Scientific publications

We publish results of our work in scientific journals and make presentations at research conferences with topics ranging from neurophysiology, robotics, and machine learning.

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2022

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

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 Inproceedings

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 | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling, Physical Human Robot Interaction

2021

Challenges and solutions for application and wider adoption of wearable robots

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 | BibTeX | Tags: Exoskeleton Design and Control, Human Performance Augmentation | Links:

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

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 | BibTeX | Tags: Exoskeleton Design and Control, Human Motor Control, Human Performance Augmentation, Sensorimotor Learning | Links:

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

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 | BibTeX | Tags: Exoskeleton Design and Control, Force Control, Human Performance Augmentation, Optimal Control, Physical Human Robot Interaction | Links:

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

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 | BibTeX | Tags: Ergonomy, Human Performance Augmentation, Human-in-the-Loop Control, Physical Human Robot Interaction | Links:

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

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 | BibTeX | Tags: Ergonomy, Human Performance Augmentation, Sport | Links:

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

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 | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling | Links:

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

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 | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling, Physical Human Robot Interaction | Links:

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

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 | BibTeX | Tags: Exoskeleton Design and Control, Human Motor Control, Human Performance Augmentation, Sensorimotor Learning | Links:

2020

Biomechanical evaluation of a new passive back support exoskeleton

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 | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling | Links:

2019

Assistive Arm-Exoskeleton Control Based on Human Muscular Manipulability

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 | BibTeX | Tags: Compliance and Impedance Control, Human Performance Augmentation, Optimal Control | Links:

2018

Shared Control for Human-Robot Cooperative Manipulation Tasks

Petrič, Tadej; Cevzar, Mišel; Babič, Jan

Shared Control for Human-Robot Cooperative Manipulation Tasks Incollection

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 | BibTeX | Tags: Human Performance Augmentation, Physical Human Robot Interaction, Sensorimotor Learning | Links:

Design and preliminary testing of a pneumatic exoskeleton for walking assistance

Jamšek, Marko; Babič, Jan

Design and preliminary testing of a pneumatic exoskeleton for walking assistance Inproceedings

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

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Human Performance Augmentation | Links:

2017

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

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

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

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

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling | Links:

SPEXOR: Towards a Passive Spinal Exoskeleton

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 Incollection

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.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation | Links:

Upper Limb Exoskeleton Control for Isotropic Sensitivity of Human Arm

Goljat, Rok; Petrič, Tadej; Babič, Jan

Upper Limb Exoskeleton Control for Isotropic Sensitivity of Human Arm Incollection

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 | BibTeX | Tags: Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling | Links:

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

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 Incollection

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.

Abstract | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Human Performance Augmentation | Links:

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

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

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

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

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Human Performance Augmentation | Links:

2016

Augmentation of human arm motor control by isotropic force manipulability

Petrič, Tadej; Goljat, Rok; Babič, Jan

Augmentation of human arm motor control by isotropic force manipulability Inproceedings

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

Abstract | BibTeX | Tags: Force Control, Human Performance Augmentation, Neuromusculoskeletal Modelling | Links:

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

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.

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Human Performance Augmentation, Muscle Mechanics | Links:

2013

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

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.

Abstract | BibTeX | Tags: Compliance and Impedance Control, Exoskeleton Design and Control, Human Performance Augmentation | Links:

Effects of Robotic Knee Exoskeleton on Human Energy Expenditure

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.

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Human Performance Augmentation, Neuromusculoskeletal Modelling | Links: