Publication

[J54] G. Manoharan and H. Lee, “User Adaptive Variable Impedance Control Using Bayesian Optimization for Robot-Aided Ankle Rehabilitation,” IEEE Transactions on Neural Systems and Rehabilitation Engineering (TNSRE), (accepted for publication)

[J53] E. Jeon, S. Mitra, J. Lee, O. Save, A. Shukla, H. Lee, and P. Turaga*, “Ground Reaction Force Estimation via Time-aware Knowledge Distillation,” IEEE Internet of Things (IoT) Journal, 12 (16), 34406-34420

[J52] O. Save, J. Zhong, S. Joglekar, J. Si, and H. Lee, "Personalizing Human Gait Entrainment: A Reinforcement Learning Approach to Optimizing Magnitude of Periodic Mechanical Perturbations,” IEEE Robotics and Autonomous Systems Letters (RA-L), 10 (6), 5673 - 5680 

[J51] R. Khatavkar, T. B. Nguyen, Y. Chen, H. Lee, and J. Sun, "A Hybrid Variable-Stiffness Soft Back Support Device," IEEE Robotics and Automation Letters (RA-L), 2025, 10 (4), 3238 - 3245 (also presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), October 2025, Hangzhou, China)

[J50] F. Zahedi and H. Lee, "Biomechanics-Based User-Adaptive Variable Impedance Control for Enhanced Physical Human-Robot Interaction Using Bayesian Optimization," Advanced Intelligent Systems, 2025, 2400333, 1-18

[J49] S. Kim*, O. Save*, E. Tanner, A. Marquez, and H. Lee, "Gait Symmetric Adaptation and Retention through Concurrent Split-Belt Treadmill Walking and Explicit Visual Feedback Distortion," IEEE Transactions on Biomedical Engineering (TBME), 2025, 72 (3), 1170-1177, *: equally contributed first authors

[C46] S. Hwang, S. Z. Yong, and H. Lee, "Injury Risk-Based Variable Stiffness Control for Preventing Ankle Sprain Injury," The 22nd International Conference on Ubiquitous Robots (UR 2025), June 2025, College Station, TX, USA

[A43] O. Save, J. Zhong, S. Joglekar, J. Si, and H. Lee, “Personalizing Gait Entrainment: A Reinforcement Learning Approach to Optimizing Perturbation Magnitude,” The 48th Annual Meeting of the American Society of Biomechanics (ASB 2025), August 2024, Pittsburgh, PA

[A42] S. Hwang, K. Ponce, S. Joglekar, and H. Lee, “Comparative study of shoulder joint stiffness in dynamic movement and static posture tasks,” The 48th Annual Meeting of the American Society of Biomechanics (ASB 2025), August 2024, Pittsburgh, PA 

[J48] E. Jeon, H. Choi, A. Shukula, Y. Wang, M. P. Buman, H. Lee, and P. Turaga, “Robustness of Topological Persistence in Knowledge Distillation for Wearable Sensor Data,” EPJ Data Science, 2024, 13 (77)

[J47] A. Vanderlinden*, M. Nevisipour*, T. Sugar, and H. Lee, “Reduced trunk control during motor dual-tasking in older adults,” Human Movement Science, 2024, 95, 103223 *: equally contributed first authors

[J46] S. Hwang*, D. Chang*, A. Saxena, E. Oleen, S. Paing, J. Atkins, and H. Lee, "Characterization of Human Shoulder Joint Stiffness across 3D Arm Postures and its Sex Differences," IEEE Transactions on Biomedical Engineering (TBME), 2024, 71 (10), 2833-2841, *: equally contributed first authors

[J45]  O. Save, S. Das, E. Carlson, J. Ahn and H. Lee, “Human Gait Entrainment to Soft Robotic Hip Perturbation during Simulated Overground Walking,” IEEE Transactions on Neural Systems and Rehabilitation Engineering (TNSRE), 2024, 32, 442-451

[J44] J. Atkins, D. Chang, and H. Lee, "Design of a wearable shoulder exoskeleton robot with dual-purpose gravity compensation and a compliant misalignment compensation mechanism," Wearable Technologies, 2024, 5, e4

[J43] W. Noll, V. Phan, and H. Lee, "Modern smartphone usage can negatively impact postural balance while standing on dynamically challenging grounds," Gait & Posture, 2024, 107, 233-239

[J42] E. Jeon, H. Choi, A. Shukula, Y. Wang, H. Lee, M. P. Buman, and P. Turaga, “Topological Persistence Guided Knowledge Distillation for Wearable Sensor Data,” Engineering Applications of Artificial Intelligence (EAAI), 2024, 130, 107719

[C45] S. Hwang, T. Pati, H. Lee, and S. Z. Yong, "Preventing Ankle Sprain: Integrating Preview Control Barrier Functions with Human Movement Primitive Prediction," The 5th IFAC Workshop on Cyber-Physical & Human Systems (CPHS 2024), December 2024, Antalya, Turkiye

[C44] M. Auer, S. Joglekar, and H. Lee, "Design and Validation of a Variable Stiffness Spiral Cam Actuator," IEEE International Conference on Robotics and Automation (ICRA 2024), May, 2024, Yokohama, Japan

[C43] S. Hwang, E. Chan, and H. Lee, "Quantification of Shoulder Joint Impedance during Dynamic Motion: A Pilot Study Using a Parallel-Actuated Shoulder Exoskeleton Robot," The 21st International Conference on Ubiquitous Robots (UR 2024), June 2024, in New York, USA

[A41] A. Vanderlinden, M. Nevisipour, T. Sugar, and H. Lee, “Decreased trunk control mechanisms during obstacle avoidance in older adults” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[A40] T. Huynh, V. Pisharam, and H. Lee, “Comparative analysis of deep learning-based gait phase estimation algorithms using minimal kinematic information under various walking conditions,” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[A39] S. Paing and H. Lee, “Comparative analysis of commercial ankle braces: Effects on ankle deflection due to induced ankle inversion perturbations during walking,” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[A38] S. Hwang, D. Chang, A. Saxena, E. Oleen, S. Paing, J. Atkins, and H. Lee, “Characterization of human shoulder joint stiffness across various arm postures and its sex differences,” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[A37] O. Save, S. Das, E. Carlson, A. Kruse, J. Ahn, and H. Lee, “Effects of the magnitude of mechanical perturbations using soft robots on human gait entrainment,” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[A36] S. Kim, O. Save, A. Marquez, E. Tanner, and H. Lee, “Gait symmetry adaptation to combined visual distortion and split-belt walking,” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[A35] S. Nayak, E. Oleen, C. Phillips, M. Eikenberry, and H. Lee, “Patient-adaptive robotic balance training for chronic stroke patients,” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[A34] S. Nayak, D. Peterson, J. Huisinga, and H. Lee, “Comparative assessment of postural balance control in multiple sclerosis patients using virtual time-to-contact and traditional balance metrics,” The 47th Annual Meeting of the American Society of Biomechanics (ASB 2024), August 2024, Madison, WI

[P7] H. Lee, C. Thalman, T. Hertzell, M. Debeurre, "Soft Actuator Ankle Support Assembly," US Patent No. 12,115,093, 2024

[J41] S. Ham, S. Paing, B. Kang, H. Lee, and W. Kim "Design and validation of soft sliding structure with adjustable stiffness for ankle sprain prevention," IEEE Robotics and Automation Letters (RA-L), 2023, 9 (2), 947-954 (also will be presented at  IEEE International Conference on Robotics and Automation (ICRA 2024), May, 2024, Yokohama, Japan)

[J40] J. Atkins and H. Lee, "MIntNet: Rapid motion intention forecasting of coupled human-robot systems with simulation-to-real autoregressive neural networks," IEEE Robotics and Automation Letters (RA-L), 2023, 8 (10), 6363-6370 (also will be presented at  IEEE International Conference on Robotics and Automation (ICRA 2024), May, 2024, Yokohama, Japan)

[J39] V. Phan and H. Lee, “Characterizing postural balance on 2-dimensional compliant surfaces with directional virtual time-to-contact,” Human Movement Science, 2023, 91, 103134, 1-10 

[J38] J. Russell+, C. Phillips+, M. Auer, V. Phan, K. Jo, O. Save, V. Nalam, and H. Lee, “Introduction to a twin dual-axis robotic platform for the study of lower limb biomechanics,” IEEE Journal of Translational Engineering in Health and Medicine (JTEHM), 2023, 11, 282-290 +: Equal contribution

[J37] C. Phillips, V. Phan, K. Jo, O. Save, J. B. Russell, K. B. Zeien, M. C. Eikenberry, C. L. Kinney, and H. Lee, “Perturbation-based training on compliant surfaces to improve balance in children with cerebral palsy: A feasibility study,” IEEE Transactions on Medical Robotics and Bionics (TMRB), 2023, 5 (2), 242-252

[J36] V. Phan, D. Peterson, H. Lee, "Directional virtual time-to-contact: A new measure for investigating temporal, spatial, and control aspects of postural balance control," Journal of Biomechanics, 2023, 146 (111428), 1-5

[J35] M. Nevisipour, T. Sugar, and H. Lee, “Multi-tasking negatively affects trunk movement control during and after obstacle avoidance,” Human Movement Science, 2023, 87 (103053), 1-11

[J34] D. Li, E. Yumbla, A. Olivas, T. Sugar, H. Amor, H. Lee, W. Zhang, and D. Aukes, "Origami-Inspired Wearable Robot for Trunk Support," IEEE/ASME Transactions on Mechatronics (TMECH), 2023, 28 (3), 1466-1476 (also will be presented at IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2023), June 2023, Seattle, WA)

[C42]  S. Ham, B. Kang, K. Abishek, H. Lee, W. Kim, "Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism," IEEE-RAS International Conference on Soft Robotics (RoboSoft 2023), Singapore, April 2023

[A33] S. Nayak, K. Jo, A. Doddipalli, S. Paing, and H. Lee, “Effect of Waist Vibrotactile Feedback on Postural Balance under Dynamically Challenging Environments,” The 46th Annual Meeting of the American Society of Biomechanics (ASB 2023), August 2023, Knoxville, TN

[A32] O. Save, S. Das, E. Carlson, and H. Lee, “Human Gait Entrainment to Soft Robotic Hip Perturbations on a Self-Paced Treadmill: A Preliminary Study,” The 46th Annual Meeting of the American Society of Biomechanics (ASB 2023), August 2023, Knoxville, TN

[A31] V. Phan, D. S. Peterson, and H. Lee, “Adverse Impacts of Parkinson's Disease and Dual-Tasking on the Temporal and Control Aspects of Balance Interpreted by Directional Virtual Time-to-Contact,” The 46th Annual Meeting of the American Society of Biomechanics (ASB 2023), August 2023, Knoxville, TN

[A30] C. M. Phillips+, J. B. Russell+, M. R. Auer, V. Phan, K. Jo, O. Save, V. Nalam, and H. Lee, “A Twin Dual-Axis Robotic Platform for the Quantification of Bilateral Ankle Impedance,” The 46th Annual Meeting of the American Society of Biomechanics (ASB 2023), August 2023, Knoxville, TN

[A29] C. Phillips#, V. Phan, K. Jo, O. Save, J. B. Russell, K. B. Zeien, M. C. Eikenberry, C. L. Kinney, and H. Lee, “Perturbation-based Training on Compliant Surfaces to Enhance Postural Balance in People with Neurological Disorders Using a Twin Dual-Axis Robotic Platform,” The 46th Annual Meeting of the American Society of Biomechanics (ASB 2023), August 2023, Knoxville, TN

[A28] S. Hwang, D. Chang, A. Saxena, H. Lee, "Feasibility study for the quantification of intact human shoulder joint stiffness in various 3D arm postures with relaxed muscles," NSF DARE Conference, Los Angeles, CA, April 2023

[P6] J. Hunt and H. Lee, “Four-bar parallel actuated architecture for exoskeleton,” US Patent No. 11,590,647, 2023 

[J33] S. Kim, S. Howsden, N. Bartels, and H. Lee, “Concurrent Locomotor Adaptation and Retention to Visual and Split-Belt Perturbations,” PLoS ONE, 2022, 17 (12): e0279585, 1-15

[J32] V. Nalam, C. Bliss, J. Russell, O. Save, and H. Lee, "Understanding Modulation of Ankle Stiffness during Stance Phase of Walking on Different Ground Surfaces," IEEE Robotics and Automation Letters (RA-L), 2022, 7 (4), 9294-9301 (also presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), October 2022, Kyoto, Japan)

[J31] C. Thalman, T. Hertzell, M. Debeurre, and H. Lee, "Multi-DoF Soft Robotic Ankle-Foot Orthosis (SR-AFO) for Gait Assistance and Variable Ankle Support," Wearable Technologies, 2022, 3 (e18), 1-25 

[J30] V. Phan and H. Lee, "Deep Learning: Predicting Environments from Short-time Observations of Postural Balance," IEEE Transactions on Biomedical Engineering (TBME), 2022, 69 (11), 3460-3471

[J29] H. Lee, C. Honeycutt, and E. Perreault, "Influence of Task Complexity on Movement Planning and Release after Stroke: Insights from StartReact," Experimental Brain Research (EBR), 240, 1765-1774

[J28] L. Baye-Wallace, C. Thalman, and H. Lee, "Entrainment during Human Locomotion Using a Lightweight Soft Robotic Hip Exosuit (SR-HExo)," IEEE Robotics and Automation Letters (RA-L), 2022, 7 (3), 6131-6138 (also will be presented at IEEE International Conference on Robotics and Automation (ICRA 2023), May 2023, London, United Kingdom)

[J27] F. Zahedi, D. Chang, and H. Lee, "User-Adaptive Variable Damping Control Using Bayesian Optimization to Enhance Physical Human-Robot Interaction," IEEE Robotics and Automation Letters (RA-L), 2022, 7 (2), 2724-2731  (also presented at IEEE International Conference on Robotics and Automation (ICRA 2022), May 2022, Philadelphia, USA

[J26] S. Richmond, B. Fling, H. Lee, and D. Peterson, "Letter to the editor in response to The assessment of center of mass and center of pressure during quiet stance: current applications and future directions," Journal of Biomechanics, 2021, 128, 110730, 1-2

[J25] D. Peterson, V. Phan, S. Richmond, and H. Lee, "Addition of a secondary cognitive task negatively impacts medio-lateral time to boundary in people with PD," Clinical Biomechanics, 2021, 88, 105420, 1-7

[J24] F.  Zahedi+, J.  Arnold+, C. Phillips, and H. Lee, "Variable Damping Control for pHRI:Considering Stability, Agility, and Human Effort in Controlling Human Interactive Robots," IEEE Transactions on Human Machine Systems (THMS), 2021, 51 (5), 504-513 (+: equally contributed 1st authors)

[J23] S. Richmond, B. Fling, H. Lee, and D. Peterson, "The assessment of center of mass and center of pressure during quiet stance: current applications and future directions," Journal of Biomechanics, 2021, 123, 110485, 1-5

[J22] J. Hunt and H. Lee, “Optimizing the Rigid or Compliant Behavior of a Novel Parallel-Actuated Architecture for Exoskeleton Robot Applications," Frontiers in Robotics and AI: Biomedical Robotics, 2021, 8:596958, 1-11

[J21] V. Nalam, E. Adjei, and H. Lee, “Quantification and Modeling of 2D Human Ankle Stiffness during Standing Balance,” IEEE Transactions on Biomedical Engineering (TBME), 2021, 68 (6), 1828-1837

