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:

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

Petrič, Tadej; Jamšek, Marko; Babič, Jan

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

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 | BibTeX | Tags: Exoskeleton Design and Control | Links:

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

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 | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Physical Human Robot Interaction | 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:

A system to measure the human body asymmetries using accelerometers

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 | BibTeX | Tags: Exoskeleton Design and Control, Sport | Links:

2020

Gaussian Mixture Models for Control of Quasi-Passive Spinal Exoskeletons

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 | BibTeX | Tags: Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

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:

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

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 | BibTeX | Tags: Compliance and Impedance Control, Exoskeleton Design and Control, Physical Human Robot Interaction, Postural Balance | Links:

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

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 | BibTeX | Tags: Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

SPEXOR passive spinal exoskeleton decreases metabolic cost during symmetric repetitive lifting

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 | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work

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 | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Kinematics, Physical Human Robot Interaction, Postural Balance | Links:

2019

Human Trunk Stabilization with Hip Exoskeleton for Enhanced Postural Control

Jamšek, Marko; Babič, Jan

Human Trunk Stabilization with Hip Exoskeleton for Enhanced Postural Control Incollection

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

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Postural Balance | Links:

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

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

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

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

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Machine Learning | Links:

Evaluation of PAEXO, a novel passive exoskeleton for overhead work

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 | BibTeX | Tags: Ergonomy, Exoskeleton Design and Control, Physical Human Robot Interaction | Links:

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

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 | BibTeX | Tags: Exoskeleton Design and Control, Robot Design | Links:

Combining Foot Placement Prediction with Obstacle Detection to Detect Tripping

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

Combining Foot Placement Prediction with Obstacle Detection to Detect Tripping Inproceedings

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

2018

Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton

Dežman, Miha; Babič, Jan; Gams, Andrej

Qualitative Assessment of a Clutch-Actuated Ankle Exoskeleton 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. 778–786, Springer International Publishing, Cham, 2018, ISBN: 978-3-319-61276-8.

Abstract | BibTeX | Tags: Exoskeleton Design and Control, Muscle Mechanics | 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

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:

2015

Assessments on the improved modelling for pneumatic artificial muscle actuators

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

Assessments on the improved modelling for pneumatic artificial muscle actuators Inproceedings

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

Abstract | BibTeX | Tags: Exoskeleton Design and Control, 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: