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In Press

–

2023

2022

2021

Frequency-dependent force direction elucidates neural control of balance
Kaymie Shiozawa, Jongwoo Lee, Marta Russo, Dagmar Sternad, Neville Hogan
Journal of NeuroEngineering and Rehabilitation

Identifying human postural dynamics and control from unperturbed balance
Jongwoo Lee, Kuangen Zhang, Neville Hogan
Journal of NeuroEngineering and Rehabilitation

Exploiting Redundancy to Facilitate Physical Interaction
James Hermus, Johannes Lachner, David Verdi, Neville Hogan
IEEE Transactions on Robotics

Energy budgets for coordinate invariant robot control in physical human–robot interaction
Johannes Lachner, Felix Allmendinger, Eddo Hobert, Neville Hogan, Stefano Stramigioli
The International Journal of Robotics Research

2020

Separating neural influences from peripheral mechanics: the speed-curvature relation in mechanically constrained actions
James Hermus, Joseph Doeringer, Dagmar Sternad, Neville Hogan
Journal of neurophysiology

2019

Lee, J., Goetz, D., Huber, M.E., & Hogan, N. (2019) Feasibility of Gait Entrainment to Hip Mechanical Perturbation for Locomotor Rehabilitation at IROS 2019 in Macau, China. Paper to be presented at 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), Macau, China.

Huber, M.E., Folinus, C., & Hogan, N. (2019). Visual perception of joint stiffness from multi-joint motion. Journal of Neurophysiology, Article In Press.

Sternad, D., & Hogan, N. (2019). Control of goal-directed movements within (or beyond) reach? Comment on “Muscleless motor synergies and actions without movements: From motor neuroscience to cognitive robotics” by Vishwanathan Mohan et al. Physics of Life Reviews, Article In Press.

Pattinson, S.W., Huber, M.E., Kim, S., Lee, J., Grunsfeld, S., Roberts, R., Dreifus, G., Liu, L., Hogan, N., & Hart, A.J. (2019). Additive manufacturing of biomechanically tailored meshes for compliant wearable and implantable devices. Advanced Functional Materials, 1901815. [See MIT News story]

Lee, J., Huber, M., Chiovetto, E., Giese, M., Sternad, D., & Hogan, N. (2019). Human-inspired balance model to account for foot-beam interaction mechanics. Paper presented at 2019 IEEE International Conference on Robotics and Automation (ICRA).

Guang, H., B/wp-content/uploads/2019/06/2019-human-inspired-balance-model-to-account-for-foot-beam-interaction-mechanics.pdfazzi, S., Sternad, D., & Hogan, N. (2019). Dynamic primitives in human manipulation of non-rigid objects. Paper presented at 2019 IEEE International Conference on Robotics and Automation (ICRA).

2018

Bazzi, S., Ebert, J., Hogan, N., & Sternad, N. (2018). Stability and predictability in human control of complex objects. Chaos: An Interdisciplinary Journal of Nonlinear Science, 28 (10), 103103.

Lee, J., Huber, M., Sternad, D., & Hogan, N. (2018). Robot controllers compatible with human balance beam behavior. Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Maurice, P., Hogan, N., & Sternad, D. (2018). Predictability, force and (anti-)resonance in complex object control. Journal of Neurophysiology, 120, 765-780.

Bazzi, S., Ebert, J., Hogan, N., & Sternad, D. (2018). Stability and predictability in dynamically complex physical interactions. Paper presented at 2018 IEEE International Conference on Robotics and Automation (ICRA).

Maurice, P., Huber, M.E., Hogan, N., & Sternad, D. (2018) Velocity-curvature patterns limit human-robot physical interaction. IEEE Robotics and Automation Letters, 3(1), 249-256.

2017

Rigobon, D., Ochoa, J., & Hogan, N. (2017). Entrainment of ankle-actuated walking model to periodic perturbations via leading leg angle control. Paper presented at 2017 ASME Dynamic Systems and Controls Conference (DSCC).

Koeppen, R., Huber, M. E., Sternad, D., & Hogan, N. (2017). Controlling physical interactions: Humans do not minimize muscle effort. Paper presented at 2017 ASME Dynamic Systems and Control Conference (DSCC).

Ochoa, J., Sternad, D., & Hogan, N. (2017). Treadmill versus overground walking: Different response to physical interaction. Journal of Neurophysiology, 118(4), 2089-2102.

Huber, M.E., Folinus, C., D., & Hogan, N. (2017). Visual perception of limb stiffness. Paper presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

Park, S.W., Marino, H., Charles, S. Sternad, D., & Hogan, N. (2017). Moving slowly is hard for humans: Limitations of dynamic primitives. Journal of Neurophysiology, 118(1), 69-83.

Hogan, N. (2017). Physical interaction via dynamic primitives. In J.-P. Laumond (Ed.), Geometric and Numerical Foundations of Movements (pp. 269-299). Cham, Switzerland: Springer International Publishing AG.

2016

Lee, H. & Hogan, N. (2016). Energetic passivity of the human ankle joint. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 24(12), 1416-1425.

Ochoa, J., Sternad, D., & Hogan, N. (2016). Entrainment of overground human walking to mechanical perturbations at the ankle joint. Paper presented at 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 844-849).

Bosworth, W., Whitney, J., Kim, S., & Hogan, N. (2016). Robot locomotion on hard and soft ground: Measuring stability and ground properties in-situ. Paper presented at 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp. 3582-3589).

Braun, D.J., Apte, S., Adiyatov, O., Dahiya, A., & Hogan, N. (2016). Compliant actuation for energy efficient impedance modulation. Paper presented at 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp.636-641).

Lee, H., & Hogan, N. (2016). Essential considerations for design and control of human-interactive robots. Paper presented at 2016 IEEE International Conference on Robotics and Automation (ICRA) (pp. 3069-3074).

2015

Krebs, H.I., Saitoh, E., & Hogan, N. (2015). Robotic therapy and the paradox of the diminishing number of degrees of freedom. Physical Medicine and Rehabilitation Clinics of North America, 24(4), 691-702.

Bosworth, W., Kim, S., & Hogan, N. (2015). The MIT Super Mini Cheetah: A small, low-cost quadrupedal robot for dynamic locomotion. Paper presented at 2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (pp. 1-8).

Lee, H. & Hogan, N. (2015). Time-varying ankle mechanical impedance during human locomotion. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(5), 755-764.

Song, Y.S. & Hogan, N. (2015). A novel interactive exoskeletal robot for overground locomotion studies in rats. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 23(4), 591-599.

Ahn, J. & Hogan, N. (2015). Improved assessment of orbital stability of rhythmic motion with noise. PLoS One, 10(3), e0119596.

2014

Hogan, N. (2014). A General Actuator Model Based on Nonlinear Equivalent Networks. IEEE/ASME Transactions on Mechatronics, 19(6), 1929-1939.

Lee, J., Hyun, D.J., Ahn, J., Kim, S., & Hogan, N. (2014). On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations. Paper presented at 2014 IEEE/RSJ international conference on Intelligent Robots and Systems (IROS) (pp. 4907-4913).

Bosworth, W., Kim, S., & Hogan, N. (2014). The effect of leg impedance on stability and efficiency in quadrupedal trotting. Paper presented at 2014 IEEE/RSJ international conference on Intelligent Robots and Systems (IROS) (pp. 4895-4900).

Lee, H., Krebs, H.I., & Hogan, N. (2014). Multivariable dynamic ankle mechanical impedance with active muscles. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 22(5), 971-981.

Pando, A.L., Lee, H., Drake, W.B., Hogan, N., & Charles, S.K. (2014). Position-dependent characterization of passive wrist stiffness. IEEE Transactions on Biomedical Engineering, 61(8), 2235-2244.

Ahn, J., & Hogan, N. (2014). Is estimation of Floquet multipliers of human walking valid? Paper presented at 2014 40th Annual Northeast Bioengineering Conference (NEBEC).

Park, S.W., Sternad, D., & Hogan, N. (2014). Coordinate sensitivity of variability analysis: A revised method to quantify covariation. Paper presented at 2014 40th Annual Northeast Bioengineering Conference (NEBEC).

Rastgaar, M., Lee, H., Ficanha, E., Ho, P., Krebs, H.I. & Hogan, N. Multi-directional dynamic mechanical impedance of the human ankle; A key to anthropomorphism in lower extremity assistive robots. In P. Artemiadis (Ed.), Neuro-Robotics (pp. 157-178). Dordrecht, The Netherlands: Springer Netherlands.

Lee, H., Ho, P., Rastgaar, M., Krebs, H.I., & Hogan, N. (2014). Multivariable static ankle mechanical impedance with active muscles.  IEEE Transactions on Neural Systems and Rehabilitation Engineering, 22(1), 44-52.

