Jan Babič

Principal Investigator

Phone: +386 1 477 3638

E-mail: jan.babic@ijs.si

Room: C15

Address:
Jožef Stefan Institute
Dept. of Automatics, Biocybernetics, and Robotics
Jamova 39, 1000 Ljubljana, Slovenia

I am the Head of Neuromechanics and Biorobotics Lab at “Jožef Stefan” Institute, Slovenia and Professor at Jožef Stefan International Postgraduate School, Slovenia. I received my Ph.D. from Faculty of Electrical Engineering, University in Ljubljana examining the role of biarticular muscles in human locomotion. During the years 2006/2007 I was a visiting researcher at ATR Computational Neuroscience Laboratories in Japan. In November 2014 I was a visiting professor at The Institute for Intelligent Systems and Robotics, Sorbonne University in France.My current research is particularly concerned with the understanding how human brain controls movement of the body. A main focus of my research is to understand how the central nervous system process sensory information and transfer them to motor commands. I am especially interested in robustness and adaptations of the movements to the changing environment. In our recent research we train human subjects to perform full-body activities in environments where we can disturb various ecological parameters. By investigating changes in the motion, electrical activities of the muscles and their stiffness we are developing models of full-body motor learning that help to elucidate the underlying neural mechanisms by which the brain iteratively modifies muscle activations during learning so that appropriate forces and viscoelastic impedance are created to ensure the stability.
We are using these models to design biologically plausible solutions for a broad spectrum of robotic systems such as industrial robots, humanoids, exoskeletons and rehabilitation devices.
I am involved in several larger European projects; recently in H2020 SPEXOR as the coordinator, in FP7 CoDyCo and H2020 AnDy as the principal investigator, and in the COST Action Wearable Robots for Augmentation, Assistance or Substitution of Human Motor Functions as a member of the Management Committee and a Work Group leader.

Selected publications

Dežman, Miha; Massardi, Stefano; Pinto-Fernandez, David; Grosu, Victor; Rodriguez-Guerrero, Carlos; Babič, Jan; Torricelli, Diego

A mechatronic leg replica to benchmark human–exoskeleton physical interactions Journal Article

In: Bioinspiration & Biomimetics, vol. 18, iss. 3, pp. 036009, 2023, ISSN: 1748-3182.

Abstract | Links | BibTeX

Massardi, Stefano; Pinto-Fernandez, David; Babič, Jan; Dežman, Miha; Trošt, Andrej; Grosu, Victor; Lefeber, Dirk; Rodriguez, Carlos; Bessler, Jule; Schaake, Leendert; Prange-Lasonder, Gerdienke; Veneman, Jan F.; Torricelli, Diego

Relevance of hazards in exoskeleton applications: a survey-based enquiry Journal Article

In: Journal of NeuroEngineering and Rehabilitation, vol. 20, iss. 1, pp. 68, 2023, ISSN: 1743-0003.

Abstract | Links | BibTeX

Kunavar, Tjasa; Cheng, Xiaoxiao; Franklin, David W.; Burdet, Etienne; Babič, Jan

Explicit learning based on reward prediction error facilitates agile motor adaptations Journal Article

In: PLOS ONE, vol. 18, iss. 12, pp. e0295274, 2023, ISSN: 1932-6203.

Abstract | Links | BibTeX

Diaz, Maria Alejandra; Bock, Sander De; Beckerle, Philipp; Babič, Jan; Verstraten, Tom; Pauw, Kevin De

An EMG-Based Objective Function for Human-in-the-Loop Optimization. Proceedings Article

In: 2023 International Conference on Rehabilitation Robotics (ICORR), pp. 1-6, IEEE, 2023, ISSN: 1945-7901.

Abstract | Links | BibTeX

Díaz, María Alejandra; Voß, Matthias; Dillen, Arnau; Tassignon, Bruno; Flynn, Louis; Geeroms, Joost; Meeusen, Romain; Verstraten, Tom; Babič, Jan; Beckerle, Philipp; Pauw, Kevin De

Human-in-the-Loop Optimization of Wearable Robotic Devices to Improve Human–Robot Interaction: A Systematic Review Journal Article

In: IEEE Transactions on Cybernetics, vol. 53, iss. 12, pp. 7483-7496, 2023, ISSN: 2168-2267.

Abstract | Links | BibTeX

Latella, Claudia; Tirupachuri, Yeshasvi; Tagliapietra, Luca; Rapetti, Lorenzo; Schirrmeister, Benjamin; Bornmann, Jonas; Gorjan, Dasa; Čamernik, Jernej; Maurice, Pauline; Fritzsche, Lars; Gonzalez-Vargas, Jose; Ivaldi, Serena; Babič, Jan; Nori, Francesco; Pucci, Daniele

Analysis of Human Whole-Body Joint Torques During Overhead Work With a Passive Exoskeleton Journal Article

In: IEEE Transactions on Human-Machine Systems, vol. 52, no. 5, pp. 1060–1068, 2022, ISSN: 2168-2291.

Abstract | Links | BibTeX

Li, Yanan; Sena, Aran; Wang, Ziwei; Xing, Xueyan; Babič, Jan; Asseldonk, Edwin; Burdet, Etienne

A review on interaction control for contact robots through intent detection Journal Article

In: Progress in Biomedical Engineering, vol. 4, no. 3, pp. 032004, 2022, ISSN: 2516-1091.

Abstract | Links | BibTeX

Takahashi, Chie; Azad, Morteza; Rajasekaran, Vijaykumar; Babič, Jan; Mistry, Michael

Human Stiffness Perception and Learning in Interacting With Compliant Environments Journal Article

In: Frontiers in Neuroscience, vol. 16, no. June, pp. 1–13, 2022, ISSN: 1662-453X.

Abstract | Links | BibTeX

Eiken, Ola; Mekjavić, Igor B.; Babič, Jan; Danielsson, Ulf; Hallberg, Magnus; Kounalakis, Stylianos N.

Effects of vision on energy expenditure and kinematics during level walking Journal Article

In: European Journal of Applied Physiology, vol. 122, no. 5, pp. 1231–1237, 2022, ISSN: 1439-6319.

Abstract | Links | BibTeX

Monany, D. Rannaud; Barbiero, M.; Lebon, F.; Babič, Jan; Blohm, G.; Nozaki, D.; White, O.

Motor imagery helps updating internal models during microgravity exposure Journal Article

In: Journal of Neurophysiology, vol. 127, no. 2, pp. 434–443, 2022, ISSN: 0022-3077.

Abstract | Links | BibTeX

Fritzsche, Lars; Gärtner, Christian; Spitzhirn, Michael; Galibarov, Pavel E; Damsgaard, Michael; Maurice, Pauline; Babič, Jan

Assessing the Efficiency of Industrial Exoskeletons with Biomechanical Modelling -- Comparison of Experimental and Simulation Results Proceedings Article

In: Black, Nancy L; Neumann, W Patrick; Noy, Ian (Ed.): Proceedings of the 21st Congress of the International Ergonomics Association (IEA 2021), pp. 353–357, Springer International Publishing, Cham, 2022, ISBN: 978-3-030-74614-8.

Abstract | BibTeX

Gorjan, Daša; Šarabon, Nejc; Babič, Jan

Inter-Individual Variability in Postural Control During External Center of Mass Stabilization Journal Article

In: Frontiers in Physiology, vol. 12, no. January, 2022, ISSN: 1664-042X.

Abstract | Links | BibTeX

Fele, Benjamin; Babič, Jan; Pollak, Senja; Žnidaršič, Martin

Evaluation of curriculum learning algorithms using computational creativity inspired metrics Proceedings Article

In: Hedblom, Maria M. (Ed.): Proceedings of the Thirteenth International Conference on Computational Creativity, ICCC'22, pp. 364–373, Bolzano, Italy, 2022.

Abstract | Links | BibTeX

Babič, Jan; Laffranchi, Matteo; Tessari, Federico; Verstraten, Tom; Novak, Domen; Šarabon, Nejc; Ugurlu, Barkan; Peternel, Luka; Torricelli, Diego; Veneman, Jan F.

Challenges and solutions for application and wider adoption of wearable robots Journal Article

In: Wearable Technologies, vol. 2, pp. e14, 2021, ISSN: 2631-7176.

Abstract | Links | BibTeX

Kunavar, Tjaša; Jamšek, Marko; Barbiero, Marie; Blohm, Gunnar; Nozaki, Daichi; Papaxanthis, Charalambos; White, Olivier; Babič, Jan

Effects of Local Gravity Compensation on Motor Control During Altered Environmental Gravity Journal Article

In: Frontiers in Neural Circuits, vol. 15, 2021, ISSN: 1662-5110.

Abstract | Links | BibTeX

Arditi, Emir; Kunavar, Tjaša; Ugur, Emre; Babič, Jan; Oztop, Erhan

Inferring Cost Functions Using Reward Parameter Search and Policy Gradient Reinforcement Learning Proceedings Article

In: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society, pp. 1–6, IEEE, 2021, ISBN: 978-1-6654-3554-3.

Abstract | Links | BibTeX

Jamšek, Marko; Kunavar, Tjaša; Bobek, Urban; Rueckert, Elmar; Babič, Jan

Predictive Exoskeleton Control for Arm-Motion Augmentation Based on Probabilistic Movement Primitives Combined With a Flow Controller Journal Article

In: IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 4417–4424, 2021, ISSN: 2377-3766.

Abstract | Links | BibTeX

Kim, Wansoo; Peternel, Luka; Lorenzini, Marta; Babič, Jan; Ajoudani, Arash

A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools Journal Article

In: Robotics and Computer-Integrated Manufacturing, vol. 68, pp. 102084, 2021, ISSN: 07365845.

Abstract | Links | BibTeX

Kozinc, Žiga; Babič, Jan; Šarabon, Nejc

Human pressure tolerance and effects of different padding materials with implications for development of exoskeletons and similar devices Journal Article

In: Applied Ergonomics, vol. 93, 2021, ISSN: 18729126.

Abstract | Links | BibTeX

Fonda, Borut; Babič, Jan; Šarabon, Nejc

The medial‐lateral pedal force component correlates with q‐angle during steady‐state cycling at different workloads and cadences Journal Article

In: Applied Sciences (Switzerland), vol. 11, no. 3, pp. 1–8, 2021, ISSN: 20763417.

Abstract | Links | BibTeX

Sever, Jernej; Babič, Jan; Kozinc, Žiga; Šarabon, Nejc

Postural responses to sudden horizontal perturbations in tai chi practitioners Journal Article

In: International Journal of Environmental Research and Public Health, vol. 18, no. 5, pp. 1–12, 2021, ISSN: 16604601.

Abstract | Links | BibTeX

Kozinc, Žiga; Babič, Jan; Šarabon, Nejc

Comparison of subjective responses of low back pain patients and asymptomatic controls to use of spinal exoskeleton during simple load lifting tasks: A pilot study Journal Article

In: International Journal of Environmental Research and Public Health, vol. 18, no. 1, pp. 1–9, 2021, ISSN: 16604601.

