Herman van der Kooij, Ph. D.

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1 Herman van der Kooij, Ph. D. Full Professor Biomechanical Engineering (MIRA,CTW) University of Twente P.O. Box AE, Enschede, The Netherlands +31 (0) TEL +31 (0) FAX February 2013 ADDRESS INFORMATION Name : Van der Kooij, Herman Adress : Wittevrouwensingel 95 D, 3514 AL Utrecht Day of birth : April 25, 1970 Place of birth : Rotterdam (The Netherlands) Gender : Male Full Professor Biomechanical Engineering (3Me) Delft University of Technology Mekelweg CD Delft, The Netherlands +31 (0) TEL +31 (0) FAX INTERESTS Human motor control, adaptation, and learning. Rehabilitation robots. Diagnostic robotics. Virtual reality. Rehabilitation medicine. Neuro computational modeling. Neural mechanics. EDUCATION Dept. of Applied Physics, University of Twente, Enschede ( ). Dept. of Mechanical Engineering, University of Twente, Enschede ( ). Major: Biomechanical Engineering. Master's thesis: Muscle force predictions during human gait. Dept. of Philosophy of Science, Technology and Society ( ). Courses: DISC DMSC (1998) Educational DUIT course (2001) Prospective Academic Leadership for associate professors ( ) Subjects: Effective communication, situational leadership, intervision and coaching, conducting difficult interviews, career and competence development, change management, giving feedback. POSITIONS HELD PhD-student Laboratory for Biomechanical Engineering,,WB, University of Twente, Enschede, Junior researcher at Dept. of biomechanical engineering, BMTI, University of Twente, Assistant Professor at Dept. of biomechanical engineering, CTW, University of Twente, Associate Professor at Dept. of biomechanical engineering (0.8 FTE), CTW, University of Twente, Associate Professor at Dept. of biomechanical engineering (0.2 FTE), 3mE, Delft University of Technology, Full professor Biomechatronics and rehabilitation technology at Dept. of biomechanical engineering (0.8 FTE), CTW, University of Twente, 2010-present. Full Professor at Dept. of biomechanical engineering (0.2 FTE), 3mE, Delft University of Technology, 2011-present. Visiting Professor at Biorobotics Laboratory, EPFL, Lausanne, Switerland. August 2011-August

2 FUNDING Past Funding Title: A contribution towards the cost of the human performance virtual PI: H. van der Kooij reality lab Number: NA Period: 2001 Effort: NA Source: VIRTUAL VALLEY Funded: ,- NLG Role: PI TWENTE PI: H. Hermens Title: EXOZORG Number: ICT doorbraak Period: Effort: 20 % Source: TS SENTER GRANT Funded: ,- NLG Role: Project Co-PI Description: The goal of the ExoZorg project is to develop knowledge about technology for ambulatory training and assessment for human motor control in the home or work environment. Additionally, there is supervision of the training via a telematic link. This new technology will allow extra-mural training and assessment of motor control during daily activities in the daily environment during the whole day in stead of a few hours per week in a rehabilitation centre or physiotherapy institute. Title: DEVELOPMENT OF A LOWER EXTREMITY POWERED EXOSKELETON (LOPES). PI: H. van der Kooij Number: Period: Effort: 50% Source: NWO-VIDI Funded: ,- NLG Role: PI Description: The goal of the LOPES project (LOwer-extremity Powered ExoSkeleton) is to design and implement a gait rehabilitation robot for treadmill training. At first the target group consists of people who have suffered a stroke and have impaired motor control. Title: ACTIVE REHABILITATION (AR) PI: G. Nijebanning (BAAT) Number: TSGE2050 Period: Effort: 20 % Source: TS SENTER GRANT Funded: ,- EURO Role: Project Co-PI Description: The Active Rehabilitation Project wishes to resolve the question if robotics can actually improve the functional recovery of upper limb function of stroke patients. And if so, how to achieve the optimal results. Title: SCOOTMOBIEL SIMULATOR (SCOMISI) PI: M.J.A. Jannink (RRD) Number: ICT/2004/04 Period: Effort: 5% Source: INNOVATIVE ACTIONS Funded: ,-EURO Role: Co-PI OVERIJSEL Description: Development and evaluation of virtual reality simulator for a scoot mobile. Ongoing Funding Title: Brain Gain PI: P. Desain (Radboud) Number: SSM06011 Period: Effort: 10 % Source: SMART-MIX Funded: NA Role: Project Co-PI Description: Radboud University in Nijmegen, together with the universities of Maastricht and Twente, the Dutch organisation for applied research, and several industrial partners and patient organizations are combining their expertise in Brain-Computer and Computer-Brain Interfacing. Their mission is to apply recent developments in the area of analysing and influencing brain activity to the improvement of quality of life and performance for both patients and healthy users. Title: VIRTUROB PI: M.J.A. Jannink (RRD) Number: NA Period: Effort: 10 % Source: PIDON Funded: ,- EURO Role: Project Co-PI Description: Combination of robotics and virtual reality to enhance the training and diagnosis of neuro motor disorders 2

3 Title: EVRYON PI: E. Guglielmelli (Unicampus) Number: Period: Effort: 5 % Source: EU STREP Funded: ,- EURO (UT) Role: Project Co-PI ,- EURO (TUD) Description: The goal of the project is to develop a novel approach for the design of wearable robots, e.g. exoskeletons, prosthesis, and other wearable mechatronic devices that can be used for a variety of applications, such as rehabilitation, personal assistance, human augmentation and more. Title: ROBOTIC GAIT TRAINER PI: B. Screever(Demcon) Number: NA Period: Effort: 5 % Source: PIDON Funded: ,- EURO Role: Project Co-PI Description: Follow up project of LOPES. Development of robotic gait trainer suited for a clinical setting and which will be evaluated within the project period by a multi centre randomized clinical trial with acute stroke survivors. Title: MIAS PI: M. Jannink (RRD) Number: NA Period: Effort: 7% Source: EUREGIO Funded: ,- EURO Role: Project Co-PI Description: Development and evaluation of hybrid robotic functional electrical therapy system for domestic use. Title: ROBOTIC ARM FOR NEURO NAVIGATION PI: M. van Burik (ANT) Number: NA Period: Effort: 5 % Source: PIDON Funded: ,- EURO Role: Project Co-PI Description: Development and evaluation of a robotic arm to position a TMS coil and track human head movements. Title: MINDWALKER PI: M. Ilzkovitz, (SpaceApps) Number: NA Period: Effort: 5 % Source: EU-STREP Funded: ~ ,- EURO (UT) Role: Project Co-PI ~ ,- EURO (TUD) Description: Development and testing of mind controlled orthosis and VR training environment for walking empowering. Title: BALROOM PI: H. van der Kooij Number: Period: Effort: 5 % Source: STW Funded: ,- EURO Role: PI Description: Development and evaluation of balance test room to diagnose balance disorders and predict falling. Title: Xpeds PI: H. van der Kooij Number: NA Period: Effort: 5 % Source: CONTRACT RESEARCH Funded: ,- EURO (UT) Role: PI ,- EURO (TUD) Description: Development and evaluation of wearable exoskeletons to support walking. Title: MIRIAM PI: S. Misra (UT) Number: NA Period: Effort: 5 % Source: PIDON Funded: EURO Role: Project Co-PI Description: Development of MRI compatible device for prostate biopsy. Title: Ambu Lopes PI: H. van der Kooij Number: NA Period: Effort: 5 % 3

4 Source: CONTRACT RESEARCH Funded: EURO Role: PI Description: Development of ambulant robotic gait trainer Title: BALANCE PI: J. Veneman (Technalia) Number: NA Period: Effort: 5 % Source: EU-STREP Funded: EURO Role: Project co-pi Description: Development of algorithms that improve stability of wearable exoskeletons and their users. AWARDS, RECOGNITION AND SERVICE PhD-degree cum laude at the University of Twente. Promotors: Prof.dr.ir. H.J. Grootenboer, Prof.dr. F.C.T. van der Helm. Title PhD-thesis: Balance control in standing and walking. Personal Grant (VIDI 2001). INTERNATIONAL RESEARCH TRAINING AND COLLABORATION Lab visit OHSU granted by the NIH, USA (2005, two months). Neurologische Klinik, Neurozentrum Freiburg, Germany (Prof. Dr. Th. Mergner). Neurological Sciences Institute, Oregon Health Sciences University, Portland, USA (Dr. R. J. Peterka). University of Maryland, College Park, Maryland, USA (Prof. J. Jeka). Physical Med & Rehab.; Biomedical Engineering, Northwestern University, Chicago, USA (Dr. J.P.A. dewald). University of British Columbia (Dr. Mark Carpenter). Institute of Automatic Control Engineering, Technical University Munich (Ing. H. Valery). Biorob, EPFL, Switserland (Prof. Auke Ijspeert) 4

5 MENTORING Graduate advisor of Phd Students: : Jan Veneman (LOPES project, University of Twente). PhD thesis: Design and evaluation of the gait rehabilitation robot lopes (6 December 2007, assistant promoter) : Edwin van Asseldonk (LOPES project, University of Twente). PhD thesis: Restitution and compensation in the recovery of function in the lower extremities of stroke survivors (20 March 2008, assistant promoter) : Arno Stienen (Active Rehabilitation, University of Twente). PhD thesis: Development of novel devices for supper extremity rehabilitation (29 January 2009, assistant promoter) present: Tjitske Boonstra (BrainGain, University of Twente) present: Alexander Otten (VirtuRob, University of Twente) present: Bram Koopman (Evryon, University of Twente) present: Ard Westerveld (MIAS, University of Twente) present: Floor Campfens (TG, University of Twente) present: Jos Meulemans (LOPES, MOOG/ University of Twente) present: Alexander Otten (Virturob, University of Twente) 2009-present: Wietse van Dijk (MindWalker, Delft University of Technology) present: Shiqian Wang (MindWalker Delft University of technology) present: Letian Wang (Mindwalker, University of Twente) 2010-present: Maeghan Innes (Miriam, Unvierstiy of Twente) 2010-present: Nese Tufekciler (LOPES, University of Twente) 2010-present; Bertine Fleerkotte (LOPES, Roessingh Research & Development) 2011-present: Denise Engelhart (Balroom, University of Twente) Master or Bachelor advisor of: BW-128 M. de Ruiter De neuro prothese een prothese met gevoel BW-138 Wouter de Schipper Verbeteren vand e arm- en handfunctie met virtual reality BW-141 Evert Westerhof Use of a shape memory alloy actuator in a powered hand rehabilitation BW-147 L. Huijboom Virtual Reality De toekomst voor de revalidatie BW-148 C. Hoksbergen The human postural control system, testing and indentifying BW-152 M. Kaandorp Three dimensional visualization and analysis of human gait BW-153 J. Edens Design of a force controlled pneumatic actuator BW-154 T. Bon Het meten van grondreactiekrachten op een 6 DOF-bewegingsplatform BW-155 G.J. de With Design of a gravity compensation system (for the gait rehabilitation robot LOPES) BW-156 Remke Burie Design and Analysis of a force controlled Series Elastic Actuation BW-159 J.A. Houtsma The use of the Haptic Master and virtual reality in the upper-limb treatment of stroke patients 5

6 BW-165 R. Kruidhof Design of a gate rehabilitation robot BW-166 B. Mulder Force Controlled pneumatic actuation for the gate rehabilitation robot LOPES BW-167 M. de Vrijer Identification of intrinsic and reflexive mechanisms in human balance control BW-174 B. Koopman B-opdracht BMT: Relation between balance contribution and weigh Distribution of healthy subjects in comparison with CVA patients. 28 april 2005 BW-177 J.T. Menger D-opdracht: Meten is Weten: Invloeden van horizontale bekken-fixatieen gewichtscompensatie in revalidatierobots op het normale gangbeeld. 24 juni 2005 BW-188 J.G. (Jorrit) Zelle D-opdracht: Improved mechanical tissue modeling for virtual surgery using a finite elements approach. 14 oktober 2005 BW-198 J.E.M. (Jolanda) Zwetsloot B-opdracht BMT: Het meten van gewrichtskoppelingen met behulp van de LOPES-robot. 31 Augustus 2006 BW-206 S.F. (Sanne Floor) Campfens B-opdracht (BMT) Mapping of EMG to an ankle torque 13 oktober 2006 BW-208 A.M. (Anke) de Ruiter B-opdracht (BMT) The effect of touch and vision on human balance control influenced by platform perturbations 13 november 2006 BW-217 M. (Martijn) Wessels Masteropdracht WB The influence of guiding force fields on visuomotor learning. 26 april 2007 BW-218 B.H.W. (Bart) Koning Masteropdracht WB A Time Domain Approach to the Separation of Intrinsic And Reflexive Properties in Human Balance Control 11 oktober 2007 BW-221 S. (Stijn) van Swaaij D-opdracht WB Het ontwerpen van de technische aspecten van de revalidatierobot, de Impace. 19 juli 2007 BW-225 T.H. (Thijs) Rupert Master WB Multi-joint coordination training for the upper-extremities in a gaming environment. 27 juli 2007 BW-226 L. (Lukke) Joustra B-opdracht IO Het integreren van esthetische en ergonomische aspecten in de revalidatierobot, de Impace. 9 juli 2007 BW-236 M.C. (Marleen) Ruijter B-opdracht BMT Influence of the content of visual feedback on visuomotor learning. 6 augustus

7 BW-240 J.H. (Jantsje) Pasma Bachelor BMT Detecting nonlinearities in human balance control 21 november 2007 BW-247 F.H. (Frank) Jacocbs Master WB: Serie elastische actuatie via bowdenkabels voor een arm exoskelet: Modelvorming en regelaar. 17 april 2008 BW-248 S. (Sjors) Coenders Master BMT Influence of Reaching Velocity on Visuomotor Learning. 18 april 2008 BW-251 E. (Ewoud) Roest Bachelor BMT Effects of force tasks during passive visuomotor learning 15 april 2008 BW-253 R.J.G. (Rijk) de Jong Master BMT Possibilities of a muscle transfer to replace impaired hip abductors. 6 juni 2008 BW-254 L. (Laurens) Bervoets Master BMT Selective support of gait subtasks during robotic gait training a feasibility study using Virtual Model Control 8 augustus 2008 BW-255 B. (Bram) Koopman Master BMT Selective support of gait subtasks during robotic gait training a feasibility study using Virtual Model Control 25 juli 2008 BW-258 R.M. (Remco) Benthem de Grave Master BMT Feasibility of tower extremity propioception assessment with the lokomat, a driven gait orthosis. 12 november 2008 BW-261 B. (Bianca) Maan Bachelor BMT Adaptation of reflexive feedback in human balance control to different frequencies. 8 januari 2009 BW-263 A.J. (Ard) Westerveld Master BMT (vertrouwelijk) Measurement of calf muscle length change during perturbed stance. 11 maart 2009 BW-269 S.F. (Floor) Campfens Master BMT Proprioceptive feedback of the left and right ankle in balance control. 3 juni 2009 BW-274 R. (Rebekka) Verheij Master BMT Influence of visual information on the rapid motor response during posture control. 30 oktober 2009 BW-291 W. (Wietse/Willem) van Dijk Master ME en IDE (vertrouwelijk) Design of a passive exoskeleton. 5 januari 2010 BW-294 H.J. (Hermen) Kobus Bachelor BMT 7