2013

Wang, S., Lee, H., & Hogan, N. (2013). Ankle mechanical impedance under muscle fatigue. Paper presented at ASME 2013 Dynamic Systems and Control Conference (DSCC).

Ahn, J., & Hogan, N. (2013). Long-range correlations in stride intervals may emerge from non-chaotic walking dynamics. PLoS One, 8(9), e73239.

Sternad, D., Marino, H., Charles, S., Duarte, M., Dipietro, L., & Hogan, N. (2013). Transitions between discrete and rhythmic primitives in a unimanual task. Frontiers in Computational Neuroscience, 7, 90.

Hogan, N., & Sternad, D. (2013). Dynamic primitives in the control of locomotion. Frontiers in Computational Neuroscience, 7, 71.

Lee, H. & Hogan, N. (2013). Investigation of human ankle mechanical impedance during locomotion using a wearable ankle robot. Paper presented at 2013 IEEE International Conference on Robotics and Automation (ICRA) (pp. 2651-2656).

Chang, P.H., Park, K., Kang, S.H., Krebs, H.I., & Hogan, N. (2013). Stochastic estimation of human arm impedance using robots with nonlinear frictions: An experimental validation. IEEE/ASME Transactions on Mechatronics, 18(2), 775-786.

Krebs, H.I, & Volpe, B.T. (2013). Rehabilitation robotics. In M.P. Barnes & D.C. Good (Eds.), Handbook of Clinical Neurology, 2013, Volume 110 (pp. 283-294). Amsterdam, Netherlands: Elsevier.

2012

Fasse, E. & Hogan, N. (2012). Control of physical contact and dynamic interaction. In G. Giralt & G. Hirzinger (Eds.), Robotics Research: The Seventh International Symposium (pp. 283-294). London: Spring Verlag.

Hogan, N. & Sternad, D. (2012). Dynamic primitives of motor behavior, Biological Cybernetics, 106(11), 727-739.

Ahn, J. & Hogan, N. (2012). A simple state-determined model reproduces entrainment and phase-locking of human walking. PLoS One, 7(11), e47963.

Krebs, H.I. & Hogan, N. (2012). Robotic therapy: the tipping point. American Journal of Physical Medicine & Rehabilitation, 91(11), S290–S297.

Lee, H., Krebs, H.I., & Hogan, N. (2012). Linear time-varying identification of ankle mechanical impedance during human walking. Paper presented at ASME 2012 5th Annual Dynamic Systems and Control Conference (DSCC) joint with the JSME 2012 11th Motion and Vibration Conference (pp. 753-758).

Krebs, H.I., Fasoli, S.E., Dipietro, L., Fragala-Pinkham, M., Hughes, R., Stein, J., &  Hogan, N. (2012). Motor learning characterizes habilitation of children with hemiplegic cerebral palsy. Neurorehabilitation and Neural Repair, 26(7), 855-860.

Lee, H., Wang, S., & Hogan, N. (2012). Relationship between ankle stiffness structure and muscle activation. Paper presented at 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 4879-4882).

Formica, D., Charles, S.K., Zollo, L., Guglielmelli, E., Hogan, N., & Krebs, H.I. (2012). The passive stiffness of the wrist and forearm. Journal of Neurophysiology, 108(4), 1158-1166.

Hasson, C.J., Hogan, N., & Sternad, D. (2012). Human control of dynamically complex objects. Paper presented at 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 1235-1240).

Lee, H., Krebs, H.I., & Hogan, N. (2012). A novel characterization method to study multivariable joint mechanical impedance. Paper presented at 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 1524-1529).

Ahn, J., Klenk, D., & Hogan, N. (2012). A simple bipedal walking model reproduces entrainment of human locomotion. Paper presented at 2012 IEEE International Conference on Robotics and Automation (ICRA) (pp. 537-542).

Ahn, J. & Hogan, N. (2012). Walking is not like reaching: evidence from periodic mechanical perturbations. PLoS One, 7(3), e31767.

Charles, S.K, & Hogan, N. (2012). Stiffness, not inertial coupling, determines path curvature of wrist motions. Journal of Neurophysiology, 107(4), 1230-1240.

Krebs, H.I., Roy, A., Artemiadis, P.K., Ahn, J., & Hogan, N. (2012). Beyond human or robot administered treadmill training. In V. Dietz, T. Nef, & W.Z. Rymer (Eds.), Neurorehabilitation Technology (pp. 233-252). Cham, Switzerland: Springer International Publishing AG.

Krebs, H.I., Michmizos, K., Susko, T., Lee, H., Roy, A., & Hogan, N. (2017). Forging Mens et Manus: The MIT experience in upper extremity robotic therapy. In D.J. Reinkensmeyer & V. Dietz (Eds.), Neurorehabilitation Technology (pp. 333-350). Cham, Switzerland: Springer International Publishing AG.

Dipietro, L., Krebs, H.I., Volpe, B.T., Stein, J., Bever, C., Mernoff, S.T., Fasoli, S.E., & Hogan, N. (2012). Learning, not adaptation, characterizes stroke motor recovery: Evidence from kinematic changes induced by robot-assisted therapy in trained and untrained task in the same workspace. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 20(1), 48-57.

2011

Lee, H., Patterson, T., Ahn, J., Klenk, D., Lo, A., Krebs, H.I., & Hogan, N. (2011). Static ankle impedance in stroke and multiple sclerosis: a feasibility study. Paper presented at 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 8523-8526).

Ahn, J., Patterson, T.,Lee, H., Klenk, D., Lo, A., Krebs, H.I., & Hogan, N. (2011). Feasibility of entrainment with ankle mechanical perturbation to treat locomotor deficit of neurologically impaired patients. Paper presented at 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 7474-7477).

Hogan, N. & Krebs, H.I. (2011). Physically interactive robotic technology for neuromotor rehabilitation.  In A. Green, E. Chapman, J.F. Kalaska, & F. Lepore (Eds.), Enhancing Performance for Action and Perception: Multisensory Integration, Neuroplasticity and Neuroprosthetics, Part II (pp. 59-68). Amsterdam, Netherlands: Elsevier.

Lee, H., Ho, P., Rastgaar, M.A., Krebs, H.I., & Hogan, N. (2011). Multivariable static ankle mechanical impedance with relaxed muscles. Journal of Biomechanics, 44(10), 1901-1908.

Roy, A., Krebs, H.I., Bever, C.T., Forrester, L.W., Macko, R.F., & Hogan, N. (2011).Measurement of passive ankle stiffness in subjects with chronic hemiparesis using a novel ankle robot. Journal of Neurophysiology, 105(5), 2132-2149.

Charles, S.K. & Hogan, N. (2011). Dynamics of wrist rotations. Journal of Biomechanics, 44(4), 614-621.

Lee, H., & Hogan, N. (2011). Modeling dynamic ankle mechanical impedance in relaxed muscle. Paper presented at ASME 2011 Dynamic Systems and Control Conference (DSCC) and Bath/ASME Symposium on Fluid Power and Motion Control (pp. 777-782).

2010

Ajemian, R. & Hogan, N. (2010). Experimenting with theoretical motor neuroscience. Journal of Motor Behavior, 42(6), 333-342.

Ahn, J. & Hogan, N. (2010). Feasibility of dynamic entrainment with ankle mechanical perturbation to treat locomotor deficit. Paper presented at 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) (pp. 3422-3425).

Levy-Tzedek, S., Krebs, H.I., Song, D., Hogan, N., & Poizner, H. (2010). Non-monotonicity on a spatio-temporally defined cyclic task: evidence of two movement types? Experimental Brain Research, 202(4), 733-746.

Charles, S.K. & Hogan, N. (2010). The curvature and variability of wrist and arm movements. Experimental Brain Research, 203(1), 63-73.

Sternad, D., Park, S.W., Müller, H., & Hogan, N. (2010) Coordinate dependence of variability analysis. PLoS Computational Biology, 6(4), e1000751.

Rastgaar, M.A., Ho, P., Lee, H., Krebs, H.I., & Hogan, N. (2010) Stochastic estimation of the multi-variable mechanical impedance of the human ankle with active muscles. Paper presented at ASME 2010 Dynamic Systems and Control Conference (DSCC) (pp. 429-431).

Ho, P., Lee, H.,Rastgaar, M.A., Krebs, H.I., & Hogan, N. (2010) Interpretation of the directional properties of voluntarily modulated human ankle mechanical impedance. Paper presented at ASME 2010 Dynamic Systems and Control Conference (DSCC) (pp. 467-472).

Lee, H., Ho, P., Rastgaar, M.A., Krebs, H.I., & Hogan, N. (2010) Quantitative characterization of steady-state ankle impedance with muscle activation. Paper presented at ASME 2010 Dynamic Systems and Control Conference (DSCC) (pp. 321-323).

Buerger, S.P. & Hogan, N. (2010) .Novel Actuation Methods for High Force Haptics. In M.H. Zadeh (Ed.), Advances in Haptics (pp. 1-29). Vukovar, Croatia: In-Tech Publishing.