Abstract | Links | BibTeX

Gorjan, Daša; Bellicha, Angelina; Čamernik, Jernej; Bachta, Wael; Babič, Jan

Induced stabilization of center of mass decreases variability of center of pressure regardless of visual or tactile information Journal Article

In: Journal of Biomechanics, vol. 117, 2021, ISSN: 18732380.

Abstract | Links | BibTeX

Petrič, Tadej; Jamšek, Marko; Babič, Jan

Exoskeleton Control Based on Network of Stable Heteroclinic Channels (SHC) Combined with Gaussian Mixture Models (GMM) Proceedings Article

In: Lenarčič, Jadran; Siciliano, Bruno (Ed.): Advances in Robot Kinematics 2020, pp. 341–348, Springer International Publishing, Cham, 2021, ISBN: 978-3-030-50975-0.

Abstract | Links | BibTeX

Jamšek, Marko; Kunavar, Tjaša; Blohm, Gunnar; Nozaki, Daichi; Papaxanthis, Charalambos; White, Olivier; Babič, Jan

Effects of Simulated Microgravity and Hypergravity Conditions on Arm Movements in Normogravity Journal Article

In: Frontiers in Neural Circuits, vol. 15, pp. 150, 2021, ISSN: 1662-5110.

Abstract | Links | BibTeX

Trošt, Andrej; Jamšek, Marko; Šarabon, Nejc; Babič, Jan

A system to measure the human body asymmetries using accelerometers Journal Article

In: Elektrotehniski Vestnik/Electrotechnical Review, vol. 88, no. 5, pp. 267–272, 2021.

Abstract | Links | BibTeX

Fritzsche, Lars; Galibarov, Pavel E.; Gartner, Christian; Bornmann, Jonas; Damsgaard, Michael; Wall, Rudolf; Schirrmeister, Benjamin; Gonzalez-Vargas, Jose; Pucci, Daniele; Maurice, Pauline; Ivaldi, Serena; Babič, Jan

Assessing the efficiency of exoskeletons in physical strain reduction by biomechanical simulation with AnyBody Modeling System Journal Article

In: Wearable Technologies, vol. 2, 2021.

Abstract | Links | BibTeX

Elobaid, Mohamed; Hu, Yue; Romualdi, Giulio; Dafarra, Stefano; Babič, Jan; Pucci, Daniele

Telexistence and Teleoperation for Walking Humanoid Robots Book Section

In: Advances in Intelligent Systems and Computing, pp. 1106–1121, 2020, ISSN: 21945365.

Abstract | Links | BibTeX

Jamšek, Marko; Petrič, Tadej; Babič, Jan

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons Journal Article

In: Sensors, vol. 20, no. 9, pp. 2705, 2020, ISSN: 1424-8220.

Abstract | Links | BibTeX

Koopman, Axel S; Naf, Matthias; Baltrusch, Saskia J; Kingma, Idsart; Rodriguez-Guerrero, Carlos; Babič, Jan; de Looze, Michiel P; van Dieen, Jaap H

Biomechanical evaluation of a new passive back support exoskeleton Journal Article

In: Journal of Biomechanics, vol. 105, pp. 109795, 2020, ISSN: 00219290.

Abstract | Links | BibTeX

Ugurlu, Barkan; Oshima, Hironori; Sariyildiz, Emre; Narikiyo, Tatsuo; Babič, Jan

Active Compliance Control Reduces Upper Body Effort in Exoskeleton-Supported Walking Journal Article

In: IEEE Transactions on Human-Machine Systems, vol. 50, no. 2, pp. 144–153, 2020, ISSN: 2168-2291.

Abstract | Links | BibTeX

Rodriguez-Guerrero, Carlos; Babič, Jan; Novak, Domen

Wearable Robots: Taking a Leap From the Lab to the Real World [From the Guest Editors] Journal Article

In: IEEE Robotics & Automation Magazine, vol. 27, no. 1, pp. 20–21, 2020, ISSN: 1070-9932.

Abstract | Links | BibTeX

Baltrusch, Saskia J; van Dieen, Jaap H; Koopman, Axel S; Naf, Matthias; Rodriguez-Guerrero, Carlos; Babič, Jan; Houdijk, Han

SPEXOR passive spinal exoskeleton decreases metabolic cost during symmetric repetitive lifting Journal Article

In: European Journal of Applied Physiology, vol. 120, no. 2, pp. 401–412, 2020, ISSN: 1439-6319.

Abstract | Links | BibTeX

Kunavar, Tjaša; Čamernik, Jernej; Kawato, Mitsuo; Oztop, Erhan; Babič, Jan

Failure as a reinforcement in motor learning Proceedings Article

In: Workshop on Mechanism of Brain and Mind 2020, Rusutsu, Japan, 2020.

Abstract | BibTeX

Maurice, Pauline; Čamernik, Jernej; Gorjan, Daša; Schirrmeister, Benjamin; Bornmann, Jonas; Tagliapietra, Luca; Latella, Claudia; Pucci, Daniele; Fritzsche, Lars; Ivaldi, Serena; Babič, Jan

Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work Journal Article

In: IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28, no. 1, pp. 152–164, 2020, ISSN: 1534-4320.

Abstract | Links | BibTeX

Galli, G.; Cakmak, Y. O.; Babič, Jan; Pazzaglia, M.

Editorial: Embodying Tool Use: From Cognition to Neurorehabilitation Journal Article

In: Frontiers in Human Neuroscience, vol. 14, 2020, ISSN: 16625161.

Abstract | Links | BibTeX

Čamernik, Jernej; Kezić, Sanja; Babič, Jan

Impact of the virtual-height exposure on human psychophysical parameters Journal Article

In: Elektrotehniski Vestnik/Electrotechnical Review, vol. 87, no. 5, pp. 267–274, 2020.

