf Proc IEEE Eng Med Biol Soc. 2006; 2006:3640-3. PMID: 17947046.
    Citations:    Fields:    Translation:Animals
  67. 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. PMID: 16425829.
    Citations: 1     Fields:    Translation:Animals
  68. 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. PMID: 16034225.
    Citations: 22     Fields:    Translation:HumansCTClinical Trials
  69. Farahat W, Herr H. A method for identification of electrically stimulated muscle. Conf Proc IEEE Eng Med Biol Soc. 2005; 2005:6225-8. PMID: 17281688.
    Citations:    Fields:    
  70. Herr H, Dennis RG. A swimming robot actuated by living muscle tissue. J Neuroeng Rehabil. 2004 Oct 28; 1(1):6. PMID: 15679914.
    Citations: 9     Fields:    
  71. 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. PMID: 15068184.
    Citations: 65     Fields:    Translation:HumansCTClinical Trials
  72. 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; 2004:4248-51. PMID: 17271242.
    Citations:    Fields:    
  73. 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. PMID: 12819262.
    Citations: 31     Fields:    Translation:HumansAnimals
  74. Herr H, Seyfarth A, Huang G. Running Stability: Limb Rotational Control in Quadrupedal Animals. IVth World Congress of Biomechanics. 2002.
  75. Seyfarth A, Geyer H, Blichhan R, Herr H. Does Leg retraction Simplify Control in Running?. IVth World Congress of Biomechanics. 2002.
  76. Geyer H, Seyfarth A, Blickhan R, Herr H. Local Feedback Mechanisms for Stable Bouncing. IVth World Congress of Biomechanics. 2002.
  77. 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. PMID: 11916991.
    Citations: 8     Fields:    Translation:Animals
  78. Kerdok AE, Biewener AA, McMahon TA, Weyand PG, Herr HM. Energetics and mechanics of human running on surfaces of different stiffnesses. J Appl Physiol (1985). 2002 Feb; 92(2):469-78. PMID: 11796653.
    Citations: 44     Fields:    Translation:Humans
  79. Herr H, Huang G, Langman N, Gamow R. Coupled Spring Midsole Improves Stability and Economy of Running. J Appl Physiol. 2002.
  80. Herr H, Deffenbaugh B, Pratt G. An Electronically Controllable Magnetorheological External Knee Prosthesis. IEEE Rehabilitation Journal. 2002.
  81. Seyforth A, Geyer H, Herr H. Leg Retraction: A Simple Control Strategy for Stable Running. J. Exp. Biol. 2002.
  82. Herr H. Langman N. Parallel Spring Amplifiers Lower Metabolic Demands for Human Cyclic Movement. J Appl Physiol. 2002.
  83. Hoffman A, Popovic M, Herr H. Humanoid Standing Control: Learning from Human Demonstration. J Automated Control. 2002; 10(2).
  84. Palmer M, Herr H. Controlled Plantar Flexion: The Elasticity of the Human Ankle During Unimpaired Walking. J Exp Biol. 2002.
  85. Geyer H, Herr H. Local Feedback Mechanisms for Stable Bouncing. J Exp. Biol. 2002.
  86. Herr H, Dennis B. Biologically-Inspired Intelligent Robots. Human-Machine Systems. 2002; Ch. 4.
  87. 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.
  88. 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.
  89. Huang G, Herr H. Stabilty and Gait Mechanics of a Quadripedal Animal Model. Soc for Exp Bio Mtg. Animal and Cell Biology Abstracts. 2001.
  90. 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.
  91. 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.
  92. Herr H. An Auto-Adaptive External Knee Prosthesis. Am Academy Orth & Pros, Ann.Mtg.& Scientific Symposium. 2001.
  93. Herr H, Gamow I. Shoe and Foot Prosthesis with bending Beam Spring Structures. 2001.
  94. Herr H, Wilkenfeld A, Olaf B. Speed-Adaptive and Patient-Adaptive Prosthetic Knee. 2001.
  95. Deffenbaugh B, Herr H, Pratt G, Wittig M. Electronically Controlled Prosthetic Knee. 2001.
  96. Herr H, McMahon T. A Running Horse Model. Soc for Exp Bio Mtg. Animal and Cell Biology Abstracts. 2000; A3.33.
  97. 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.
  98. Herr H, McMahon TA. The effect of body size on mammalian quadrupedal running: a theoretical model. 1999.
  99. Herr H, McMahon TA. A Galloping Horse Model. International J Robotics Research. 1999.
  100. Herr H, McMahon TA. A Trotting Horse Model. International J Robotics Research. 1999.
  101. Hu J, Pratt J, Chew C, Herr H, Pratt G. Adaptive Virtual Model Control of a Bipedal Walking Robot. 1998; 245-251.
  102. Herr H, Langman N. Optimization of Human-Powered Elastic Mechanisms for Endurance Amplification. J International Soc. Structural & Multidisciplinary Optimization. 1997; (13):65-67.
  103. Herr H, Gamow I. Shoe and Foot Prosthesis with Bending Beam Spring Structures. 1997.
  104. Herr H. Crutch with Elbow and Shank Springs. 1995.
  105. Gamow I, Herr H. Shoe and Foot Prosthesis with a Coupled Spring System. 1994.
  106. Gosthnian BM, Herr H. Inflatable Limb Prosthesis with Preformed Inner Surface. 1990.
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