[J20] J. Arnold and H. Lee, "Variable Impedance Control for pHRI: Impact on Stability, Agility, and Human Effort in Controlling a Wearable Ankle Robot" IEEE Robotics and Automation Letters (RA-L), 2021, 6 (2), 2429-2436, DOI: 10.1109/LRA.2021.3062015 (also presented at IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China) 

[J19] C. Thalman, M. Debeurre, and H. Lee, "Entrainment during Human Locomotion Using a Soft Wearable Ankle Robot," IEEE Robotics and Automation Letters (RA-L), 2021, 6 (3), 4265-4272 (also presentated at IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China)

[C41] C. Thalman, L. Baye-Wallace, and H. Lee, “A Soft Robotic Hip Exosuit (SR-HExo) to Assist Hip Flexion and Extension during Human Locomotion,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021), October 2021, Prague, Czech Republic (Virtual)

[C40] F. Zahedi and H. Lee, "Human Arm Stability in Relation to Damping-Defined Mechanical Environments in Physical Interaction with a Robotic Arm," IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China

[C39] D. Chang, J. Hunt, J. Atkins, and H. Lee, "Validation of a Novel Parallel-Actuated Shoulder Exoskeleton Robot for the Characterization of Human Shoulder Impedance," IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xi'an, China

[A27] M. Nevisipour, T. Sugar,  and H. Lee, "Trunk Control in Young Healthy Adults Requires Large Adaptations During and After Obstacle Avoidance with a Cognitive Task," The 45th Annual Meeting of the American Society of Biomechanics (ASB 2021), August 2021, Atlanta (Virtual)

[A26] F. Zahedi and H. Lee, "Human-in-the-loop optimization of a variable damping controller for enhanced physical human-robot interaction," The 45th Annual Meeting of the American Society of Biomechanics (ASB 2021), August 2021, Atlanta (Virtual)

[A25] V. Phan, D. Peterson, and H. Lee, "Intermittent Switching Rate as a Measure to Assess Impacts of PD and a Secondary Cognitive Task on Postural Balance," The 45th Annual Meeting of the American Society of Biomechanics (ASB 2021), August 2021, Atlanta (Virtual)

[A24] V. Phan, L. Berrett and H. Lee, "Standing Postural Balance under Multi-directional Perturbations," The 45th Annual Meeting of the American Society of Biomechanics (ASB 2021), August 2021, Atlanta (Virtual)

[A23] V. Phan and H. Lee, "Prediction of Compliant Environments during Postural Balance using Deep Learning," The 45th Annual Meeting of the American Society of Biomechanics (ASB 2021), August 2021, Atlanta (Virtual)

[J18] E. Adjei, V. Nalam, and H. Lee, “Sex Differences in Human Ankle Stiffness during Standing Balance,” Frontiers in Sports and Active Living: Biomechanics and Control of Human Movement, 2020, 2:570449, 1-11

[B4] H. Lee, “Task-Dependent Modulation of Multi-Dimensional Human Ankle Stiffness," Powered Prostheses: Design, Control, and Clinical Applications, Elsevier, 2020, 41-56

[C38] V. Phan, D. Peterson, S. Richmond and H. Lee, "Effects of Parkinson’s Disease and a Secondary Cognitive Task on Standing Postural Stability," International Conference on Neurorehabilitation (ICNR 2020), October 2020 (Virtual)

[C37] V. Nalam, E. Adjei, J. Russell, M. Eikenberry, D. Wingerchuk and H. Lee, "Robotic Approach to Characterize Ankle Stiffness in Multiple Sclerosis Patients during Standing and Walking," International Conference on Neurorehabilitation (ICNR 2020), October 2020 (Virtual)

[C36] C. Thalman, T. Hertzell, M. Debeurre, and H. Lee, “The Multi-material Actuator for Variable Stiffness (MAVS): Design, Modeling, and Characterization of a Soft Actuator for Lateral Ankle Support,”  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), October 2020, Las Vegas 

[C35] F. Zahedi, T. Bitz, C. Phillips, and H. Lee, "Regulation of 2D Arm Stability against Unstable, Damping-Defined Environments in Physical Human-Robot Interaction," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), October 2020, Las Vegas 

[C34] M. Debeurre, T. Hertzell, C. Thalman, and H. Lee, "Soft Robotic Ankle-Foot Orthosis for Active Stroke Rehabilitation," Wearable Robotics Association Conference (WearRAcon Virtual), March 2020, Scottsdale, USA - Winner of the Innovation Challenge

[C33] C. Thalman, T. Hertzell, and H. Lee, "Toward a Soft Robotic Ankle-Foot Orthosis (SR-AFO) Exosuit for Human Locomotion: Preliminary Results in Late Stance Plantarflexion Assistance," IEEE International Conference on Soft Robotics (RoboSoft 2020), April 2020, New Haven, USA

[C32] C. Thalman and H. Lee, "Design and Validation of a Soft Ankle-Foot Orthosis Exosuit for Inversion and Eversion Support," IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France

[C31] T. Bitz, F. Zahedi, and H. Lee, "Variable Damping Control of a Robotic Arm to Improve Trade-off between Agility and Stability and Reduce User Effort," IEEE International Conference on Robotics and Automation (ICRA 2020), May 2020, Paris, France

[A22] F. Zahedi and H. Lee, "Characterization of Human Arm Stability in Relation to Unstable Viscous Environments," The 44th Annual Meeting of the American Society of Biomechanics (ASB 2020), August 2020, Atlanta

[A21] C. Phillips, F. Zahedi and H. Lee, "Muscle Response During Interaction with a Variable Damping Controlled Robotic Arm," The 44th Annual Meeting of the American Society of Biomechanics (ASB 2020), August 2020, Atlanta

[P5] V. Nalam and H. Lee, “Systems and methods for a multi-axis robotic platform for studying neuromechanics of an ankle joint,” US Patent No. 10,850,389, 2020.