Abstract | Links | BibTeX

Rottmann, Nils; Kunavar, Tjaša; Babič, Jan; Peters, Jan; Rueckert, Elmar

Learning Hierarchical Acquisition Functions for Bayesian Optimization Proceedings Article

In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5490–5496, 2020.

Abstract | Links | BibTeX

Peternel, Luka; Babič, Jan

Target of initial sub-movement in multi-component arm-reaching strategy Journal Article

In: Scientific Reports, vol. 9, no. 1, pp. 20101, 2019, ISSN: 2045-2322.

Abstract | Links | BibTeX

Cevzar, Mišel; Petrič, Tadej; Jamšek, Marko; Babič, Jan

Real-Time Control of Quasi-Active Hip Exoskeleton Based on Gaussian Mixture Model Approach Book Section

In: Wearable Robotics: Challenges and Trends, pp. 244–248, Springer, Cham, 2019.

Abstract | Links | BibTeX

Jamšek, Marko; Babič, Jan

Human Trunk Stabilization with Hip Exoskeleton for Enhanced Postural Control Book Section

In: Wearable Robotics: Challenges and Trends, pp. 450–454, Springer, Cham, 2019.

Abstract | Links | BibTeX

Maurice, Pauline; Čamernik, Jernej; Gorjan, Daša; Schirrmeister, Benjamin; Bornmann, Jonas; Tagliapietra, Luca; Latella, Claudia; Pucci, Danielle; Fritzsche, Lars; Ivaldi, Serena; Babič, Jan

Evaluation of PAEXO, a novel passive exoskeleton for overhead work Journal Article

In: Computer Methods in Biomechanics and Biomedical Engineering, vol. 22, no. sup1, pp. S448–S450, 2019, ISSN: 1025-5842.

Abstract | Links | BibTeX

Kunavar, Tjaša; Čamernik, Jernej; Oztop, Erhan; Babič, Jan

Characteristics of human whole body motor learning Proceedings Article

In: Turkey Robotics Conference, TORK 2019, Özyegin University, Istanbul, 2019.

Abstract | BibTeX

Petrič, Tadej; Peternel, Luka; Morimoto, Jun; Babič, Jan

Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability Journal Article

In: Frontiers in Neurorobotics, vol. 13, pp. 30, 2019, ISSN: 1662-5218.

Abstract | Links | BibTeX

Babič, Jan; Petrič, Tadej; Mombaur, Katja; Kingma, Idsart; Bornmann, Jonas; Gonzalez-Vargas, Jose; Baltrusch, Saskia; Šarabon, Nejc; Houdijk, Han

SPEXOR: Design and development of passive spinal exoskeletal robot for low back pain prevention and vocational reintegration Journal Article

In: SN Applied Sciences, vol. 1, no. 3, pp. 262, 2019, ISSN: 2523-3963.

Abstract | Links | BibTeX

Azad, Morteza; Babič, Jan; Mistry, Michael

Effects of the weighting matrix on dynamic manipulability of robots Journal Article

In: Autonomous Robots, vol. 43, no. 7, pp. 1867–1879, 2019.

Abstract | Links | BibTeX

Kunavar, Tjaša; Čamernik, Jernej; Babič, Jan; Oztop, Erhan; Kawato, Mitsuo

Does danger of injury influence human motor adaptation? Proceedings Article

In: Workshop on Mechanism of Brain and Mind 2019, Rusutsu, Japan, 2019.

Abstract | BibTeX

White, Olivier; Babič, Jan; Trenado, Carlos; Johannsen, Leif; Goswami, Nandu

The Promise of Stochastic Resonance in Falls Prevention Journal Article

In: Frontiers in Physiology, vol. 9, no. January, pp. 1–12, 2019, ISSN: 1664-042X.

Abstract | Links | BibTeX

Gorjan, Daša; Babič, Jan; Šarabon, Nejc; Potocanac, Zrinka

Small, movement dependent perturbations substantially alter postural control strategy in healthy young adults Journal Article

In: Journal of Biomechanics, vol. 91, pp. 1–6, 2019, ISSN: 18732380.

Abstract | Links | BibTeX

Čamernik, Jernej; Azad, Morteza; Peternel, Luka; Potočanac, Zrinka; Babič, Jan

Staying on your feet: the effectiveness of posture and handles in counteracting balance perturbation Journal Article

In: Ergonomics, vol. 62, no. 5, pp. 657–667, 2019, ISSN: 0014-0139.

Abstract | Links | BibTeX

Čamernik, Jernej; Kezić, Sanja; Babič, Jan

Threat-related changes in postural control in virtual environments Proceedings Article

In: 2019 ISPRG World Congress, June 30 to July 4, Edinburgh, Scotland : abstract book, pp. 393, Edinburgh, 2019.

Abstract | BibTeX

Gorjan, Daša; Bellicha, Angelina; Čamernik, Jernej; Bachta, Wael; Babič, Jan

Postural control during induced stabilization of the center of mass and light touch Proceedings Article

In: 2019 ISPRG World Congress, June 30 to July 4, Edinburgh, Scotland : abstract book, pp. 572–573, Edinburgh, 2019.

Abstract | BibTeX

Bobek, Urban; Rueckert, Elmar; Jamšek, Marko; Barišić, Saša; Babič, Jan

Combining Foot Placement Prediction with Obstacle Detection to Detect Tripping Proceedings Article

In: Žemva, Andrej; Trost, Andrej (Ed.): Proceedings of the Twenty-eighth Electrotechnical and Computer Science Conference ERK 2019, pp. 110–113, Portorož, Slovenia, 2019, ISSN: 2591-0442.

