Environment-aware and human-cooperative swing control for lower-limb prostheses in diverse obstacle scenarios. H Xing, H Ma, S Zhang, H Geyer. arXiv preprint arXiv:2507.01111.
Spinal cord stimulation improves feedback control of reaching post-stroke. O Refy, L Borda, J Hsu, E Carranza, N Verma, R de Freitas, E Sorensen, A Boos, M Powell, L Fisher, P Gerszten, E Pirodini, JW Krakauer, GF Wittenberg, H Geyer, M Capogrosso, D J Weber. medRxiv, 2025.10. 29.25338778.
Changes in gait asymmetry may be caused by adaptation of spinal reflexes. O Refy, O Mo, DJ Weber, H Geyer. Journal of Neurophysiology 133(4): 1208-1215, 2025.
An active spring mass model with biomimetic ground reaction forces for multiple terrains. S Kumar, H Geyer. IEEE Transactions on Biomedical Engineering, 2025.
Touch-down condition control for the bipedal spring-mass model in walking. H Vejdani, A Wu, H Geyer, JW Hurst. Bioinspiration & Biomimetics 20(1): 016020, 2024.
Effective search for control hierarchies within the policy decomposition framework. A Khadke, H Geyer. IEEE Transactions on Robotics, 9(12): 11114 -11121, 2024.
Modelling strategies supplemental to foot placement for frontal-plane stability in walking. Journal of the Royal Society Interface. M J Harter, M S Redfern, P J Sparto, H Geyer. 21(218), p.20240191, 2024.
Dynamic spinal reflex adaptation during locomotor adaptation. O Refy, B Blanchard, A Miller-Peterson, AN Dalrymple, EH Bedoy, H Geyer, DJ Weber. Journal of Neurophysiology 130(4): 1008-1014, 2023.
A neuromuscular model of human locomotion combines spinal reflex circuits with voluntary movements. R Ramadan, H Geyer, J Jeka, G Schoener, H Reimann. Scientific Reports 12(1): 1-23, 2022.
Sparsity inducing system representations for policy decompositions. A Khadke, H Geyer. IEEE 61st Conference on Decision and Control (CDC), 6824-6829, 2022.
Comprehensive swing leg motion predictor for steady and transient walking conditions. H Xing, S Kumar, H Geyer. International Conference on Robotics and Automation (ICRA), 5686-5692, 2022.
Comparison of balance recovery among current control strategies for robotic leg prostheses. N Thatte, H Geyer. Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics (WeRob2020) and of WearRAcon Europe, 13–16, 2022.
Policy decomposition: Approximate optimal control with suboptimality estimates. A Khadke, H Geyer. IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021.
A model for the transfer of control from the brain to the spinal cord through synaptic learning. P Sar, H Geyer. Journal of Computational Neuroscience 48(4): 365-375, 2020.
Interactions between different age-related factors affecting balance control in walking. H Reimann, R Ramadan, T Fettrow, JF Hafer, H Geyer, JJ Jeka. Frontiers in Sports and Active Living 2, 94, 2020.
Gait based on the spring mass model. H Geyer, U Saranli. In: A Goswami, P Vadakkepat (eds) Humanoid Robotics: A Reference. Springer, Dordrecht, 2019.
Neuromuscular model control for humanoid walking. H Geyer, A Seyfarth. In: A Goswami, P Vadakkepat (eds) Humanoid Robotics: A Reference. Springer, Dordrecht, 2019.
Robust and adaptive lower limb prosthesis stance control via extended Kalman filter-based gait phase estimation. N Thatte, T Shah, H Geyer. IEEE Robotics and Automation Letters 4(4): 3129-3136, 2019.
Online learning for proactive obstacle avoidance with powered transfemoral prostheses. M Gordon, N Thatte, H Geyer. IEEE International Conference on Robotics and Automation (ICRA), 7920-7925, 2019.
Using deep reinforcement learning to learn high-level policies on the ATRIAS biped. T Li, H Geyer, CG Atkeson, A Rai. IEEE International Conference on Robotics and Automation (ICRA), 263-269, 2019.