[P4] P. Artemiadis, J. Hunt and H. Lee, “Mechanism for alleviating the effects of joint misalignment between users and wearable robot,” US Patent No. 10,814,473, 2020. 

[P3] P. Artemiadis, J. Hunt, and H. Lee, “Spherical parallel manipulator architecture for shoulder robotic exoskeleton,” US Patent No. 10,800,031, 2020. 

[J17] L. Hennington*, V. Nalam*, M. Eikenberry, C. Kinney, and H. Lee, "Visuomotor Ankle Training on a Stiffness-Controlled Robotic Platform Improves Ankle Motor Control and Lower Extremity Function in Chronic Stroke Survivors," IEEE Transaction on Medical Robotics and Bionics (TMRB), 2019, 1 (4), 237-246

[J16] H. Lee and E. Perreault, "Stabilizing stretch reflexes are modulated independently from the rapid release of perturbation-triggered motor plans," Scientific Reports, 2019, 9:13926, 1-11

[J15] A. Tielke, J. Ahn, and H. Lee, "Non-ideal behavior of a treadmill depends on locomotion phase, speed, and weight," Scientific Reports, 2019, 9, 1-12

[J14] P. Chunduru, S. Kim, and H. Lee, "Gait Symmetric Adaptation: Comparing effects of Implicit Visual Distortion Versus Split-belt Treadmill on Aftereffects of Adapted Step Length Symmetry," Human Movement Science, 2019, 66, 186-197 

[J13] V. Nalam and H. Lee, “Development of a Two-Axis Robotic Platform for the Characterization of Two-Dimensional Ankle Mechanics,” IEEE/ASME Transaction on Mechatronics, 2019, 24 (2), 459 - 470

[C30] J. Arnold, H. Hanzlick and H. Lee, “Variable Damping Control of the Robotic Ankle Joint to Improve Trade-off between Performance and Stability”, IEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, Montreal, Canada

[C29] J. Hunt and H. Lee, “Development of a Low Inertia Parallel Actuated Shoulder Exoskeleton Robot for the Characterization of Neuromuscular Property during Static Posture and Dynamic Movement”, IEEE International Conference on Robotics and Automation (ICRA 2019), May 2019, Montreal, Canada

[A20] V. Nalam and H. Lee, “Environment-Dependent Modulation of Ankle Impedance during the Stance Phase of Walking,” The 27th Congress of the International Society of Biomechanics (ISB 2019) / The 43rd Annual Meeting of the American Society of Biomechanics (ASB 2019), August 2019, Calgary, Canada 

[A19] V. Nalam, L. Hennington, M. Eikenberry, C.L. Kinney, and H. Lee, “Robotic Ankle Training during Standing on a Compliant Surface Improves Paretic Ankle Motor Control, Postural Balance, and Walking in Chronic Stroke Survivors,” The 27th Congress of the International Society of Biomechanics (ISB 2019) / The 43rd Annual Meeting of the American Society of Biomechanics (ASB 2019), August 2019, Calgary, Canada

[A18] J. Arnold, E. Slovak, and H. Lee, “Effects of Variable Damping-Defined Environments on Mediolateral Ankle Stability and Agility,” The 27th Congress of the International Society of Biomechanics (ISB 2019) / The 43rd Annual Meeting of the American Society of Biomechanics (ASB 2019), August 2019, Calgary, Canada

[J12] J. Hunt and H. Lee, “A New Parallel Actuated Architecture for Exoskeleton Applications Involving Multiple Degree-of-Freedom Biological Joints,” ASME Journal of Mechanisms and Robotics, 2018, 10 (5), 1-10

[J11] J. Trevino and H. Lee, “Sex Differences in 2-DOF Ankle Stiffness in Relaxed and Contracted Muscles”, Annals of Biomedical Engineering, 2018, 46 (12), 2048-2056

[J10] G. Maestas, J. Hu, J. Trevino, P. Chunduru, S. Kim, and H. Lee, “Walking Speed Influences the Effects of Implicit Visual Feedback Distortion on Modulation of Gait Symmetry,” Frontiers in Human Neuroscience, 2018, 12 (114) 

[C28] V. Nalam and H. Lee, "Environment dependent modulation of human ankle stiffness and its implication for the design of lower extremity robots", Ubiquitous Robots 2018 (UR 2018), June 2018, Hawaii - Outstanding Paper Award

[C27] J. Hunt, P. Artemiadis, and H. Lee, “Optimizing Stiffness of a Novel Parallel-Actuated Robotic Shoulder Exoskeleton for a Desired Task or Workspace”, IEEE International Conference on Robotics and Automation (ICRA 2018), May 2018, Brisbane, Australia