Fasoli, S.E., Fragala-Pinkham, M., Hughes, R., Hogan, N., Stein, J. & Krebs, H.I. (2010). Upper limb robot-assisted therapy: A new option for children with hemiplegia. Technology and Disability, 22(4), 193-198.

Krebs, H.I., Volpe, B.T., Hesse, S., Lo, A.C., Stein, J., & Hogan, N. (2010) Rehabilitation Robotics. In W. Frontera et al. (Eds.), Physical Medicine & Rehabilitation: Principles and Practice, 5th edition. Philadelphia: Lippincott Williams & Wilkins.

2009

Hogan, N. & Sternad, D. (2009). Sensitivity of smoothness measures to movement duration, amplitude, and arrests. Journal of Motor Behavior, 41(6), 529-534.

Volpe, B.T., Huerta, P.T., Zipse, J.L., Rykman, A., Edwards, D., Dipietro, L., Hogan, N., & Krebs, H.I. (2009). Robotic devices as therapeutic and diagnostic tools for stroke recovery. Archives of Neurology, 66(9), 1086-1090.

Roy, A., Krebs, H.I., Williams, D.J., Bever, C.T., Forrester, L.W., Macko, R.M., & Hogan, N. (2009). Robot-aided neurorehabilitation: a novel robot for ankle rehabilitation. IEEE Transactions on Robotics, 25(3), 569-582.

Dipietro, L., Krebs, H.I., Fasoli, S.E., Volpe, B.T., & Hogan, N. (2009). Submovement changes characterize generalization of motor recovery after stroke. Cortex, 45(3), 318-324.

Krebs, H.I., Volpe, B.T., & Hogan, N. (2009). A working model of stroke recovery from rehabilitation robotics practitioners. Journal of Neuroengineering and Rehabilitation, 6(1), 6.

Rancourt, D. & Hogan, N. (2009). The biomechanics of force production. In D. Sternad (Ed.), Progress in motor control: A multidisciplinary perspective (pp. 645-661). New York, Springer US.

Rastgaar, M.A., Ho, P., Lee, H., Krebs, H.I., & Hogan, N. (2010) Stochastic estimation of multi-variable human ankle mechanical impedance. Paper presented at ASME 2009 Dynamic Systems and Control Conference (DSCC) (pp. 45-47).

Lee, H., Ho, P., Krebs, H.I., & Hogan, N. (2009) The multi-variable torque-displacement relation at the ankle. Paper presented at ASME 2010 Dynamic Systems and Control Conference (DSCC) (pp. 49-51).

Ho, P., Lee, H., Krebs, H.I., & Hogan, N. (2010) Directional variation of active and passive ankle static impedance. Paper presented at ASME 2010 Dynamic Systems and Control Conference (DSCC) (pp. 53-55).

2008

Stein, J., Hughes, R., Fasoli, S.E., Krebs, H.I., & Hogan, N. (2008). Technological Aids for Motor Recovery. In J. Stein, R. Zorowita, R. Harvey, R. Macko, & C. Winstein (eds.), Stroke Recovery and Rehabilitation. New York: Demos Medical Publishing.

Fasoli, S.E., Fragala-Pinkham, M., Hughes, R., Krebs, H.I., Hogan, N., & Stein, J. (2008). Robotic therapy and botulinum toxin type A: A novel intervention approach for cerebral palsy. American Journal of Physical Medicine & Rehabilitation, 87(12), 1022-1026.

Fasoli, S.E., Fragala-Pinkham, M., Hughes, R., Hogan, N., Krebs, H.I., & Stein, J. (2008). Upper limb robotic therapy for children with hemiplegia. American Journal of Physical Medicine & Rehabilitation, 87(11), 929-936.

Krebs, H.I., Dipietro, L., Levy-Tzedek, S., Fasoli, S.E., Rykman-Berland, A., Zipse, J., Fawcett, J.A., Stein, J., Poizner, H., Lo, A.C., Volpe, B.T., & Hogan, N. (2008). A paradigm shift for rehabilitation robotics. IEEE Engineering in Medicine and Biology Magazine, 27(4), 61-70.

Volpe, B.T., Lynch, D., Rykman-Berland, A., Ferraro, M., Galgano, M., Hogan, N., & Krebs, H.I. (2008). Intensive sensorimotor arm training mediated by therapist or robot improves hemiparesis in patients with chronic stroke. Neurorehabilitation and Neural Repair, 22(3), 305-310.

Song, Y.S. & Hogan, N. (2008) Design of an overground interactive therapeutic robot for rodents recovering after spinal cord injury. Paper presented at ASME 2008 Dynamic Systems and Control Conference (DSCC) (pp. 409-411).

Ahn, J. & Hogan, N. (2008) The Basin of Entrainment of Human Gait under Mechanical Perturbation. Paper presented at ASME 2008 Dynamic Systems and Control Conference (DSCC) (pp. 477-479).

Krebs, H.I., Mernoff, S., Fasoli, S.E., Hughes, R., Stein, J., & Hogan, N. (2008). A comparison of functional and impairment-based robotic training in severe to moderate chronic stroke: a pilot study. NeuroRehabilitation, 23(1), 81-87.

2007

Krebs, H.I., Volpe, B.T., Williams, D., Celestino, J., Charles, S.K., Lynch, D., & Hogan, N. (2007). Robot-aided neurorehabilitation: a robot for wrist rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15(3), 327-335.

Masia, L., Krebs, H.I., Cappa, P., & Hogan, N. (2007). Design and characterization of hand module for whole-arm rehabilitation following stroke. IEEE/ASME Transactions on Mechatronics, 12(4), 399-407.

Dipietro, L., Krebs, H.I., Fasoli, S.E., Volpe, B.T., Stein, J., Bever, C., & Hogan, N. (2007). Changing motor synergies in chronic stroke. Journal of Neurophysiology, 98(2), 757-768.

Hogan, N. & Sternad, D. (2007). On rhythmic and discrete movements: reflections, definitions and implications for motor control. Experimental Brain Research, 181(1), 13-30.

Masia, L., Krebs, H.I., Cappa, P., & Hogan, N. (2007). Design, characterization, and impedance limits of a hand robot. Paper presented at IEEE 10th International Conference on Rehabilitation Robotics, 2017 (ICORR 2007) (pp. 1085-1089).

Roy, A., Krebs, H.I., Patterson, S.L., Judkins, T.N., Khanna, I., Forrester, L.W., Macko, R.M., & Hogan, N. (2007). Measurement of human ankle stiffness using the anklebot. Paper presented at IEEE 10th International Conference on Rehabilitation Robotics, 2017 (ICORR 2007) (pp. 1085-1089).

Buerger, S.P. & Hogan, N. (2007). Complementary stability and loop shaping for improved human–robot interaction. IEEE Transactions on Robotics, 23(2), 232-244.

Palazzolo, J.J., Ferraro, M., Krebs, H.I., Lynch, D., Volpe, B.T., & Hogan, N. (2007). Stochastic estimation of arm mechanical impedance during robotic stroke rehabilitation. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15(1), 94-103.

Krebs, H.I., Dipietro, L., Volpe, B.T., & Hogan, N. (2007). An investigation of the specificity of robotic training. Critical Reviews in Physical and Rehabilitation Medicine, 19(2), 141-152.

2006

Buerger, S.P. & Hogan, N. (2006). Relaxing passivity for human-robot interaction. Paper presented at 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4570-4575).

Krebs, H.I. & Hogan, N. (2006). Therapeutic Robotics: A Technology Push. Proceedings of the IEEE, Special Issue on Medical Robotics, 94(9), 1727-1738.

Hogan, N., Krebs, H.I., Rohrer, B., Palazzolo, J.J. (2006). Motions or muscles? Some behavioral factors underlying robotic assistance of motor recovery. Journal of Rehabilitation Research and Development, 43(5), 605-618.

Rohrer, B. & Hogan, N. (2006). Avoiding spurious submovement decompositions II: a scattershot algorithm. Biological Cybernetics, 94(5), 409-414.

Masia, L., Krebs, H.I., Cappa, P., & Hogan, N. (2006). Whole-arm rehabilitation following stroke: Hand module. The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006 (BioRob 2006) (pp. 1085-1089).

Hogan, N. (2006). Force control with a muscle-activated endoskeleton. In S.
Kawamura & M. Svinin (Eds.), Advances in Robot Control: From Everyday Physics to Human-Like Movements (pp. 201-216). Heidelberg, Germany: Springer Verlag.

Krebs, H.I., Hogan, N., Durfee, W., and Hurr, H. (2006). Rehabilitation robotics, orthotics, and prosthetics. In M.E. Selzer, S. Clarke, L.G. Cohen, P.W. Duncan, & F.H. Gage (Eds.), Textbook of Neural Repair and Rehabilitation. Volume 2, Medical Neurorehabilitation (pp. 165-181). Cambridge, UK: Cambridge University Press.

2005

McClellan, L.R., Bradham, D.D., Whithall, J., Volpe, B., Wilson, P.D., Ohlhoff, J., Meister, C., Hogan, N., Krebs, H.I., & Bever, C.T. (2005). Robotic upper-limb neurorehabilitation in chronic stroke patients. Journal of Rehabilitation Research and Development, 42(6), 717-722.

Daly, J.J., Hogan, N., Perepezko, E.M., & Krebs, H.I. (2005). Response to upper-limb robotics and functional neuromuscular stimulation following stroke. Journal of Rehabilitation Research and Development, 42(6), 723-736.

Finley, M.A., Fasoli, S.E., Dipetrio, L., Ohlhoff, J., MacClellan, L., Meister, C., Whitall, J., Macko, R., Bever, C.T., Krebs, H.I., & Hogan, N (2005). Short-duration robotic therapy in stroke patients with severe upper-limb motor impairment. Journal of Rehabilitation Research and Development, 42(5), 683-92.

Dipietro, L., Ferraro, M., Palazzolo, J.J., Krebs, H.I., Volpe, B.T., & Hogan, N. (2005). Customized interactive robotic treatment for stroke: EMG-triggered therapy. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 13(3), 325-334.

Fasoli, S.E., Krebs, H.I., Hughes, R., Stein, J., & Hogan, N. (2005). Functionally-based rehabilitation: Benefit or buzzword? Paper presented at 9th International Conference on Rehabilitation Robotics, 2005 (ICORR 2005) (pp. 223-226).

Krebs, H.I., Volpe, B.T., Lynch, D. & Hogan, N. (2005). Stroke rehabilitation: An argument in favor of a robotic gym. Paper presented at 9th International Conference on Rehabilitation Robotics, 2005 (ICORR 2005) (pp. 219-222).

Charles, S.K., Krebs, H.I., Volpe, B.T., Lynch, D. & Hogan, N. (2005). Wrist rehabilitation following stroke: initial clinical results. Paper presented at 9th International Conference on Rehabilitation Robotics, 2005 (ICORR 2005) (pp. 219-222).

Volpe, B.T., Ferarro, M., Lynch, D., Christos, P., Krol, J., Trudell, C., Krebs, H.I., & Hogan, N. (2005). Robotics and other devices in the treatment of patients recovering from stroke. Current Neurology and Neuroscience Reports, 5, 465-470.

Stein, J., Hughes, R., Fasoli, S.E., Krebs, H.I., & Hogan, N. (2005). Clinical applications of robots in rehabilitation. Critical Review in Physical and Rehabilitation Medicine, 17(3), 217-230.

Hogan, N., Krebs, H.I., Rohrer, B., Fasoli, S.E., Stein, J., & Volpe, B.T. (2005). Technology for recovery after stroke. In J. Bogousslavsky, M.P. Barnes, & B. Dobkin (Eds.), Recovery after stroke (pp. 604-622). Cambridge, UK: Cambridge University Press.

2004

Krebs, H.I., Ferraro, M., Buerger, S.P., Newbery, M.J., Makiyama, A., Sandmann, M., Lynch, D., Volpe, B.T., & Hogan, N. (2004). Rehabilitation robotics: pilot trial of a spatial extension for MIT-Manus. Journal of NeuroEngineering and Rehabilitation, 1(1), 5.

Fasoli, S.E., Krebs, H.I., & Hogan, N. (2004). Robotic technology and stroke rehabilitation: translating research into practice. Topics in Stroke Rehabilitation, 11(4), 11-19.

Rohrer, B., Fasoli, S.E., Krebs, H.I., Volpe, B.T., Frontera, W.R., Stein, J., & Hogan, N. (2004). Submovements grow larger, fewer, and more blended during stroke recovery. Motor Control, 8(4), 472-483.

Wheeler, J.W., Krebs, H.I., & Hogan, N. (2004). An ankle robot for a modular gait rehabilitation system. Paper presented at 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1680-1684).

Stein, J., Krebs, H.I., Frontera, W.R., Fasoli, S.E., Hughes, R., & Hogan, N. (2004). Comparison of two techniques of robot-aided upper limb exercise training after stroke. American Journal of Physical Medicine & Rehabilitation, 83(9), 720-728.

Fasoli, S.E., Krebs, H.I., Stein, J., Frontera, W.R., Hughes, R., & Hogan, N. (2004). Robotic therapy for chronic motor impairments after stroke: Follow-up results. Archives of Physical Medicine and Rehabilitation, 85(7), 1106-1111.

Volpe, B.T., Ferraro, M., Lynch, D., Christos, P., Krol, J., Trudell, C., Krebs, H.I., & Hogan, N. (2004). Robotics and other devices in the treatment of patients recovering from stroke. Current Atherosclerosis Reports, 6(4), 314-319.

Buerger, S.P., Palazzolo, J.J., Krebs, H.I., & Hogan, N. (2004). Rehabilitation robotics: adapting robot behavior to suit patient needs and abilities. Paper presented at American Control Conference (ACC), 2004 (pp. 3239-3244).

Fasoli, S.E., Krebs, H.I., Ferraro, M., Hogan, N., & Volpe, B.T. (2004). Does shorter rehabilitation limit potential recovery poststroke? Neurorehabilitation and Neural Repair, 18(2), 88-94.

Krebs, H.I., Ferraro, M., Buerger, S.P., Newbery, M.J., Makiyama, A., Sandmann, M., Lynch, D., Volpe, B.T., & Hogan, N. (2004). Robotic upper-limb neurorehabilitation in chronic stroke patients. Journal of Neuro Engineering and Rehabilitation, 1(5): 1-15.

Krebs, H.I., Celestino, J., Williams, D., Ferraro, M., Volpe, B.T., & Hogan, N. (2004).  A wrist extension for MIT-MANUS. In Z.Z. Bien & D. Stefanov (Eds.), Advances in Rehabilitation Robotics (pp. 377-390). Heidelberg: Springer Verlag.

Hogan, N. & Krebs, H.I. (2004). Interactive robots for neuro-rehabilitation. Restorative Neurology and Neuroscience, 22(3-5), 349-358.

Buerger, S.P., & Hogan, N. (2004) Impedance and interaction control. In T.R. Kurfess (Ed.), Robotics and automation handbook (pp. 368-391). Boca Raton, FL: CRC Press.

2003

Ferraro, M., Palazzo, J.J., Krol, J., Krebs, H.I., Hogan, N., & Volpe, B.T. (2003). Robot-aided sensorimotor arm training improves outcome in patients with chronic stroke. Neurology, 61(11), 1604-1607.

Rohrer, B. & Hogan, N. (2003). Avoiding spurious submovement decompositions: a globally optimal algorithm. Biological Cybernetics, 89(3), 190-199.

Rohrer, B. & Hogan, N. (2003). Submovement overlap as a measure of movement smoothness. Paper presented at IGS2003.

Krebs, H.I., Palazzolo, J.J., Dipietro, L., Ferraro, M., Krol, J., Rannekleiv, K., Volpe, B.T., & Hogan, N. (2003). Rehabilitation robotics: Performance-based progressive robot-assisted therapy. Autonomous Robots, 15(1), 7-20.

Fasoli, S.E., Krebs, H.I., Stein, J., Frontera, W.R., Hughes, R., & Hogan, N. (2003). Effects of robotic therapy on motor impairment and recovery in chronic stroke. Archives of Physical Medicine and Rehabilitation, 84(4), 477-482.

Celestino, J., Krebs, H.I., & Hogan, N. (2003). A robot for wrist rehabilitation: characterization and initial results. Paper presented at 8th International Conference on Rehabilitation Robotics (ICORR) (pp. 27-30).

Krebs, H.I., Volpe, B.T., Aisen, M.L., Hening, W., Adamovich, S., Poixner, H., Subragmanyan, K., & Hogan, N. Robotic applications in neuromotor rehabilitation. Robotica, 21(1), 3-11.

Bowers, T., Anquetil, P., Hunter, I., & Hogan, N. (2003). Analysis and modeling of electromechanical coupling in an electroactive polymer-based actuator. Paper presented at 2003 Materials Research Society Meeting, Symposium D.

Volpe, B.T., Krebs, H.I., & Hogan, N. (2003). Robot aided sensorimotor training in stroke rehabilitation. In H.J.M. Barnett, J. Bogousslavsky, & H. Meldrum (Eds.), Ischemic Stroke, Advances in Neurology, Volume 92 (pp. 429-434). Philadelphia, PA: Lippincott, Williams & Williams.

Flash, T., Hogan, N., Richardson, M.J.E. (2003). Optimization principles in motor control. In M.A. Arbib (Ed.), The Handbook of Brain Theory and Neural Networks, 2nd Edition (pp. 827-831).  Cambridge, MA: MIT Press.