Real-time reactive trip avoidance for powered transfemoral prostheses. N Thatte, N Srinivasan, H Geyer. Robotics Systems and Sciences (RSS), Freiburg, Germany, 2019.
The benefit of combining neuronal feedback and feed-forward control for robustness in step down perturbations of simulated human walking depends on the muscle function. DFB Haeufle, B Schmortte, H Geyer, R Mueller, S Schmitt. Frontiers in Computational Neuroscience 12: 80, 2018.
Dynamic bipedal locomotion over stochastic discrete terrain. Q Nguyen, A Agrawal, W Martin, H Geyer, K Sreenath. The International Journal of Robotics Research 37(13-14): 1537-1553, 2018.
An overview on principles for energy efficient robot locomotion. N Kashiri, A Abate, SJ Abram, A Albu-Schaffer, PJ Clary, MA Daley, S Faraji, R Furnemont, M Garabini, H Geyer, AM Grabowski, J Hurst, J Malzahn, G Mathijssen, D Remy, W Roozing, M Shahbazi, SN Simha, J Song, N Smit-Anseeuw, S Stramigioli, B Vanderborght, Y Yesilevskiy, N Tsagarakis. Frontiers in Robotics and AI 5: 129, 2018.
Objective assessment of spasticity with a method based on a human upper limb model. WS Ang, H Geyer, I Cheng. IEEE Transactions on Neural Systems & Rehabilitation Engineering 26(7): 1414-1423, 2018.
Walking and running with passive compliance: Lessons from engineering a live demonstration of the ATRIAS biped. C Hubicki, A Abate, P Clary, S Rezazadeh, M Jones, A Peekema, J Van Why, R Domres, A Wu, W Martin, H Geyer, J Hurst. IEEE Robotics and Automation Magazine 25(3): 23-39, 2018.
A simple bipedal model for studying control of gait termination. Y Suzuki, H Geyer. Bioinspiration and Biomimetics 13(3): 036005, 2018.
Predictive neuromechanical simulations indicate why walking performance declines with aging. S Song, H Geyer. Journal of Physiology 596(7): 1199-1210, 2018.
A neuro-musculo-skeletal model of human standing combining muscle-reflex control and virtual model control. Y Suzuki, H Geyer. 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Honolulu, Hawaii, 5590-5593, 2018.
Bayesian optimization using domain knowledge on the ATRIAS biped. A Rai, R Antonova, S Song, W Martin, H Geyer, C Atkeson. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 1771-1778, 2018.
A method for online optimization of lower limb assistive devices with high dimensional parameter spaces. N Thatte, H Duan, H Geyer. IEEE International Conference on Robotics and Automation, Brisbane, Australia, 1-6, 2018.
Neuromuscular models for locomotion. A Prochazka, S Gosgnach, C Capaday, H Geyer. In: M Sharbafi and A Seyfarth (eds) Bioinspired Legged Locomotion: Models, Concepts, Control and Applications. Elsevier, 2017.
Evaluation of a neuromechanical walking control model using disturbance experiments. S Song, H Geyer. Frontiers in Computational Neuroscience 11:15, 2017.
Experimental evaluation of deadbeat running on the ATRIAS biped. W Martin, A Wu, H Geyer. IEEE Robotics and Automation Letters 2(2): 1085-1092, 2017.
A sample-efficient black-box optimizer to train policies for human-in-the-loop systems with user preferences. N Thatte, H Duan, H Geyer. Robotics and Automation Letters 2(2): 993-1000, 2017.
Dynamic walking on randomly-varying discrete terrain with one-step preview. Q Nguyen, A Agrawal, X Da, WC Martin, H Geyer, JW Grizzle, K Sreenath. Robotics: Science and Systems, Cambridge, MA, 2017.
Towards local reflexive control of a powered transfemoral prosthesis for robust amputee push and trip recovery. N Thatte, H Geyer. IEEE Transactions on Biomedical Engineering 63(5): 904-913, 2016.
Toward balance recovery with active leg prostheses using neuromuscular model control. H Geyer, N Thatte, H Duan. In Converging Clinical and Engineering Research on Neurorehabilitation II. Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), Segovia, Spain, 649-652, 2016.
A neural circuitry that emphasizes spinal feedbacks generates diverse behaviors of human locomotion. S Song, H Geyer. Journal of Physiology 593(16): 3493-3511, 2015.
Regulating speed in a neuromuscular human running model. S Song, H Geyer. IEEE-RAS 15th International Conference on Humanoid Robots, Seoul, Korea, 217-222, 2015.
Toward a virtual neuromuscular control for robust walking in bipedal robots. Z Batts, S Song, H Geyer. IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, 6318-6323, 2015.
Control and evaluation of series elastic actuators with nonlinear rubber springs. J Austin, A Schepelmann, H Geyer. IEEE International Conference on Intelligent Robots and Systems. Hamburg, Germany, 6563-6568, 2015.
Evaluation of decentralized reactive swing-leg control on a powered robotic leg. A Schepelmann, J Austin, H Geyer. IEEE International Conference on Intelligent Robots and Systems, Hamburg, Germany, 381-386, 2015.
Robust spring mass model running for a physical bipedal robot. W Martin, A Wu, H Geyer. IEEE International Conference on Robotics and Automation, Seattle, WA, 6307-6312, 2015.
Touch-down angle control for spring-mass walking. H Vejdani, A Wu, H Geyer, J Hurst. IEEE International Conference on Robotics and Automation, Seattle, WA, 5101-5106, 2015.
Virtual model control for dynamic lateral balance. R Desai, H Geyer, J Hodgins. IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, 856-861, 2014.
Towards local reflexive control of a powered transfemoral prosthesis for robust amputee push and trip recovery. N Thatte, H Geyer. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2069-2074, 2014.
Highly robust running of articulated bipeds in unobserved terrain. A Wu, H Geyer. IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2558-2565, 2014.
Compact nonlinear springs with user defined torque-deflection profiles for series elastic actuators. A Schepelmann, K Geberth, H Geyer. IEEE International Conference on Robotics and Automation, Hong Kong, China, 3411-3416, 2014.
The 3D spring-mass model reveals a time-based deadbeat control for highly robust running and steering in uncertain environments. A Wu, H Geyer. IEEE Transactions on Robotics 29(5): 1114-1124, 2013.
Generalization of a muscle-reflex control model to 3D walking. S Song, H Geyer. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, 7463-7466, 2013.
Integration of an adaptive swing control into a neuromuscular human walking model. S Song, R Desai, H Geyer. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, 4915-4918, 2013.
The effect of foot compliance encoded in the windlass mechanism on the energetics of human walking. S Song, C LaMontagna, SH Collins, H Geyer. IEEE Annual International Conference of the Engineering in Medicine and Biology Society, Osaka, Japan, 3179-3182, 2013.
Muscle-reflex control of robust swing leg placement. R Desai, H Geyer. IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, 2169-2174, 2013.
Extension and customization of self-stability control in compliant legged systems. M Ernst, H Geyer, R Blickhan. Bioinspiration and Biomimetics 7(4): 046002, 2012.
Robust swing leg placement under large disturbances. R Desai, H Geyer. IEEE International Conference on Robotics and Biomimetics, Guangzhou, China, 265-270, 2012.
A clutched parallel elastic actuator concept: Towards energy efficient powered legs in prosthetics and robotics. DFB Haeufle, MD Taylor, S Schmitt, H Geyer. Proceedings of the IEEE International Conference on Biomedical Robotics and Biomechatronics, Rome, Italy, 1614-1619, 2012.
Development of a testbed for robotic neuromuscular controllers. A Schepelmann, MD Taylor, H Geyer. Proceedings of Robotics: Science and Systems VIII, Sydney, Australia, 385-392, 2012.
Regulating speed and generating large speed transitions in a neuromuscular human walking model. S Song, H Geyer. Proceedings of the IEEE International Conference on Robotics and Automation, St. Paul, Minnesota, 511-516, 2012.
The energetic cost of adaptive feet in walking. S Song, H Geyer. Proceedings of the IEEE International Conference on Robotics and Biomimetics, Phuket, Thailand, 1597-1602, 2011.
Reactive balance control in walking based on a bipedal linear inverted pendulum model. F Parietti, H Geyer. Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai, China, 5442-5447, 2011.