Abstract | Links | BibTeX

Arditi, Emir; Čamernik, Jernej; Babič, Jan; Ugur, Emre; Nagai, Yukie; Oztop, Erhan

Explorations on inverse reinforcement learning for the analysis of sensorimotor data Proceedings Article

In: Winter Workshop on Mechanism of Brain and Mind 2019, Rusutsu, 9.-11.1. 2019, Rusutsu, 2019.

Abstract | BibTeX

Šarabon, Nejc; Kozinc, Žiga; Babič, Jan; Marković, Goran

Effect of rowing ergometer compliance on biomechanical and physiological indicators during simulated 2,000-metre race Journal Article

In: Journal of Sports Science and Medicine, vol. 18, pp. 264–270, 2019.

Abstract | BibTeX

Teramae, Tatsuya; Ishihara, Koji; Babič, Jan; Morimoto, Jun; Oztop, Erhan

Human-In-The-Loop Control and Task Learning for Pneumatically Actuated Muscle Based Robots Journal Article

In: Frontiers in Neurorobotics, vol. 12, pp. 71, 2018, ISSN: 1662-5218.

Abstract | Links | BibTeX

Romano, Francesco; Nava, Gabriele; Azad, Morteza; Camernik, Jernej; Dafarra, Stefano; Dermy, Oriane; Latella, Claudia; Lazzaroni, Maria; Lober, Ryan; Lorenzini, Marta; Pucci, Daniele; Sigaud, Olivier; Traversaro, Silvio; Babič, Jan; Ivaldi, Serena; Mistry, Michael; Padois, Vincent; Nori, Francesco

The CoDyCo Project Achievements and Beyond: Toward Human Aware Whole-Body Controllers for Physical Human Robot Interaction Journal Article

In: IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 516–523, 2018, ISSN: 2377-3766.

Abstract | Links | BibTeX

Petrič, Tadej; Cevzar, Mišel; Babič, Jan

Shared Control for Human-Robot Cooperative Manipulation Tasks Book Section

In: Ferraresi, Carlo; Quaglia, Giuseppe (Ed.): Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, pp. 787–796, Springer International Publishing, Cham, 2018, ISBN: 978-3-319-61276-8.

Abstract | Links | BibTeX

Peternel, Luka; Petrič, Tadej; Babič, Jan

Robotic assembly solution by human-in-the-loop teaching method based on real-time stiffness modulation Journal Article

In: Autonomous Robots, vol. 42, no. 1, pp. 1–17, 2018, ISSN: 0929-5593.

Abstract | Links | BibTeX

Dežman, Miha; Babič, Jan; Gams, Andrej

Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton Book Section

In: Ferraresi, Carlo; Quaglia, Giuseppe (Ed.): Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, pp. 778–786, Springer International Publishing, Cham, 2018, ISBN: 978-3-319-61276-8.

Abstract | Links | BibTeX

Cevzar, Mišel; Petrič, Tadej; Babič, Jan

Open Source EMG Device for Controlling a Robotic Hand Book Section

In: Ferraresi, Carlo; Quaglia, Giuseppe (Ed.): Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, pp. 797–804, Springer International Publishing, Cham, 2018, ISBN: 978-3-319-61276-8.

Abstract | Links | BibTeX

Šarabon, Nejc; Mekjavić, Igor B; Eiken, Ola; Babič, Jan

The Effect of Bed Rest and Hypoxic Environment on Postural Balance and Trunk Automatic (Re)Actions in Young Healthy Males Journal Article

In: Frontiers in Physiology, vol. 9, pp. 27, 2018, ISSN: 1664-042X.

Abstract | Links | BibTeX

Čamernik, Jernej; Oztop, Erhan; Babič, Jan

Understanding Human Adaptation in Squat-to-Stand movements Proceedings Article

In: 2018 Türkiye Robotbilim Konferansi, TORK 2018, pp. 245–247, Istanbul, 2018.

Abstract | BibTeX

Čamernik, Jernej; Rueckert, Elmar; Oztop, Erhan; Babič, Jan

Configurable dynamical environment simulation platform for studies of whole- body motor control and learning Proceedings Article

In: Congress programme, 8th World Congress of Biomechanics, 8-12 July 2018, Dublin, Ireland, Dublin, 2018.

Abstract | BibTeX

Jamšek, Marko; Babič, Jan

Design and preliminary testing of a pneumatic exoskeleton for walking assistance Proceedings Article

In: 27th International Electrotechnical and Computer Science Conference ERK 2018, pp. 159–162, 2018.

Abstract | Links | BibTeX

Goljat, Rok; Babič, Jan; Petrič, Tadej; Peternel, Luka; Morimoto, Jun

Power-augmentation control approach for arm exoskeleton based on human muscular manipulability Proceedings Article

In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 5929–5934, IEEE, 2017, ISSN: 10504729.

Abstract | Links | BibTeX

Azad, Morteza; Babič, Jan; Mistry, Michael

Dynamic manipulability of the center of mass: A tool to study, analyse and measure physical ability of robots Proceedings Article

In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 3484–3490, IEEE, 2017, ISBN: 978-1-5090-4633-1.

Abstract | Links | BibTeX

Padois, Vincent; Ivaldi, Serena; Babič, Jan; Mistry, Michael; Peters, Jan; Nori, Francesco

Whole-body multi-contact motion in humans and humanoids: Advances of the CoDyCo European project Journal Article

In: Robotics and Autonomous Systems, vol. 90, pp. 97–117, 2017, ISSN: 09218890.