[A17] H. Hanzlick, J. Arnold, and H. Lee, "Effects of fixed and variable damping environments on ankle agility and stability", The 42nd Annual Meeting of the American Society of Biomechanics (ASB 2018), October 2018, Minnesota - Finalist for the Undergraduate Student Poster Competition

[A16] J. Trevino, T.E. Lockhart, T.E. Hewett, and H. Lee, "Sex difference in human ankle stiffness", The 42nd Annual Meeting of the American Society of Biomechanics (ASB 2018), October 2018, Minnesota

[A15] V. Nalam, M. Eikenberry, C.L. Kinney, D. Wingerchuk, and H. Lee, "Robotic approach to characterize altered ankle mechanics affected by stroke and multiple sclerosis", The 42nd Annual Meeting of the American Society of Biomechanics (ASB 2018), October 2018, Minnesota

[A14] V. Nalam, T. Bitz, and H. Lee, "Environment-dependent modulation of human ankle stiffness during upright postural balance", The 42nd Annual Meeting of the American Society of Biomechanics (ASB 2018), October 2018, Minnesota

[A13] T. Nagai, N. A. Bates, T.E. Hewett, H. Lee, T.E. Lockhart, and N.D. Schilaty, "Sex differences in passive and active joint stiffness during high-velocity threshold to detect passive motion test", The 42nd Annual Meeting of the American Society of Biomechanics (ASB 2018), October 2018, Minnesota

[A12] S. Moon, T.E Hewett, H. Lee, R. Soangra, C. Frames, T.E. Lockhart, "Estimation of dynamic stability of fallers and non-fallers utilizing long-term (3-days) wearable sensor data", The 42nd Annual Meeting of the American Society of Biomechanics (ASB 2018), October 2018, Minnesota

[J9] J. Hunt, H. Lee, P. Artemiadis, “A Novel Shoulder Exoskeleton Robot Using Parallel Actuation and a Passive Slip Interface,” ASME Journal of Mechanisms and Robotics, 2017, Vol 9 (1)

[C26] M.M. Gazola, R. N. Watanabe, H. Lee, H.I. Krebs, A.F. Kohn, and L.A. Elias, “Passive Ankle Joint Mechanical Impedance Investigated with a Musculoskeletal Model”, The Brazilian Conference on Electromyography and Kinesiology & Symposium (COBEC-SEB 2017), October 2017, Uberlandia, Brazil – Best Student Paper Award

[C25] V. Nalam and H. Lee, “A New Robotic Approach to Characterize Mechanical Impedance and Energetic Passivity of the Human Ankle during Standing”, 39th Annual International Conference of IEEE Engineering Medicine and Biology Society (EMBC 2017), July. 2017, South Korea

[C24] H. Hanzlick and H. Lee, “Gender Difference of Ankle Stability in the Sagittal and Frontal Planes”, 39th Annual International Conference of IEEE Engineering Medicine and Biology Society (EMBC 2017), July 2017, South Korea

[C23] V. Nalam and H. Lee, “Design and Validation of a Multi-Axis Robotic Platform for the Characterization of Ankle Neuromechanics”, IEEE International Conference on Robotics and Automation (ICRA 2017), May 2017, Singapore

[C22] H. Hanzlick, H. Murphy, and H. Lee, “Stability of the Human Ankle in Relation to Environmental Mechanics”, IEEE International Conference on Robotics and Automation (ICRA 2017), May 2017, Singapore

[A11] V. Nalam, R. Lodes, D. Shah, H. Lee, “Quantification of Energetic Passivity of the Human Ankle in 2 Degrees-of-Freedom”, 2017 BMES Annual Meeting (BMES 2017), October 2017, Phoenix, USA

[A10] P. Chunduru and H. Lee, “Locomotor Adaptation on Visual Feedback Distortion and Split-belt Treadmill”, 2017 BMES Annual Meeting (BMES 2017), October 2017, Phoenix, USA

[A9] H. Hanzlick and H. Lee, “Entropy Analysis of Ankle Stability in Relation to Environmental Mechanics”, 2017 BMES Annual Meeting (BMES 2017), October 2017, Phoenix, USA 

[J8] H. Lee+, E. Rouse+, and H.I.Krebs, “Summary of Human Ankle Impedance during Walking,” IEEE Journal of Translational Engineering in Health and Medicine, 2016, Vol 4, +: Equal contribution

[J7] H. Lee, N. Hogan, “Energetic Passivity of the Human Ankle Joint,” IEEE Transaction on Neural Systems and Rehabilitation Engineering, 2016, Vol 24 (12), 1416-1425

[B3] H.I. Krebs, K. Michmizos, T. Susko, H. Lee, N. Hogan, “Beyond Human or Robot Administered Treadmill Training", Neurorehabilitation Technology, Springer, 2016, 409-433

[C21] V. Nalam and H. Lee “Development of a Robotic Platform for Ankle Studies in Multiple Degrees-of-Freedom”, ASME 9th Dynamic Systems and Control Conference (DSCC 2016), October 2016, Minneapolis, USA