2002

Rohrer, B., Fasoli, S.E., Krebs, H.I., Hughes, R., Volpe, B.T., Frontera, W., Stein, J., & Hogan, N. (2002). Movement smoothness changes during stroke recovery. Journal of Neuroscience, 22(18), 8297-8304.

Hogan, N. (2002). Skeletal muscle impedance in the control of motor actions. Journal of Mechanics in Medicine and Biology, 2(3&4), 359-373.

Ferraro, M., Demaio, J.H., Krol, J., Trudell, C., Rannekleiv, K., Edelstein, L., Christos, P., Aisen, M., England, J., Fasoli, S.E., Krebs, H.I., Hogan, N. & Volpe, B.T. (2002). Assessing the motor status score: a scale for the evaluation of upper limb motor outcomes in patients after stroke. Neurorehabilitation and Neural Repair, 16(3), 283-289.

Volpe, B.T., Ferraro, M., Krebs, H.I., & Hogan, N. (2002). Robotics in the rehabilitation treatment of patients with stroke. Current Atherosclerosis Reports, 4(4), 270-276.

Krebs, H.I., Volpe, B.T., Ferraro, M., Fasoli, S.E., Palazzolo, J.J., Rohrer, B., Edelstein, L., & Hogan, N. (2002). Robot-aided neurorehabilitation: from evidence-based to science-based rehabilitation. Topics in Stroke Rehabilitation, 8(4), 54-70.

Hogan, N. & Breeveld, P.C. (2002). The physical basis of analogies in physical system models. In R.H. Bishop (Ed.), The mechatronics handbook. Boca Raton, FL: CRC Press.

2001

Krebs, H.I., Hogan, N., Hening, W., Adamovich, S.V., & Poizner, H. (2001). Procedural motor learning in Parkinson’s disease. Experimental Brain Research, 141(4), 425-437.

Rancourt, D. & Hogan, N. (2001). Dynamics of pushing. Journal of Motor Behavior, 33(4), 351-362.

Volpe, B.T., Krebs, H.I., & Hogan, N. (2001).  Is robot-aided sensorimotor training in stroke rehabilitation a realistic option? Current Opinion in Neurology, 14(6), 745-752.

Rancourt, D. & Hogan, N. (2001). Stability in force-production tasks. Journal of Motor Behavior, 33(2), 193-204.

Lemay, M.A., Calagan, J.E., Hogan, N., & Bizzi, E. (2001). Modulation and vectorial summation of the spinalized frog’s hindlimb end-point force produced by intraspinal electrical stimulation of the cord. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 9(1), 12-23.

Krebs, H.I., Volpe, B.T., Palazzolo, J.J., Fasoli, S.E., Ferraro, M., Edelstein, L., & Hogan, N. (2001). Disturbances of higher level neural control-robotic applications in stroke. Paper presented at 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), 2001 (pp. 4069-4074).

Williams, D.J., Krebs, H.I., & Hogan, N. (2001). A robot for wrist rehabilitation. Paper presented at 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), 2001 (pp. 1336-1339).

Buerger, S.P., Krebs, H.I., & Hogan, N. (2001). Characterization and control of a screw-driven robot for neurorehabilitation. Paper presented at 2001 IEEE International Conference on Control Applications (CCA) (pp. 388-394).

Krebs, H.I., Volpe, B.T., Palazzolo, J., Rohrer, B., Ferraro, M., Fasoli, S., Edelstein, L., & Hogan, N. (2001) Robot-aided neuro-rehabilitation in stroke: Interim results on the follow-up of 76 patients and on movement performance indices. In M. Mokhtari (Ed.), Integration of assistive technology in the information age: ICORR 2001 (pp. 45-59). Amsterdam: IOS Press.

2000

Krebs, H.I., Volpe, B.T., Aisen, M.L., & Hogan, N. (2000). Increasing productivity and quality of care: Robot-aided neuro-rehabilitation. Journal of Rehabilitation Research and Development, 37(6), 639-652.

Volpe, B.T., Krebs, H.I., Hogan, N., Edelstein, L., Diels, C., & Hogan, N. (2000). A novel approach to stroke rehabilitation robot-aided sensorimotor stimulation. Neurology, 54(10), 1938-1944.

Hodgson, A.J., & Hogan, N. (2000). A model-independent definition of attractor behavior applicable to interactive tasks. IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews), 30(1), 105-118.

Fasse, E.D., Hogan, N., Kay, B.A., & Mussa-Ivaldi, F.A. (2000). Haptic interaction with virtual objects. Biological Cybernetics, 82(1), 69-83.

Reinkensmeyer, D. J., Hogan, N., Krebs, H. I., Lehman, S. L., Lum, P. S., (2000) Rehabilitators, Robots, and Guides: New Tools for Neurological Rehabilitation. In: J.M. Winters & P.E. Crago (Eds.), Biomechanics and neural control of posture and movement (pp. 516-533). Berlin: Springer-Verlag.

Volpe, B.T., Krebs, H.I., Hogan, N., Edelstein, L., Diels, C., & Aisen, M.L. (2000). A novel approach to stroke rehabilitation. Neurology, 54(10), 1938-1944.

1999

Volpe, B.T., Krebs, H.I., Hogan, N., Edelstein, L., Diels, C., & Aisen, M.L. (1999). Robot training enhanced motor outcome in patients with stroke maintained over 3 years. Neurology, 53(8), 1874-1876.

Hogan, N., Doeringer, J.A., & Krebs, H.I. (1999). Arm movement control is both continuous and discrete. Cognitive Studies, 6(3), 254-273.

Krebs, H.I., Hogan, N., Hening, W., Adamovich, S., & Poizner, H. (1999). Procedural motor learning in Parkinson’s disease: preliminary results. Paper presented at 6th International Conference on Rehabilitation Robotics (ICORR), 1999 (pp. 27-33).

Clancy, E.A. & Hogan, N. (1999). Probability density of the surface electromyogram and its relation to amplitude detectors. IEEE Transactions on Biomedical Engineering, 46(6), 730-739.

Krebs, H.I., Aisen, M.L., Volpe, B.T., & Hogan, N. (1999). Quantization of continuous arm movements in humans with brain injury. Proceedings of the National Academy of Sciences, 96(8), 4645-4649.

Hogan, N. & Breedveld, P. (1999). The physical basis of analogies in network models of physical system dynamics. Paper presented at 1999 International Conference on  Bond Graph Modeling and Simulation (ICBGM) (pp. 96-104).

Krebs, H.I., Hogan, N., Volpe, B.T., Aisen, M.L., Edelstein, L., & Diels, C., (1999). Robot-aided neuro-rehabilitation in stroke: three-year follow-up. Paper presented at 6th International Conference on Rehabilitation Robotics (ICORR), 1999 (pp. 34-41).

Won, J. & Hogan, N. (1999). Nodic and non-nodic structures in physical systems. Paper presented at 1999 International Conference on  Bond Graph Modeling and Simulation (ICBGM) (pp. 90-95).

Krebs, H.I., Volpe, B.T., Aisen, M., &  Hogan, N. (1999). Robotic applications in neuromotor rehabilitation. Topics in Spinal Cord Injury Rehabilitation, 5 (3), 50-63.

Krebs, H.I., Hogan, N., Volpe, B.T., Aisen, M.L., Edelstein, L., & Diels, C., (1999). Overview of clinical trials with MIT‐MANUS: a robot‐aided neuro‐rehabilitation facility. Technology and Health Care, 7(6), 419-423.

1998

Doeringer, J.A. & Hogan, N. (1998). Serial processing in human movement production. Neural Networks, 11(7), 1345-1356.

Doeringer, J.A. & Hogan, N. (1998). Intermittency in preplanned elbow movements persists in the absence of visual feedback. Journal of Neurophysiology, 80(4), 1787-1799.

Won, J. & Hogan, N. (1998). Coupled stability of non-nodic physical systems. Paper presented at 4th IFAC Symposium on Nonlinear Control Systems Design (pp. 573-578).

Clancy, E.A. & Hogan, N. (1998). Influence of joint angle on the calibration and performance of EMG amplitude estimators. IEEE Transactions on Biomedical Engineering, 45(5), 664-668.

Lemay, M.A., Hogan, N., & van Dorsten, J.W.A. (1998). Issues in impedance selection and input devices for multijoint powered orthotics. IEEE Transactions on Rehabilitation Engineering, 6(1), 102-105.

Krebs, H.I., Hogan, N., Aisen, M.L., & Volpe, B.T. (1998). Robot-aided neurorehabilitation. IEEE Transactions on Rehabilitation Engineering, 6(1), 75-87.