Abstract | Links | BibTeX

Petrič, Tadej; Cevzar, Mišel; Babič, Jan

Utilizing speed-accuracy trade-off models for human-robot coadaptation during cooperative groove fitting task Proceedings Article

In: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pp. 107–112, IEEE, Birmingham, 2017, ISBN: 978-1-5386-4678-6.

Abstract | Links | BibTeX

Goljat, Rok; Petrič, Tadej; Babič, Jan

Upper Limb Exoskeleton Control for Isotropic Sensitivity of Human Arm Book Section

In: González-Vargas, José; Ibáñez, Jaime; Contreras-Vidal, Jose L; van der Kooij, Herman; Pons, José Luis (Ed.): Wearable Robotics: Challenges and Trends, vol. 16, pp. 433–437, Springer International Publishing, 2017, ISBN: 978-3-319-46531-9.

Abstract | Links | BibTeX

Peternel, Luka; Sigaud, Olivier; Babič, Jan

Unifying Speed-Accuracy Trade-Off and Cost-Benefit Trade-Off in Human Reaching Movements Journal Article

In: Frontiers in Human Neuroscience, vol. 11, pp. 615, 2017, ISSN: 1662-5161.

Abstract | Links | BibTeX

Peternel, Luka; Kim, Wansoo; Babič, Jan; Ajoudani, Arash

Towards ergonomic control of human-robot co-manipulation and handover Proceedings Article

In: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), pp. 55–60, IEEE, Birmingham, 2017, ISBN: 978-1-5386-4678-6.

Abstract | Links | BibTeX

Rijcke, Laura De; Näf, Matthias; Rodriguez-Guerrero, Carlos; Graimann, Bernhard; Houdijk, Han; van Dieën, Jaap; Mombaur, Katja; Russold, Michael; Sarabon, Nejc; Babič, Jan; Lefeber, Dirk

SPEXOR: Towards a Passive Spinal Exoskeleton Book Section

In: González-Vargas, José; Ibáñez, Jaime; Contreras-Vidal, Jose L; van der Kooij, Herman; Pons, José Luis (Ed.): Wearable Robotics: Challenges and Trends, vol. 16, pp. 325–329, Springer International Publishing, 2017, ISBN: 978-3-319-46531-9.

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Babič, Jan; Mombaur, Katja; Lefeber, Dirk; van Dieën, Jaap; Graimann, Bernhard; Russold, Michael; Šarabon, Nejc; Houdijk, Han

SPEXOR: Spinal Exoskeletal Robot for Low Back Pain Prevention and Vocational Reintegration Book Section

In: González-Vargas, José; Ibáñez, Jaime; Contreras-Vidal, Jose L; van der Kooij, Herman; Pons, José Luis (Ed.): Wearable Robotics: Challenges and Trends, pp. 311–315, Springer International Publishing, 2017.

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Frelih, Nina Gržinič; Podlesek, Anja; Babič, Jan; Geršak, Gregor

Evaluation of psychological effects on human postural stability Journal Article

In: Measurement, vol. 98, pp. 186–191, 2017, ISSN: 02632241.

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Dežman, Miha; Debevec, Tadej; Babič, Jan; Gams, Andrej

Effects of Passive Ankle Exoskeleton on Human Energy Expenditure: Pilot Evaluation Book Section

In: Advances in Intelligent Systems and Computing, vol. 540, pp. 491–498, Springer, 2017, ISSN: 21945357.

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Potočanac, Zrinka; Goljat, Rok; Babič, Jan

A robotic system for delivering novel real-time, movement dependent perturbations Journal Article

In: Gait & Posture, vol. 58, pp. 386–389, 2017, ISSN: 09666362.

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Petrič, Tadej; Goljat, Rok; Babič, Jan

Augmentation of human arm motor control by isotropic force manipulability Proceedings Article

In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 696–701, IEEE, Daejeon, 2016, ISBN: 978-1-5090-3762-9.

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Rueckert, Elmar; Čamernik, Jernej; Peters, Jan; Babič, Jan

Probabilistic Movement Models Show that Postural Control Precedes and Predicts Volitional Motor Control Journal Article

In: Scientific Reports, vol. 6, no. 1, pp. 28455, 2016, ISSN: 2045-2322.

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Ivaldi, Serena; Babič, Jan; Mistry, Michael; Murphy, Robin

Special issue on whole-body control of contacts and dynamics for humanoid robots Journal Article

In: Autonomous Robots, vol. 40, no. 3, pp. 425–428, 2016, ISSN: 0929-5593.

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Peternel, Luka; Noda, Tomoyuki; Petrič, Tadej; Ude, Aleš; Morimoto, Jun; Babič, Jan

Adaptive Control of Exoskeleton Robots for Periodic Assistive Behaviours Based on EMG Feedback Minimisation Journal Article

In: PLOS ONE, vol. 11, no. 2, pp. e0148942, 2016, ISSN: 1932-6203.

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Petrič, Tadej; Goljat, Rok; Babič, Jan

Cooperative human-robot control based on Fitts' law Proceedings Article

In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), pp. 345–350, IEEE, Cancun, 2016, ISBN: 978-1-5090-4718-5.

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Peternel, Luka; Oztop, Erhan; Babič, Jan

A shared control method for online human-in-the-loop robot learning based on Locally Weighted Regression Proceedings Article

In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3900–3906, IEEE, Daejeon, 2016, ISBN: 978-1-5090-3762-9.

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Čamernik, Jernej; Potočanac, Zrinka; Peternel, Luka; Babič, Jan

Holding a Handle for Balance during Continuous Postural Perturbations—Immediate and Transitionary Effects on Whole Body Posture Journal Article

In: Frontiers in Human Neuroscience, vol. 10, pp. 486, 2016, ISSN: 1662-5161.