[C20] J. Hunt, H. Lee, P. Artemiadis “Development of a Novel Parallel Manipulator Using Modular Motion Coupling and its Implementation in an Exoskeleton Shoulder Device”, ASME 9th Dynamic Systems and Control Conference (DSCC 2016), October 2016, Minneapolis, USA

[C19]  H. Lee, N. Hogan “Essential Considerations for Design of Human-Interactive Robots”, IEEE International Conference on Robotics and Automation (ICRA 2016), May 2016, Stockholm, Sweden

[A8] G. Maestas, P. Chunduru, S. Kim, H. Lee, “The effect of visual distortion on human gait parameters”, 2016 BMES Annual Meeting (BMES 2016), October 2016, Minneapolis, USA

[J6] H. Lee, N. Hogan, “Human Ankle Mechanical Impedance during Locomotion,” IEEE Transaction on Neural Systems and Rehabilitation Engineering (TNSRE), 2015, Vol 23 (4), 755-764

[J5] A. Pando*, H. Lee*, W. Drake, S. Charles, and N. Hogan, “Position-dependent Characterization of Passive Wrist Stiffness,” IEEE Transaction on Biomedical Engineering (TBME), 2014, Vol 61 (8), 2235-2244, *: Equal contribution

[J4] H. Lee, H.I. Krebs, and N. Hogan, “Multivariable Dynamic Ankle Mechanical Impedance with Active Muscles,” IEEE Transaction on Neural Systems and Rehabilitation Engineering (TNSRE), 2014, Vol 22 (5), 978-981

[J3] H. Lee, H.I. Krebs, and N. Hogan,  “Multivariable Dynamic Ankle Mechanical Impedance with Relaxed Muscles,” IEEE Transaction on Neural Systems and Rehabilitation Engineering (TNSRE), 2014, Vol 22 (6), 1104-1114

[J2] H. Lee, P. Ho, M. Rastgaar, H.I. Krebs, and N. Hogan, “Multivariable Static Ankle Mechanical Impedance with Active Muscles,” IEEE Transaction on Neural Systems and Rehabilitation Engineering (TNSRE), 2014, Vol 22 (1), 44-52 

[J1] H. Lee, P. Ho, M. Rastgaar, H.I. Krebs, and N. Hogan, “Multivariable Static Ankle Mechanical Impedance with Relaxed Muscles,” Journal of Biomechanics, 2011, Vol 44 (10), 1901-1908 

[B2] E. Perreault, L. Hargrove, D. Ludvig, H. Lee, J. Sensinger, “Considering Limb Impedance in the Design and Control of Prosthetic Devices", Neuro-robotics: From Brain Machine Interfaces to Rehabilitation Robotics (Ed.: P. Artemiadis), Springer, 2014

[B1] M. Rastgaar, H. Lee, E. Ficanha, P. Ho, H.I. Krebs, N. Hogan, “Multi-Directional Dynamic Mechanical Impedance of the Human Ankle; a Key to Anthropomorphism in Lower Extremity Assistive Robots”, Neuro-robotics: From Brain Machine Interfaces to Rehabilitation Robotics (Ed.: P. Artemiadis), Springer, 2014

[C18] H. Lee, N. Hogan “Investigation of Human Ankle Mechanical Impedance during Locomotion using a Wearable Ankle Robot”, IEEE International Conference on Robotics and Automation (ICRA 2013), May. 2013, Karlsruhe, Germany

[C17] S. Wang, H. Lee, N. Hogan, “Ankle Mechanical Impedance under Muscle Fatigue”, ASME 6th Dynamic Systems and Control Conference (DSCC2013), Oct. 2013, Palo Alto, USA (Invited session)

[C16] H. Lee H.I. Krebs, N. Hogan, “Linear Time-Varying Identification of Ankle Mechanical Impedance During Human Walking”, ASME 5th Dynamic Systems and Control Conference (DSCC2012), Oct. 2012, Fort Lauderdale, USA (Invited session)

[C15] H. Lee, S. Wang, N. Hogan, “Relationship between Ankle Stiffness Structure and Muscle Activation”, 34th Annual International Conference of IEEE Engineering Medicine and Biology Society (EMBC2012), Aug. 2012, San Diego, USA

[C14] H. Lee, H.I. Krebs, N. Hogan, “A Novel Characterization Method to Study Multivariable Joint Mechanical Impedance”, IEEE RAS/EMBS 4th International Conference on Biomedical Robotics and Biomechatronics (BioRob 2012), Jun. 2012, Rome, Italy – Best Student Paper Award Finalist 

[C13] H. Lee, N. Hogan, “A Modeling of Dynamic Ankle Mechanical Impedance in Relaxed Muscle”, ASME 4th Dynamic Systems and Control Conference (DSCC2011), Oct. 2011, Washington DC, USA (Invited session)

[C12] H. Lee, T. Patterson, J. Ahn, D. Klenk, A. Lo, H.I. Krebs, N. Hogan, “Static Ankle Impedance in Stroke and Multiple Sclerosis: A Feasibility Study”, 33rd Annual International Conference of IEEE Engineering Medicine and Biology Society (EMBC2011), Sep. 2011, Boston, USA

