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  • Publications
    • Control of Powered Ankle-Foot Prostheses on Compliant Terrain: A Quantitative Approach to Stability Enhancement
    • Head-On: Robust Tactile Force Sensing for Quadrupedal Interaction
    • Human Trust-Driven Adaptive Control for Unmanned Aerial Swarms
    • Human-AI cooperation in healthcare and rehabilitation
    • Investigating the Adaptive Effects of Ground Compliance in Visual Feedback-Based Propulsion Training
    • Toward Seamless Physical Human-Humanoid Interaction: Insights from Control, Intent, and Modeling with a Vision for What Comes Next
    • The Variable Stiffness Treadmill (VST) 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrain
    • A Human-in-the-loop Algorithm for Predicting Surface Transitions in Robotic Lower Limb Prosthetics
    • ASTRA-BF: A Human-in-the-loop Algorithm for Predicting Surface Transitions in Robotic Lower Limb Prosthetics Using Biomechanical Features
    • Dynamic Adaptation of Robotic Ankle-Foot Prostheses to Compliant Terrain: Reacting to Surface Stiffness Changes in Real-Time
    • Kinematics, kinetics, and muscle activations during human locomotion over compliant terrains
    • Learning Adversarial Policies for Swarm Leader Identification using a Probing Agent
    • MPC-QP-based Control Framework for Compliant Behavior of Humanoid Robots in Physical Collaboration with Humans
    • On Predicting Transitions to Compliant Surfaces in Adults with Transtibial Amputation: A Real-Time Classification Approach
    • Quantifying Human Trust in Controlling Robot Swarms: EEG-based Analysis and Classification
    • Unilateral Compliant Surfaces in Post-Stroke Gait Retraining: Enhancing Symmetry and Stability
    • Intentional Increases in Push-off Force Coupled With Visual Feedback: Towards New Strategies in Robot-Assisted Gait Rehabilitation
    • Reducing Complexity, Enhancing Precision: Predicting Compliant Surface Transitions in Walking via Neighborhood Component Analysis
    • Virtual Reality-based Robot-Assisted Method for Gait Training Showing Retention of Anticipatory Motor Responses
    • A Pediatric Motor Training Environment Based on Human-swarm Interactions
    • Extracting Human Levels of Trust in Human-Swarm Interaction using EEG signals
    • An Energy-based Framework for Robust Dynamic Bipedal Walking over Compliant Terrain
    • Robot-assisted Targeted Gait Training
    • A neuro-musculoskeletal model predicts the effect of a new type of perturbation on human walking
    • A Model-Based Analysis of The Effect of Repeated Unilateral Low Stiffness Perturbations on Human Gait: Toward Robot-Assisted Rehabilitation
    • Adjusting the Quasi-Stiffness of an Ankle-Foot Prosthesis Improves Walking Stability during Locomotion over Compliant Terrain
    • On Intuitive Control of Ankle-Foot Prostheses: A Sensor Fusion-based Algorithm for Real-Time Prediction of Transitions to Compliant Surfaces
    • On Predicting Transitions to Compliant Surfaces in Human Gait via Neural and Kinematic Signals
    • Tunable, Textile-based Joint Impedance Module for Soft Robotic Applications
    • Using robot-assisted stiffness perturbations to evoke aftereffects useful to post-stroke gait rehabilitation
    • A Systematic Method for Outlier Detection in Human Gait Data
    • Repeated Robot-assisted Unilateral Stiffness perturbations Result in Significant Aftereffects Relevant to Post-Stroke Gait Rehabilitation
    • Robust Dynamic Walking for a 3D Dual-SLIP Model under One-Step Unilateral Stiffness Perturbations: Towards Bipedal Locomotion over Compliant Terrain
    • A Model-Based Analysis of Supraspinal Mechanisms of Inter-Leg Coordination in Human Gait: Toward Model-Informed Robot-Assisted Rehabilitation
    • Automatic Identification of the Leader in a Swarm using an Optimized Clustering and Probabilistic Approach
    • F-VESPA: A Kinematic-based Algorithm for Real-time Heel-strike Detection During Walking
    • Real-time kinematic-based detection of foot-strike during walking
    • Quantifying Kinematic Adaptations of Gait During Walking on Terrains of Varying Surface Compliance
    • Modeling and Control of Mid-flight Coupling of Quadrotors: A new concept for Quadrotor cooperation
    • Effects of Transcutaneous Electric Nerve Stimulation on Upper Extremity Proprioceptive Function
    • A Review of Robot-Assisted Lower-Limb Stroke Therapy: Unexplored Paths and Future Directions in Gait Rehabilitation
    • A Review of Soft Wearable Robots that Provide Active Assistance: Trends, Common Actuation Methods, Fabrication, and Applications
    • On the Effects of Visual Anticipation of Floor Compliance Changes on Human Gait: Towards Model-based Robot-Assisted Rehabilitation
    • A Comprehensive Analysis of Sensorimotor Mechanisms of Inter-Leg Coordination in Gait Using the Variable Stiffness Treadmill: Physiological Insights for Improved Robot-Assisted Gait Therapy
    • Adaptive multi-degree of freedom Brain Computer Interface using online feedback: towards novel methods and metrics of mutual adaptation between humans and machines for BCI
    • Anticipatory muscle responses in transitions from rigid to compliant surfaces: towards smart ankle-foot prostheses
    • EEG Feature Descriptors and Discriminant Analysis under Riemannian Manifold perspective
    • Feasibility of muscle synergy outcomes in clinics, robotics and sports: a systematic review
    • Inferring imagined speech using EEG signals: a new approach using Riemannian manifold features
    • Optimizing Stiffness of a Novel Parallel-Actuated Robotic Shoulder Exoskeleton for a Desired Task or Workspace
    • Perception of arm position in three-dimensional space
    • A hybrid brain-machine interface for control of robotic swarms: Preliminary results
    • A Novel Shoulder Exoskeleton Robot Using Parallel Actuation and a Passive Slip Interface
    • Brain-Swarm Control Interfaces: The Transition from Controlling One Robot to a Swarm of Robots
    • Communication and Inference of Intended Movement Direction during Human-Human Physical Interaction
    • Deriving Humanlike Arm Hand System Poses
    • Peripheral Nervous System-Machine Interfaces
    • Physical Human--Robot Interaction (pHRI) in 6 DOF With Asymmetric Cooperation
    • Proof of concept of an online EMG-based decoding of hand postures and individual digit forces for prosthetic hand control
    • The Variable Impedance Treadmill (VIT) for Robot-assisted Rehabilitation
    • Unilateral Changes in Walking Surface Compliance Evoke Dorsiflexion in Paretic Leg of Impaired Walkers
    • A Cross-Modal Feedback Scheme for Control of Prosthetic Grasp Strength
    • Development of a novel shoulder exoskeleton using parallel actuation and slip
    • High-Density Electromyography and Motor Skill Learning for Robust Long-Term Control of a 7-DoF Robot Arm
    • On the effect of walking surface stiffness on inter-limb coordination in human walking: toward bilaterally informed robotic gait rehabilitation
    • Sudden changes in walking surface compliance evoke contralateral EMG in a hemiparetic walker: a case study of inter-leg coordination after neurological injury
    • Unilateral Floor Stiffness Perturbations Systematically Evoke Contralateral Leg Muscle Responses: a New Approach to Robot-assisted Gait Therapy
    • Unilateral Walking Surface Stiffness Perturbations Evoke Brain Responses: Toward Bilaterally Informed Robot-assisted Gait Rehabilitation
    • Interlimb Coordination in Body-Weight Supported Locomotion: A Pilot Study
    • Leg Muscle Activation Evoked by Floor Stiffness Perturbations: A Novel Approach to Robot-assisted Gait Rehabilitation
    • Multi-Directional Impedance Control with Electromyography for Compliant Human-Robot Interaction
    • Neural Closed-loop Control of a Hand Prosthesis using Cross-modal Haptic Feedback
    • On the Control of Human-Robot Bi-manual Manipulation
    • On the Effect of Swarm Collective Behavior on Human Perception: Towards Brain-Swarm Interfaces
    • On the Role Duality and Switching in Human-Robot Cooperation: An adaptive approach
    • Proportional Myoelectric Control of Robots: Muscle Synergy Development drives Performance Enhancement, Retainment, and Generalization
    • Sensorimotor control of gait: A novel approach for the study of the interplay of visual and proprioceptive feedback
    • Simultaneous Myoelectric Control of a Robot Arm using Muscle Synergy-Inspired Inputs from High-Density Electrode Grids
    • Variable Stiffness Treadmill (VST): System Development, Characterization and Preliminary Experiments
    • A Learning Scheme for EMG Based Interfaces: On Task Specificity in Motion Decoding Domain
    • An EMG-based state machine decoder for the detection of hand posture and grip force for reach-to-grasp tasks
    • Effective Neural Representations for Brain-Mediated Human-Robot Interactions
    • Embedded Human Control of Robots using Myoelectric Interfaces
    • Enhancing Practical Multifunctional Myoelectric Applications through Implicit Motor Control Training Systems
    • Impedance-based communication for human-robot interaction
    • Investigation of Contralateral Leg Response to Unilateral Stiffness Perturbations using a Novel Device
    • Learning Efficient Control of Robots Using Myoelectric Interfaces
    • Neuro-robotics: From Brain Machine Interfaces to Rehabilitation Robotics
    • Object Discrimination Using Optimized Multi-frequency Auditory Cross-Modal Haptic Feedback
    • On the Effect of Muscular Co-contraction on the 3D Human Arm Impedance
    • Proceedings of the first workshop on Peripheral Machine Interfaces: Going beyond traditional surface electromyography
    • The Role of Muscle Synergies in Myoelectric Control: Trends and Challenges for Simultaneous Multifunction Control
    • Variable Stiffness Treadmill (VST): a Novel Tool for the Investigation of Gait
    • A Learning Scheme for Reach to Grasp Movements: On EMG-Based Interfaces Using Task Specific Motion Decoding Models
    • An intrinsically safe mechanism for physically coupling humans with robots
    • Beyond user-specificity for EMG decoding using multiresolution muscle synergy analysis
    • Bio-inspired robot control for human-robot bi-manual manipulation
    • Closed-Form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms
    • Quantifying Anthropomorphism of Robot Hands
    • Regulation of 3D human arm impedance through muscle co-contraction
    • Task Discrimination from Myoelectric Activity: A Learning Scheme for EMG based Interfaces
    • Telemanipulation with the DLR/HIT II Robot Hand Using a Dataglove and a Low Cost Force Feedback Device
    • User-independent hand motion classification with electromyography
    • Beyond human or robot administered treadmill training
    • EMG-based Robot Control Interfaces: Past, Present and Future
    • Functional Anthropomorphism for Human to Robot Motion Mapping
    • Learning Human Reach-to-Grasp Strategies: Towards EMG-based Control of Robotic Hands
    • Learning Task-Specific Models for Reach to Grasp Movements: Towards EMG-Based Teleoperation of Robotic Arm-Hand Systems
    • Navigation Functions Learning from Experiments: Application to Anthropomorphic Grasping
    • Relating Postural Synergies to Low-D Muscular Activations: Towards Bio-inspired Control of Robotic Hands
    • A Switching Regime Model for the EMG-based Control of a Robot Arm
    • Bio-inspired mechatronics and control interfaces
    • Human peripheral nervous system controlling robots
    • Interlimb coordination evoked by unilateral mechanical perturbation during body-weight supported gait
    • On the Effect of Human Arm Manipulability in 3D Force Tasks: Towards Force-controlled Exoskeletons
    • On the interlimb coordination and synchronization during gait
    • On the potential field-based control of the MIT-Skywalker
    • Pediatric Anklebot
    • A biomimetic approach to inverse kinematics for a redundant robot arm
    • An EMG-based Robot Control Scheme Robust to Time-varying EMG Signal Features
    • EMG-based Control of a Robot Arm using Low-Dimensional Embeddings
    • Human Arm Impedance: Characterization and Modeling in 3D Space
    • Impedance-based control of the MIT-Skywalker
    • Modeling Anthropomorphism in Dynamic Human Arm Movements
    • On the control of the MIT-Skywalker
    • A Bio-inspired Filtering Framework for the EMG-based Control of Robots
    • EMG-Based Position and Force Estimates in Coupled Human-Robot Systems: Towards EMG-Controlled Exoskeletons
    • Assessment of Muscle Fatigue using a Probabilistic Framework for an EMG-based Robot Control Scenario
    • Estimating Arm Motion and Force using EMG signals: On the Control of Exoskeletons
    • EMG-based Position and Force Estimates of Coupled Human-Robot Systems: Towards EMG-controlled Exoskeletons
    • Design and Development of a Novel Robotic Platform for Neuro-Robotics Applications: the NEURobotics ARM (NEURARM)
    • EMG-based Teleoperation of a Robot Arm Using Low-Dimensional Representation
    • EMG-based Position and Force Control of a Robot Arm: Application to Teleoperation and Orthosis
    • Modeling, Full Identification and Control of the Mitsubishi PA-10 Robot Arm
    • Decoding Grasp Aperture from Motor-Cortical Population Activity
    • Neural correlates of grip aperture in primary motor cortex
    • EMG-based teleoperation of a robot arm in planar catching movements using ARMAX model and trajectory monitoring techniques
    • Description, characterization and assessment of a bio-inspired shoulder joint-first link robot for neuro-robotic applications
    • Teleoperation of a Robot Arm in 2D Catching Movements using EMG Signals and a Bio-inspired Motion Law
    • Teleoperation of a Robot Manipulator using EMG Signals and a Position Tracker
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  • Projects
    • Human-Robot Interaction & Control Interfaces
    • Robot-assisted Gait Rehabilitation using the Variable Stiffness Treadmill
    • Advanced Controllers for Lower-limb Prostheses Enhancing Agility
    • Controllers for Compliant, Efficient and Safe Human-Humanoid Collaboration
    • Neural Human-Robot Interfaces for Intuitive Collaboration
    • Neuromuscular Interface Development for Enhancing Human-Machine Collaboration
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Control of Powered Ankle-Foot Prostheses on Compliant Terrain: A Quantitative Approach to Stability Enhancement

Jan 1, 2026·
Chrysostomos Karakasis
,
Camryn Scully
,
Robert Salati
,
Panagiotis Artemiadis
· 0 min read
DOI PDF
publication
Last updated on Jan 1, 2026
Head-On: Robust Tactile Force Sensing for Quadrupedal Interaction Jan 1, 2026 →

© 2026 HORC LAB. This work is licensed under CC BY NC ND 4.0

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