Krebs, H.I., Brashers-Krug, T., Rauch, S.L., Savage, C.L., Hogan, N., Rubin, R.H., Fischman, A.J., & Alpert, N.M. (1998). Robot-aided functional imaging: Application to a motor learning study. Human Brain Mapping, 6(1), 59-72.

1997

Won, J., Stramigioli, S., & Hogan, N. (1997). Comment on ” The equivalence of second-order impedance control and proportional gain explicit force control”. The International Journal of Robotics Research, 16(6), 873-875.

Clancy, E.A. & Hogan, N. (1997). Theoretic and experimental comparison of root-mean-square and mean-absolute-value electromyogram amplitude detectors. Paper presented at 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), 1997 (pp. 1267-1270).

Clancy, E.A. & Hogan, N. (1997). Relating agonist-antagonist electromyograms to joint torque during isometric, quasi-isotonic, nonfatiguing contractions. IEEE Transactions on Biomedical Engineering, 44(10), 1024-1028.

Clancy, E.A. & Hogan, N. (1997). A simulation study of unwhitened versus whitened EMG amplitude estimation. Paper presented at IEEE 23rd Northeast Bioengineering Conference, 1997 (pp. 54-55).

Aisen, M.L., Krebs, H.I., Hogan, N., McDowell, F., & Volpe, B.T. (1997). The effect of robot-assisted therapy and rehabilitative training on motor recovery following stroke. Archives of Neurology, 54(4), 443-446.

1996

Krebs, H.I., Hogan, N., Aisen, M.L., & Volpe, B.T. (1996). Pilot clinical trial of a robot-aided neuro-rehabilitation workstation with stroke patients. Paper presented at  Society of Photo-optical Intstrumentation Engineers (SPIE) Conference on Telemanipulator and Telepresence Technologies III (pp. 13-21).

Krebs, H.I., Hogan, N., Aisen, M.L., & Volpe, B.T. (1996). Technique to investigate ipsilateral functional activation in motor task. Paper presented at 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), 1996 (pp. 2246-2247).

Lemay, M.A., Hogan, N., & Bizzi, E. (1996). Technique to investigate ipsilateral functional activation in motor task. Paper presented at 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), 1996 (pp. 2246-2247).

Clancy, E.A., Murray, W.R., & Hogan, N. (1996). Multi-channel EMG processing. In G. Inbar & I. Gath (Eds.), Advances in Processing and Pattern Analysis of Biological Signals (pp. 357-374). New York, NY: Plenum Publishing Corporation.

1995

Won, J. & Hogan, N. (1995). Stability properties of human reaching movements. Experimental Brain Research, 107(1), 125-136.

Rancourt, D. & Hogan, N. (1995). Study of human operation of a power drill. Paper presented at IFAC Conference on Main-Machine Systems (pp. 611-616).

Doeringer, J.A. & Hogan, N. (1995). Intermittency of unimpaired and amputee arm movements. Paper presented at IFAC Conference on Main-Machine Systems (pp. 617-621).

Won, J. & Hogan, N. (1995). Modeling human performance of intermittent contact tasks. Paper presented at IFAC Conference on Main-Machine Systems (pp. 587-592).

Doeringer, J.A. & Hogan, N. (1995). Performance of above elbow body-powered prostheses in visually guided unconstrained motion tasks. IEEE Transactions on Biomedical Engineering, 42 (6), 621-631.

Clancy, E.A. & Hogan, N. (1995). Multiple site electromyograph amplitude estimation. IEEE Transactions on Biomedical Engineering, 42(2), 203-211.

1994

Clancy, E.A. & Hogan, N. (1994). Single site electromyograph amplitude estimation. IEEE Transactions on Biomedical Engineering, 41(2), 159-167.

Fasse, E.D. & Hogan, N. (1994). Quantitative measurement of haptic perception. Paper presented at IEEE International Conference on Robotics and Automation (ICRA), 1994 (pp. 3199-3204).

Breedveld, P.C., & Hogan, N. (1994). Multibond-graph representation of Lagrangian mechanics: the elimination of the Euler junction structure. Paper presented at International Association for Mathematics and Computers in Simulation (IMACS) Symposium on Mathematical Modelling (MathMod), 1994 (pp. 24-28).

Breedveld, P.C., & Hogan, N. (1994). Energetically proper modeling of a simple throttling process. Paper presented at International Association for Mathematics and Computers in Simulation (IMACS) Symposium on Mathematical Modelling (MathMod), 1994 (pp. 24-28).

Doeringer, J.A. & Hogan, N. (1994). An evaluation of body-powered prosthesis performance in terms of “discrete actions”.  Paper presented at 5th World Conference on Robotics Research (pp. 18:1-14).

Fasse, E.D., Hogan, N., Gomez, S.R., & Mehta, N.R. (1994). A novel variable mechanical impedance electromechanical actuator. Paper presented at 1994 Dynamic Systems and Control (pp. 311-318).

1993

Popat, R.A., Krebs, D.E., Mansfield, J.M., Russell, D.L., Clancy, E.A., Gill-Body, K.M., & Hogan, N. (1993) Quantitative assessment of four men using above-elbow prosthetic control. Archives of Physical Medicine and Rehabilitation, 74(7), 720-728.

Sharon, A., Hogan, N., & Hardt, D.E. (1993). The macro/micro manipulator: An improved architecture for robot control. Robotics and Computer-Integrated Manufacturing, 10(3), 209-222.

Hogan, N. (1993). Control of contact in robots and biological systems. In P. Dario, G. Sandini, & P. Aebischer (Eds.), Robots and Biological Systems: Towards a New Bionics? (pp. 395-409). Berlin: Springer Verlag.

1992

Hogan, N. (1992). Control of contact in robots and biological systems. IEEE Engineering in Medicine and Biology Magazine, 11(4), 81-82.

Bizzi, E., Hogan, N., Mussa-Ivaldi, F.A., & Giszter, S. (1992). The equilibrium-point framework: A point of departure. Behavioral and Brain Sciences, 15(4), 808-815.

Bizzi, E., Hogan, N., Mussa-Ivaldi, F.A., & Giszter, S. (1992).Does the nervous system use equilibrium-point control to guide single and multiple joint movements?, 15(4), 808-815.

Hodgson, A.J., & Hogan, N. (1992). A technique for locating virtual trajectories during dynamic tasks. Paper presented at 14th Annual International Conference of the IEEE  Engineering in Medicine and Biology Society (EMBS), 1992 (pp. 1621-1622).

Hogan, N., Krebs, H.I., Charnnarong, J., Srikrishna, P., & Sharon, A. (1992). MIT-MANUS: a workstation for manual therapy and training I. Paper presented at Society of Photo-optical Intstrumentation Engineers (SPIE) Conference on Telemanipulator and Telepresence Technologies (pp. 28-34).

Hogan, N., Krebs, H.I., Charnnarong, J., Srikrishna, P., & Sharon, A. (1992). MIT-MANUS: a workstation for manual therapy and training II. Paper presented at IEEE International Workshop on Robot and Human Communication (RO-MAN), 1992 (pp. 161-165).

Hogan, N. (1992). Geometrical analysis of isenergic junction structures.  In P.C. Breedveld and G. Dauphin-Tanguy (Eds.), Bond Graphs for Engineers (pp. 57-65). Amsterdam: Elsevier Science Publishers.

Hogan, N. & Mussa-Ivaldi, F.A. (1992). Muscle behavior may solve motor coordination problems. In A. Berthoz, W. Graf, & P.P. Vidal (Eds.), The Head-Neck Sensory-Motor System (pp. 153-157). Oxford, UK: Oxford University Press.

1991

Clancy, E.A. & Hogan, N. (1991). Estimation of joint torque from the surface EMG. Paper presented at 13th Annual International Conference of the IEEE  Engineering in Medicine and Biology Society (EMBS), 1991 (pp. 877-878).

Mussa-Ivaldi, F.A. & Hogan, N. (1991). Integrable solutions of kinematic redundancy via impedance control. The International Journal of Robotics, 10(5), 481-491.

Mussa-Ivaldi, F.A., Morasso, P., Hogan, N. and Bizzi, E. (1991) Network models of motor systems with many degrees of freedom. In M.D. Fraser (Ed.), Advances in Control Networks and Large-Scale Parallel Distributed Processing Models (pp. 171-220). Norwood, NJ: Ablex Publishing  Corp.

Hogan, N., Rasolee, B.A., & Andary, J. (1991). Impedance control of robots with harmonic drive systems. Paper presented at American Control Conference (ACC), 1991 (pp. 398-402).

Sharon, A., Hogan N. and Hardt, D.E. (1991) Controller design in the physical domain. Journal of the Franklin Institute, 328(5), 697-721.

1990

Clancy, E.A. & Hogan, N. (1991). EMG amplitude estimation from temporally whitened, spatially uncorrelated multiple channel EMG. Paper presented at 12th Annual International Conference of the IEEE  Engineering in Medicine and Biology Society (EMBS), 1990 (pp. 877-878).

Fasse, E.D. Kay, B.A., & Hogan, N. (1991). Human haptic illusions in virtual object manipulation. Paper presented at 12th Annual International Conference of the IEEE  Engineering in Medicine and Biology Society (EMBS), 1990 (pp. 877-878).

Abul-Haj, C.J. and Hogan, N. (1990) Functional assessment of control systems for cybernetic elbow prostheses. Part I: Description of the technique. IEEE Transactions on Biomedical Engineering, 37(11), 1025-1036.

Abul-Haj, C.J. and Hogan, N. (1990) Functional assessment of control systems for cybernetic elbow prostheses. Part II: Application of the technique. IEEE Transactions on Biomedical Engineering, 37(11), 1037-1047.

Fasse, E.D. Kay, B.A., Hogan, N., & Mussa-Ivaldi, F.A. (1991). Haptic illusions: experiments on human manipulation and perception of “virtual objects”. Paper presented at Cold Spring Harbor Symposia on Quantitative Biology (pp. 925-931).

Hogan, N. (1990). Mechanical impedance of single- and multi-articular systems. In J. Winters & S. Woo (Eds.), Multiple Muscle Systems: Biomechanics and Movement Organization (pp. 149-164). New York, NY: Springer-Verlag.

Hogan, N. & Winters, J.M. (1990). Principles underlying movement organization: upper limb. In J. Winters & S. Woo (Eds.), Multiple Muscle Systems: Biomechanics and Movement Organization (pp. 182-194). New York, NY: Springer-Verlag.

Murray, W.R. & Hogan, N. (1990). A simple competent model of the maintenance of elbow posture in the presence of disturbances. In J.A. Ashton-Miller & M.G. Pandy (Eds.), Issues in Modeling and Control of Biomechanical Systems (pp. 7-21). New York: ASME.

1989

Abul-Haj, C. J. (1989). Experimental evaluation of control systems for cybernetic elbow prostheses. In J.L. Stein, J.A. Ashton-Miller & M.G. Pandy (Eds.), Issues in Modeling and Control of Biomechanical Systems (pp. 89-99). New York: ASME.

Murray, W.R. & Hogan, N. (1989). Experimental observations on the maintenance of elbow posture in the presence of disturbances. In J.L. Stein, J.A. Ashton-Miller & M.G. Pandy (Eds.), Issues in Modeling and Control of Biomechanical Systems (pp. 19-28). New York: ASME.

Russell, D. & Hogan, N. (1989). How humans perform constrained motions. In J.L. Stein, J.A. Ashton-Miller & M.G. Pandy (Eds.), Issues in Modeling and Control of Biomechanical Systems (pp. 13-17). New York: ASME.

Russell, D. & Hogan, N. (1989). Dealing with constraints: A biomechanical approach. Paper presented at 11th Annual International Conference of the IEEE  Engineering in Medicine and Biology Society (EMBS), 1989 (pp. 892-893).

Kay, B.A., Hogan, N., Mussa-Ivaldi, F.A., & Fasse, E. (1989). Perceiving the properties of objects using arm movements: Workspace-dependent effects. Paper presented at 11th Annual International Conference of the IEEE  Engineering in Medicine and Biology Society (EMBS), 1989 (pp. 1522-1523).

Colgate, E. (1989). On the intrinsic limitations of force feedback compliance controllers. In K. Youcef-Toumi & H. Kazerooni (Eds.), Robotics Research (pp. 23-30). New York, NY: ASME.

Fasse, E.D., & Hogan, N. (1989). Coupled stability of impedance-controlled robots. In K. Youcef-Toumi & H. Kazerooni (Eds.), Robotics Research (pp. 5-11). New York, NY: ASME.

Newman, W.S., & Hogan, N. (1989). Time optimal control of balanced manipulators. Journal of Dynamic Systems, Measurement, and Control, 111, 187-193.

Colgate, E., & Hogan, N. (1989). An analysis of contact instability in terms of passive physical equivalents. Paper presented at 1989 IEEE International Conference on Robotics and Automation (ICRA) (pp. 404-409).

Hogan, N. (1989). Controlling impedance at the man/machine Interface. Paper presented at 1989 IEEE International Conference on Robotics and Automation (ICRA) (pp. 1626-1629)

Mussa-Ivaldi, F.A. & Hogan, N. (1989). Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses. Paper presented at 1989 IEEE International Conference on Robotics and Automation (ICRA) (pp.  283-288).

Sharon, A., Hogan N., & Hardt, D.E. (1989). Controller design in the physical domain (application to robot impedance control). Paper presented at 1989 IEEE International Conference on Robotics and Automation (ICRA) (pp.  552-559).

Colgate, E. & Hogan, N. (1989). The interaction of robots with passive environments: application to force feedback control. Paper presented at Fourth International Conference on Advanced Robotics.

Hogan, N. & Colgate, E. (1989). Stability problems in contact tasks. In O. Khatib, J.J. Craig, & T. Lozano-Perez (Eds.), The Robotics Review (pp. 339-348). Cambridge, MA: MIT Press.

1988

Hogan, N. (1988). On the stability of manipulators performing contact tasks. IEEE Journal of Robotics and Automation, 4(6), 677-686.

Murray, W.R. & Hogan, N. (1988). Co-contraction of antagonist muscles: predictions and observations. Paper presented at 10th Annual International Conference of the IEEE  Engineering in Medicine and Biology Society (EMBS), 1988 (pp.1926-1927).

Colgate, J.E. & Hogan, N. (1988). Robust control of dynamically interacting systems. International Journal of Control, 48(1), 65-88.

Sharon, A., Hogan N., & Hardt, D.E. (1989). High bandwidth force regulation and inertia reduction using a macro/micro manipulator system. Paper presented at 1988 IEEE International Conference on Robotics and Automation (ICRA) (pp.  126-132).

Hogan, N. (1988). Planning and execution of multijoint movements. Canadian Journal of Physiology and Pharmacology, 66(4), 508-517.

Hogan, N. (1988). Control strategies for complex movements. In W.A. Richards (Ed.), Selections in Natural Computation (pp. 430-442). Cambridge, MA: MIT Press/Bradford Books.

Fasse, E. D. & Hogan, N. (1988). A Lyapunov-based approach to designing manipulator controllers robust to interaction with dynamic environments. In K. Youcef-Toumi & H. Kazerooni (Eds.), Symposium on Robotics (pp. 115-124). New York, NY: ASME.

Hogan, N. & Fasse, E.D. (1988). Conservation principles and bond-graph junction structures. In R. C. Rosenberg & R. Redfield (eds.), Automated Modeling for Design (pp. 9-13). New York, NY: ASME.

1987

Abul-Haj, C. & Hogan, N. (1987). An emulator system for developing improved elbow-prosthesis designs. IEEE Transactions on Biomedical engineering, BME-34(9), 724-737.

Hogan, N. (1987). Modularity and causality in physical system modeling. ASME Journal of Dynamic Systems Measurement and Control, 109, 384-391.

Hogan, N. (1987). Beyond regulators: modelling control systems as physical systems. Paper presented at American Control Conference 1987 (pp.  1468-1477).

Hogan, T. & Flash, T. (1987). Moving gracefully: quantitative theories of motor coordination. Trends in Neurosciences, 10(4), 170-174.

Newman, W.S. & Hogan, N. (1987). High speed robot control and obstacle avoidance using dynamic potential functions. Paper presented at 1987 IEEE International Conference on Robotics and Automation (ICRA) (pp. 14-24).

Hogan, N. (1987). Stable execution of contact tasks using impedance control. Paper presented at 1987 IEEE International Conference on Robotics and Automation (ICRA) (pp. 1047-1054).

Bizzi, E.,  Mussa-Ivaldi, F.A., & Hogan, N. (1987). Multi-joint arm posture—New perspectives on the control of arm posture. In A. Struppler & A. Weindl (Eds.), Clinical Aspects of Sensory Motor Integration (pp. 291-296). Berlin: Springer-Verlag.

Colgate, J.E. & Hogan, N. (1987). Robust control of manipulator interactive behavior. In R. Shoureshi, K. Youcef-Toumi, & H. Kazerooni (Eds.), American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (Vol. 6, pp. 149-159). New York, NY: ASME.

Sharon, A., Hogan, N., &  Hardt, D. (1987). More analysis and experimentation on a macro/micro manipulator system. In R. Shoureshi, K. Youcef-Toumi, & H. Kazerooni (Eds.), Modeling and Control of Robotic Manipulators and Manufacturing Processes. (pp.417-422). New York, NY: ASME.

Hogan, N., Bizzi, E., Mussa-Ivaldi, F.A., & Flash, T. (1987). Controlling multijoint motor behavior. Exercise and Sport Sciences Reviews, 15 (1), 153-190.

1986

Bizzi, E., Mussa-Ivaldi, F. A. and Hogan, N. (1986) Regulation of multi-joint arm posture and movement. In H.-J. Freund, U. Büttner, B. Cohen & J. Noth (Eds.), Progress in Brain Research (vol. 64, pp. 345-351).  Amsterdam, Netherlands: Elsevier Science Publishers.

Hocherman, S., Bizzi, E., Hogan, N., & Mussa-Ivaldi, F. A. (1986). Target acquisition and maintenance in two-joint arm movements. In R. S. Schmidt and M. Jeannerod (Eds.), Sensorimotor Plasticity, Theoretical and Clinical Aspects. Paris, France: INSERM.

Hogan, N. (1986). Impedance control applied to automated deburring. In K.S. Narendra (ed.) Adaptive and Learning Systems: Theory and Applications (pp. 359-366). New York, NY: Plenum Press.

Hogan, N. (1986). Multivariable mechanics of the neuromuscular system. Paper presented at the 8th Annual Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)  (pp. 594-598).

Hogan, N. (1986) Prostheses, myoelectrically controlled. In T.F. McAinsh (ed.), Physics in Medicine and Biology Encyclopedia: Medical Physics, Bioengineering and Biophysics (pp. 598-600). Oxford, UK: Pergamon Press.

Newman, W. S. and Hogan, N. (1986). Time optimal control of balanced manipulators. In F.W. Paul & K. Youcef-Toumi (eds.), Robotics: Theory and Applications (pp. 177-184). New York, NY: ASME.

1985

Flash, T. & Hogan, N. (1985) The coordination of arm movements: an experimentally confirmed mathematical model, Journal of Neuroscience, 5(7), 1688-1703.

Hogan, N. (1985). Control strategies for complex movements derived from physical systems theory. In H. Haken (Ed.) Complex Systems – Operational Approaches in Neurobiology, Physics, and Computers (pp. 156-168). Berlin: Springer-Verlag.

Hogan, N. (1985). Impedance control: an approach to manipulation. Part I: Theory. ASME Journal of Dynamic Systems Measurement and Control, 107(1), 1-7.

Hogan, N. (1985). Impedance control: an approach to manipulation. Part II: Implementation. ASME Journal of Dynamic Systems Measurement and Control, 107(1), 8-16.

Hogan, N. (1985). Impedance control: an approach to manipulation. Part III: Application. ASME Journal of Dynamic Systems Measurement and Control, 107(1), 17-24.

Hogan, N. (1985). The mechanics of multi-joint posture and movement control. Biological Cybernetics, 52(5), 315-331.

Mussa-Ivaldi, F. A., Hogan, N., & Bizzi, E. (1985) Neural, mechanical and geometric factors subserving arm posture in humans. Journal of Neuroscience, 5(10), 2731-2743.

Bizzi, E., Chapple, W., & Hogan, N. (1985). Mechanical properties of muscles. In E.V. Evarts, S.P. Wise, & D. Bousfield (Eds.), The Motor System in Neurobiology (pp. 36-43). Amsterdam, Netherlands: Elsevier Biomedical Press.

1984

Bizzi, E., Accornero, N., Chapple, W. & Hogan, N. (1984) Posture control and trajectory formation during arm movement. Journal of Neuroscience, 4(11), 2738-2744.

Hogan, N. (1984). Adaptive control of mechanical impedance by coactivation of antagonist muscles. IEEE Transactions on Automatic Control, AC-29(8), 681-690.

Hogan, N. (1984). An organizing principle for a class of voluntary movements. Journal of Neuroscience, 4(11), 2738-2744.

Hogan, N. (1984). Impedance control of industrial robots. Robotics and Computer-Integrated Manufacturing, 1(1), 97-113.

Hogan, N. (1984). Impedance control: an approach to manipulation. Paper presented at American Control Conference, 1984 (pp. 304-313).

Hogan, N. (1984). Some computational problems simplified by impedance control. Paper presented at ASME Conference on Computers in Engineering (pp. 203-209).

1983

Moore, S. R. & Hogan, N. (1983). Part referenced manipulation – a strategy applied to robotic drilling. In D. Hardt & W.J. Book (Eds.), Control of Manufacturing Processes and Robotic Systems (pp. 183-191). New York, NY: ASME.

Andrews, J. R. & Hogan, N. (1983). Impedance control as a framework for implementing obstacle avoidance in a manipulator. In D. Hardt & W.J. Book (Eds.), Control of Manufacturing Processes and Robotic Systems (pp. 243-251). New York, NY: ASME.

Hogan, N. (1980). Mechanical impedance control in assistive devices and manipulators. In M. Brady, J. Hollerbach, T. Johnson, T. Lozano-Perez, & M. Mason (Eds.), Robot Motion: Planning and Control (pp. 361-371). Cambridge, MA: The MIT Press.

1982

Bizzi, E., Accornero, N., Chapple, W., & Hogan, N. (1982). Arm trajectory formation in monkeys. Experimental Brain Research, 46, 139-143.

Bizzi, E., Chapple, W., & Hogan, N. (1982). Mechanical properties of muscles: implications for motor control. Trends in Neuroscience, 5(11), 395-398.

Hogan, N. (1982). Control and coordination of voluntary arm movement. Paper presented at American Control Conference, 1982 (Vol. 2, pp. 522-527).

Hogan, N. (1982). Moving with control: using control theory to understand motor behavior (commentary on article by R.B. Stein entitled “What muscle variable(s) does the nervous system control in limb movements?”). The Behavioral and Brain Sciences, 5(4), 550-551.

Hogan, N. (1982). Prostheses should have adaptively controllable impedance. IFAC Proceedings Volumes, 15(2), 155-162.

Hogan, N. (1982). Programmable impedance control of industrial manipulators. Paper presented at the 1982 Conference on CAD/CAM Technology in Mechanical Engineering (pp. 186-191).

Hogan, N. & Cotter, S. (1982). Cartesian impedance control of a nonlinear manipulator. In W.J. Book (ed.), Robotics Research and Advanced Applications (pp. 121-128). New York, NY: ASME.

1981

Abul-Haj, C. & Hogan, N. (1981). The design of a myoelectrically controlled upper arm prosthesis with variable mechanical impedance. Paper presented at 9th Northeast Bioengineering Conference (pp. 106-109).

Bizzi, E., Accornero, N., Chapple, W., & Hogan, N. (1981). Central and peripheral mechanisms in motor control. In R.A. Thompson & J.R. Green (Eds.), New Perspectives in Cerebral Localization (pp. 23-24). New York, NY: Raven Press.

Bizzi, E., Accornero, N., Chapple, W. & Hogan, N. (1981) Processes underlying arm trajectory formation, In C. Ajmone-Marsden & O. Pompeiano (Eds.), Brain Mechanisms of Perceptual Awareness and Purposeful Behavior (pp. 311-318). New York, NY: Raven Press.

Hogan, N. (1981). Impedance control of a robotic manipulator. Paper presented at the ASME Winter Annual Meeting.

1980

Hogan, N. & Mann, R. W. (1980). Myoelectric signal processing: optimal estimation applied to electromyography – Part I: derivation of the optimal myoprocessor. IEEE Transactions on Biomedical Engineering, BME-27(7), 382-345.

Hogan, N. & Mann, R. W. (1980). Myoelectric signal processing: optimal estimation applied to electromyography – Part II: experimental demonstration of optimal myoprocessor performance. IEEE Transactions on Biomedical Engineering, BME-27(7), 396-410.

Hogan, N. (1980) The role of antagonist co-activation in the control of natural movement. Paper presented at the 16th Annual Conference on Manual Control (pp. 571-583).

Hogan, N. (1980). Tuning muscle stiffness can simplify control of natural movement. In V C. Mow (Ed.), 1980 Advances in Bioengineering (pp. 279-282). New York, NY: ASME.

Hogan, N. (1980). Mechanical impedance control in assistive devices and manipulators. Paper presented at IEEE Joint Automatic Controls Conference (Vol. 1, paper TA-10-B).

1979

Hogan, N. & Mann, R. W. (1979). Neurophysiological feedback from extremities. Bulletin of Prosthetics Research, 18(2), 228.

Hogan, N. (1979). Adaptive stiffness control in human movement. In M. K. Wells (Ed.), 1979 Advances in Bioengineering (pp. 53-54). New York, NY: ASME.

Hogan, N. & Mann, R. W. (1979). An improved myoelectric signal processor. In M. K. Wells (Ed.), 1979 Advances in Bioengineering (pp. 27-30). New York, NY: ASME.

1977

Hogan, N. & Mann, R. W.(1977). Cybernetic considerations in the use of myoelectric activity for prosthesis control. Paper presented at the ASME Winter Annual Meeting.

1976

Hogan, N. (1976). A review of the methods of processing EMG for use as a proportional control signal. Biomedical Engineering, 11(3), 81-86.