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Babič, Jan; Oztop, Erhan; Kawato, Mitsuo

Human motor adaptation in whole body motion Journal Article

In: Scientific Reports, vol. 6, no. 1, pp. 32868, 2016, ISSN: 2045-2322.

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Gorjanc, Jurij; Morrison, Shawnda; McDonnell, Adam; Babič, Jan; Mekjavić, Igor B

Koroška 8000: digit responses to cold stress following himalayan expedition to broadpeak, Pakistan (8051 m) Journal Article

In: Extreme Physiology & Medicine, vol. 4, no. Suppl 1, pp. A43, 2015, ISSN: 2046-7648.

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Zorko, Martin; Nemec, Bojan; Babič, Jan; Lešnik, Blaž; Supej, Matej

The Waist Width of Skis Influences the Kinematics of the Knee Joint in Alpine Skiing. Journal Article

In: Journal of sports science & medicine, vol. 14, no. 3, pp. 606–19, 2015, ISSN: 1303-2968.

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Peternel, Luka; Ugurlu, Barkan; Babič, Jan; Morimoto, Jun

Assessments on the improved modelling for pneumatic artificial muscle actuators Proceedings Article

In: 2015 International Conference on Advanced Robotics (ICAR), pp. 34–39, IEEE, Istanbul, 2015, ISBN: 978-1-4673-7509-2.

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Peternel, Luka; Petrič, Tadej; Babič, Jan

Human-in-the-loop approach for teaching robot assembly tasks using impedance control interface Proceedings Article

In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1497–1502, IEEE, Seattle, 2015, ISSN: 10504729.

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Peternel, Luka; Babič, Jan

Switchable task-priority framework for combining human-demonstrated and inverse kinematics tasks Proceedings Article

In: 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), pp. 542–547, IEEE, Bali, 2014, ISBN: 978-1-4799-7397-2.

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Azad, Morteza; Babič, Jan; Mistry, Michael

Effects of hand contact on the stability of a planar humanoid with a momentum based controller Proceedings Article

In: 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 348–353, IEEE, 2014, ISBN: 978-1-4799-7174-9.

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Nemec, Bojan; Petrič, Tadej; Babič, Jan; Supej, Matej

Estimation of Alpine Skier Posture Using Machine Learning Techniques Journal Article

In: Sensors, vol. 14, no. 10, pp. 18898–18914, 2014, ISSN: 1424-8220.

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Peternel, Luka; Petrič, Tadej; Oztop, Erhan; Babič, Jan

Teaching robots to cooperate with humans in dynamic manipulation tasks based on multi-modal human-in-the-loop approach Journal Article

In: Autonomous Robots, vol. 36, no. 1-2, pp. 123–136, 2014, ISSN: 0929-5593.

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Babič, Jan; Petrič, Tadej; Peternel, Luka; Šarabon, Nejc

Effects of supportive hand contact on reactive postural control during support perturbations Journal Article

In: Gait & Posture, vol. 40, no. 3, pp. 441–446, 2014, ISSN: 09666362.

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Peternel, Luka; Babič, Jan

Learning of compliant human–robot interaction using full-body haptic interface Journal Article

In: Advanced Robotics, vol. 27, no. 13, pp. 1003–1012, 2013, ISSN: 0169-1864.

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Petrič, Tadej; Gams, Andrej; Debevec, Tadej; Žlajpah, Leon; Babič, Jan

Control approaches for robotic knee exoskeleton and their effects on human motion Journal Article

In: Advanced Robotics, vol. 27, no. 13, pp. 993–1002, 2013, ISSN: 0169-1864.

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Gams, Andrej; Petrič, Tadej; Debevec, Tadej; Babič, Jan

Effects of Robotic Knee Exoskeleton on Human Energy Expenditure Journal Article

In: IEEE Transactions on Biomedical Engineering, vol. 60, no. 6, pp. 1636–1644, 2013, ISSN: 0018-9294.

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Peternel, Luka; Babič, Jan

Humanoid robot posture-control learning in real-time based on human sensorimotor learning ability Proceedings Article

In: 2013 IEEE International Conference on Robotics and Automation, pp. 5329–5334, IEEE, Karlsruhe, 2013, ISBN: 978-1-4673-5643-5.

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Petrič, Tadej; Gams, Andrej; Babič, Jan; Žlajpah, Leon

Reflexive stability control framework for humanoid robots Journal Article

In: Autonomous Robots, vol. 34, no. 4, pp. 347–361, 2013, ISSN: 0929-5593.

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Babič, Jan; Škorja, Goran

Analysis of musculoskeletal system responses to pertrubations during standing posture Journal Article

In: Elektrotehniski Vestnik/Electrotechnical Review, vol. 79, no. 1-2, pp. 7–12, 2012, ISSN: 00135852.

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Babič, Jan

Utilization of human sensorimotor learning capacity for obtaining novel robot behaviours: 2-DOF ball balancing on a parallel platform Proceedings Article

In: 2011 IEEE International Conference on Robotics and Biomimetics, pp. 1778–1782, IEEE, Karon Beach, 2011, ISBN: 978-1-4577-2138-0.

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Gams, Andrej; Petrič, Tadej; Babič, Jan; Žlajpah, Leon; Ude, Aleš

Constraining movement imitation with reflexive behavior: Robot squatting Proceedings Article

In: 2011 11th IEEE-RAS International Conference on Humanoid Robots, pp. 294–299, IEEE, Bled, 2011, ISBN: 978-1-61284-868-6.

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Petrič, Tadej; Nemec, Bojan; Babič, Jan; Žlajpah, Leon

Multilayer control of skiing robot Proceedings Article

In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4832–4837, IEEE, San Francisco, 2011, ISBN: 978-1-61284-454-1.

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Babič, Jan; Hale, Joshua; Oztop, Erhan

Human sensorimotor learning for humanoid robot skill synthesis Journal Article

In: Adaptive Behavior, vol. 19, no. 4, pp. 250–263, 2011, ISSN: 1059-7123.

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Kos, Andrej; Babič, Jan

Programming and control of humanoid robot football playing tasks Proceedings Article

In: 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010), pp. 115–118, IEEE, Budapest, 2010, ISBN: 978-1-4244-6885-0.

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Škorja, Goran; Babič, Jan

Implementation of the three degrees-of-freedom parallel platform in human posture analysis Proceedings Article

In: 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010), pp. 321–326, IEEE, Budapest, 2010, ISBN: 978-1-4244-6885-0.

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Babič, Jan; Hajdinjak, Blaž; Oztop, Erhan

Robot Skill Synthesis Through Human Visuo-Motor Learning - Humanoid Robot Statically-stable Reaching and In-place Stepping Proceedings Article

In: Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics, pp. 212–215, SciTePress - Science and and Technology Publications, Funchal, 2010, ISBN: 978-989-8425-00-3.

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Škorja, Goran; Babič, Jan

Postural Control Analysis during Angular Perturbations of the Support Surface Book Section

In: Lim, Chwee T; Goh, James C H (Ed.): IFMBE Proceedings, vol. 31 IFMBE, pp. 969–972, Springer, 2010, ISSN: 16800737.

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Lenart, Lado; Babič, Jan; Kušar, Janez

Direct use of functional gradients and linear programming in optimal control Proceedings Article

In: Štirn, Lidija Zadnik; Žerovnik, Janez; Drobne, Samo; Lisec, Anka (Ed.): Proceedings of the 10th International Symposium on Operational Research in Slovenia, SOR 2009, pp. 289–298, Nova Gorica, 2009, ISBN: 9789616165303.

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Babič, Jan; Lim, Bokman; Omrčen, Damir; Lenarčič, Jadran; Park, Frank C

A Biarticulated Robotic Leg for Jumping Movements: Theory and Experiments Journal Article

In: Journal of Mechanisms and Robotics, vol. 1, no. 1, pp. 011013, 2009, ISSN: 19424302.

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Hajdinjak, Blaž; Babič, Jan; Oztop, Erhan

Improving balance regulation in visuo-motor control for humanoid robots Proceedings Article

In: 2009 24th International Symposium on Computer and Information Sciences, pp. 405–408, IEEE, Guzelyut, 2009, ISBN: 978-1-4244-5021-3.

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Lenarčič, Jadran; Žlajpah, Leon; Nemec, Bojan; Ude, Aleš; Babič, Jan; Omrčen, Damir; Mekjavić, Igor B

Recent Advances in Intelligent Robots at J. Stefan Institute Book Section

In: Rudas, Imre J; Fodor, János; Kacprzyk, Janusz (Ed.): Studies in Computational Intelligence, vol. 243, pp. 235–245, Springer, 2009, ISSN: 1860949X.

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Lim, Bokman; Babič, Jan; Park, Frank C

Optimal jumps for biarticular legged robots Proceedings Article

In: 2008 IEEE International Conference on Robotics and Automation, pp. 226–231, IEEE, Pasadena, 2008, ISBN: 978-1-4244-1646-2.

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Oztop, Erhan; Babič, Jan; Hale, Joshua; Cheng, Gordon; Kawato, Mitsuo

From Biologically Realistic Imitation to Robot Teaching Via Human Motor Learning Book Section

In: Ishikawa, Masumi; Doya, Kenji; Miyamoto, Hiroyuki; Yamakawa, Takeshi (Ed.): Neural Information Processing, vol. 4985, pp. 214–221, Springer, Berlin, 2008, ISSN: 0302-9743.

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Babič, Jan

Biarticular legged robot: Design and experiments Proceedings Article

In: 2008 IEEE International Conference on Robotics and Biomimetics, pp. 155–159, IEEE, Bangkok, 2008, ISBN: 978-1-4244-2678-2.

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Lenart, Lado; Babič, Jan; Kušar, Janez

Some mixed algorithms in optimal control Proceedings Article

In: Štirn, Lidija Zadnik; Drobne, Samo (Ed.): Proceedings of the 8th International Symposium on Operational Research in Slovenia, SOR 2007, pp. 185–190, Nova Gorica, 2007.

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Babič, Jan; Lenarčič, Jadran

Optimization of biarticular gastrocnemious muscle in humanoid jumping robot simulation Journal Article

In: International Journal of Humanoid Robotics, vol. 3, no. 2, pp. 219–234, 2006, ISSN: 0219-8436.

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Lenart, Lado; Babič, Jan

Dynamic programming in control Proceedings Article

In: Štirn, Lidija Zadnik; Drobne, Samo (Ed.): Proceedings of the 8th International Symposium on Operational Research in Slovenia, SOR 2005, pp. 63–68, Nova Gorica, 2005, ISBN: 9616165208 | 9789616165204.

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Babič, Jan; Lenarčič, Jadran

In vivo determination of triceps surae muscle-tendon complex viscoelastic properties Journal Article

In: European Journal of Applied Physiology, vol. 92, no. 4-5, pp. 477–84, 2004, ISSN: 1439-6319.

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Babič, Jan; Karčnik, Tomaž; Bajd, Tadej

Stability analysis of four-point walking Journal Article

In: Gait & Posture, vol. 14, no. 1, pp. 56–60, 2001, ISSN: 09666362.

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