A muscle-reflex model that encodes principles of legged mechanics produces human walking dynamics and muscle activities. H Geyer, HM Herr. IEEE Transactions on Neural Systems and Rehabilitation Engineering 18(3): 263-273, 2010.
Control of a powered ankle-foot prosthesis based on a neuromuscular model. M Eilenberg, H Geyer, HM Herr. IEEE Transactions on Neural Systems and Rehabilitation Engineering 18(2): 164-173, 2010.
Spring-legged locomotion on uneven ground: a control approach to keep the running speed constant. M Ernst, H Geyer, R Blickhan. Proceedings of the 12th International Conference on Climbing and Walking Robots (CLAWAR), Istanbul, Turkey, 639-644, 2009.
Intelligence by mechanics. R Blickhan, A Seyfarth, H Geyer, S Grimmer, H Wagner. Philosophical Transactions of the Royal Society A 365: 199-220, 2007.
Simulating muscle-reflex dynamics in a simple hopping robot. A Seyfarth, KT Kalveram, H Geyer. Autonome Mobile Systeme 2007, Springer, 294-300, 2007.
Running and walking with compliant legs. A Seyfarth, H Geyer, R Blickhan, S Lipfert, J Rummel, Y Minekawa, F Iida. In: M Diehl, K Mombauer (eds) Fast Motions in Biomechanics and Robotics: Optimization and Feedback. Lecture Notes in Control and Information Science, Springer, Heidelberg, 2006.
Compliant leg behaviour explains basic dynamics of walking and running. H Geyer, A Seyfarth, R Blickhan. Proceedings of the Royal Society B 273: 2861-2867, 2006.
Compliant limb behavior: Exploiting the basic mechanics of biological legged locomotion for the control of legged systems. H Geyer, A Seyfarth, R Blickhan. Proceedings of the 8th International Conference on Motion and Vibration Control (MOVIC), Daejeon, Korea, 2006.
Obstacle avoidance in a simple hopping robot. E Dittrich, H Geyer, A Karguth, A Seyfarth. Proceedings of the 9th International Conference on Climbing and Walking Robots (CLAWAR), Brussels, Belgium, 2006.
Influence of swing leg movement on running stability. H Knuesel, H Geyer, A Seyfarth. Human Movement Science 24: 532-543, 2005.
Spring-mass running: simple approximate solution and application to gait stability. H Geyer, A Seyfarth, R Blickhan. Journal of Theoretical Biology 232: 315-328, 2005.
Should humanoids really walk on rigid legs?. H Geyer, A Seyfarth, R Blickhan. Proceedings of the 3rd International Symposium on Adaptive Motion in Animals and Machines (AMAM), Ilmenau, Germany, 2005.
Positive force feedback in bouncing gaits? H Geyer, A Seyfarth, R Blickhan. Proceedings of the Royal Society B 270: 2173-2183, 2003.
Swing-leg retraction: a simple control model for stable running. A Seyfarth, H Geyer, HM Herr. Journal of Experimental Biology 205: 2547-2555, 2003.
A movement criterion for running. A Seyfarth, H Geyer, M Guenther, R Blickhan. Journal of Biomechanics 35: 649-655, 2002.
Natural dynamics of spring-like running: Emergence of self-stability. H Geyer, R Blickhan, A Seyfarth. In Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR), Professional Engineering Publishing Ltd., London, 87-91, 2002.
Natural control of spring-like running: Optimized self-stabilization. A Seyfarth, H Geyer. In Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR), Professional Engineering Publishing Ltd., London, 81-85, 2002.
Method for using a model-based controller of a robotic leg. HM Herr, H Geyer, MF Eilenberg. US Patent 10307272, 2016.
Method for controlling a robotic limb joint. HM Herr, H Geyer, MF Eilenberg. US Patent 9539117, 2016.
Robust swing leg controller under large disturbances. R Desai, H Geyer. US Patent 9603724, 2014.
Model-based neuromuscular controller for a robotic leg. HM Herr, H Geyer, MF Eilenberg. US Patent 8864846, 2010.
Speed-adaptive control scheme for legged running robots. HM Herr, A Seyfarth, H Geyer. US Patent 7295892, 2003.