[C11] J. Ahn, T. Patterson, H. Lee, D. Klenk, A. Lo, H.I. Krebs, N. Hogan, “Feasibility of Entrainment with Ankle Mechanical Perturbation to Treat Locomotion Deficit of Neurologically Impaired Patients”, 33rd Annual International Conference of IEEE Engineering Medicine and Biology Society (EMBC2011), Sep. 2011, Boston, USA

[C10] H. Lee, H. Shin, J. Park, “Effect of Aesthetic Design Elements on Tabletop Display Interaction”, 14th International Conference on Human-Computer Interaction (HCII2011), Jul. 2011, Orlando, USA, Lecture Notes in Computer Science (LNCS), HCI (4), 484-489

[C9] H. Lee, P. Ho, M. Rastgaar, H.I. Krebs, N. Hogan, “Quantitative Characterization of Steady-State Ankle Impedance with Muscle Activation”, ASME 3rd Dynamic Systems and Control Conference (DSCC2010), Sep. 2010, Boston, USA (Invited session)

[C8] P. Ho, H. Lee, M. Rastgaar, H.I. Krebs, N. Hogan, “Interpretation of Directional Properties of Voluntary Modulated Human Ankle Mechanical Impedance”, ASME 3rd Dynamic Systems and Control Conference (DSCC2010), Sep. 2010, Boston, USA (Invited session)

[C7] M. Rastgaar, P. Ho, H. Lee, H.I. Krebs, N. Hogan, “Stochastic Estimation of the Multi-Variable Mechanical Impedance of the Human Ankle with Active Muscles”, ASME 3rd Dynamic Systems and Control Conference (DSCC2010), Sep. 2010, Boston, USA (Invited session)

[C6] H. Lee, P. Ho, H.I. Krebs, N. Hogan, “The Multivariable Torque-Displacement Relation at the Ankle”, ASME 2nd Dynamic Systems and Control Conference (DSCC2009), Oct. 2009, Las Vegas, USA (Invited session)

[C5] P. Ho, H. Lee, H.I. Krebs, N. Hogan, “Directional Variation of Active and Passive Ankle Static Impedance”, ASME 2nd Dynamic Systems and Control Conference (DSCC2009), Oct. 2009, Las Vegas, USA (Invited session)

[C4] M. Rastgaar, P. Ho, H. Lee, H.I. Krebs, N. Hogan, “Stochastic Estimation of the Multi-Variable Human Ankle Mechanical Impedance”, ASME 2nd Dynamic Systems and Control Conference (DSCC2009), Oct. 2009, Las Vegas, USA

[C3] H. Lee, H. Jeong, J. Lee, K. Yeom, J. Park, “Gesture-Based Interface for Connection and Control of Multi-device in a Tabletop Display Environment”, 13th International Conference on Human-Computer Interaction (HCII2009), Lecture Notes in Computer Science (LNCS), Jul. 2009, San Diego, USA, HCI (2), 216-225

[C2] H. Lee, H. Kim, K. Park, J. Park, ”Robot learning by observation based on Bayesian networks and game pattern graphs for human-robot game interactions”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), Aug. 2008, Nice, France, 319-32

[C1] H. Lee, H. Jeong, J. Lee, K. Yeom, H. Shin, J. Park, “Select-and-point: a novel interface for multi-device connection and control based on simple hand gestures”, ACM SIGCHI Conference on Human Factors in Computing Systems (CHI 2008) (Extended Abstract), Apr. 2008, Florence, Italy, 3357-3362

[A7] H. Lee, R. Heckmann, C. Honeycutt, E. Perreault, “Influence of task complexity on brainstem contributions to motor execution after stroke”, Neuroscience 2015, Oct. 2015, Chicago, USA

[A6] S. Charles, S. Grimmshaw, D. Seegmiller, A. Pando, N. Hogan, H. Lee, “Anthropometry of passive wrist stiffness”, Neuroscience 2015, Oct. 2015, Chicago, USA

[A5] H. Lee, E. Perreault, “Independent Control of Stabilizing Reflexes and Triggered Reactions in the Human Arm”, Neuroscience 2014, Nov. 2014, Washington DC, USA

[A4] D. Ludvig, H. Lee, E. Perreault, “Elbow Stiffness at High Torque Levels”, 2014 BMES Annual Meeting (BMES 2014), Oct. 2014, San Antonio, USA

[A3] H. Lee, Ji-Hyung Park, “Robust hand and fingertip tracking for natural gesture interfaces”, 7th International Conference on Pervasive Computing (Pervasive 2009) (Extended Abstract), May. 2009, Nara, Japan

[A2] H. Lee, J. Park, J. Lee, J. Park, “Generic Interaction Method and its Implementations to Control Home Electronics and Appliances”, 12th International Conference on Human-Computer Interaction (HCII2007), Jul. 2007, Beijing, China

[A1] H. Lee, K. Lee, T. Choi, “Development of a low-cost foot scanner for a custom shoe tailoring system”, 7th Symposium on Footwear Biomechanics, Jul. 2005, Cleveland, USA

[P2] C. Sung, H. Lee, M. Kim, “Side key flexible circuit board for mobile telecommunication terminal,” US Patent No. 8,457,694, 2013 

[P1] H. Lee, J. Park, H. Jeong, K. Yeom, and J. Lee, “System for Controlling Devices and Information on Network by Using Hand Gestures,” WO/2009/157730, 2009