8 Adaptation of reflexive feedback in human stance. 26 januari 2010 BW-295 F. (Frauke) Luft Bachelor BMT Evaluation of paradoxical muscle movement as a mechanism for human balance control. 23 februari 2010 BW-298 A.M. (Anke) de Ruiter Master BME Sustained firing of motor units evoked with the tonic vibration reflex, measured with high density surface EMG. 23 april 2010 BW-309 H.J. (Hilbert-Jan) Rosier Master ME Design of a control strategy for the LOPES gait training robot for treatment of severely affected neurological patients. 24 juni 2010 TEACHING Lectures on the Twente Summer School (2000). Supervision of master students and bachelor students in final thesis research (2000-present). Lecturer on and coordinator of Human motion control biomechanical engineering/ biomedical technology master course (2000-present). Lecturer on Biomechatronics biomechanical engineering/ biomedical technology master course (2002- present). Lecturer on Biomechanics biomechanical engineering master course ( ). Lecturer on and coordinator of Identification of human motor control Technical Medicine master course (2007- present). Lectures on Human locomotor system Technical Medicine bachelor course ( ). Lectures on BEAM D, a Matlab programming course for first year Bachelor students Mechanical Engineering (2009- present). Organization and lectures on the NeuroSipe Summer School (20-24 September 2010). REVIEWER Biological Cybernetics Experimental Brain research Human Movement Science Neural Networks Journal of Physiology Neuroscience Letters Journal of Neurophysiology Physical letters A Journal of Biomechanics Annals of biomedical engineering Muscle and Nerve IEEE Transactions on Neural Systems & Rehabilitation Engineering Reviewer for research councils/ foundations (NWO, IWT-Vlaanderen, Swiss National Science IEEE Transactions on Mechatronics Foundation, FWO, STW) COMMITTEES AND PROFESIONAL DEVELOPMENTS ACTIVITIES Initiator and manager of the human performance virtual reality lab (opened in the autumn of 2002). Scientific mentor of the TOP company KISS ( ). Chair Balance control, ESB 2004, Den Bosch Netherlands. Member of Scientific Review Committee ICORR, June 28 th -July1th, 2005, Chicago, USA. Founder on the neurorehabilitation technology transfer platform Imove support (2006). Chair Neurophysiology, Dutch Biomedical Conference, 18 & 19 januari 2007, Egmond aan Zee. Chair Therapy Robotics, ICORR, June 13-15, 2007, Noordwijk, The Netherlands. Member of Scientific Program Committee, ICORR, July 14 th -18 th, 2007, Noordwijk, The Netherlands. Member of Scientific Committee ISPGR, 2007, Vermont, USA. Member of International Program Committee IASTED Assistive Technologies, April 16 th -18 th 2008, Baltimore, USA. Member of Program committee of the BioRob, October 19-22, 2008 Scottsdale, Arizona, USA. 8

9 Member of the IEEE-EMBS-Technical Committee for Biorobotics. Member of the scientific committee IEEE 11th International Conference on Rehabilitation Robotics, Kyoto, Japan, Member of the International Program Committee for Telehealth and Assistive Technology (TAT 2009). Member of the program committee of the STW funded Perspective Program NeuroSipe (Diagnostic tools for neurological disorders). Associate editor IEEE TBME (from 2010) Member of the scientific committee IEEE 12th International Conference on Rehabilitation Robotics, Zurich, Switzerland, Associate editor for IEEE EMBC conference, Boston, USA, Quest editor of special issue of Paladyn. Journal of Behavioral Robotics (2011) PATENT European patent for "friction control for orthesis", pending. European patent for "joint for orthesis", pending. TECHNOLOGY TRANSFER Freeball technology sold to Hocoma. Lopes technology sold to MOOG. Contract research for large international companies. PUBLICATIONS Peer-reviewed journal articles Van der Kooij H., R. Jacobs, B. Koopman, and H. Grootenboer, "A multisensory integration model of human stance control," Biol Cybern, vol. 80, pp , Van der Kooij, H., R. Jacobs, B. Koopman, and F. van der Helm, "An adaptive model of sensory integration in a dynamic environment applied to human stance control," Biol Cybern, vol. 84, pp , Van der Kooij H., R. Jacobs, B. Koopman, and F. van der Helm, "An alternative approach to synthesizing bipedal walking," Biol Cybern, vol. 88, pp , Veltink, P., H. Van der Kooij, and F. Van der Helm, "Discussion on: "Robust Discrete-Time H infinity Control for Unsupported Paraplegic Standing: Experimental Results"," European Journal of Control, vol. 10, pp , Van der Kooij, H.,,Asseldonk, E.H.F. van, & Helm, F.C.T. van der (2005). Comparison of different methods to identify and quantify balance control. Journal of neuroscience methods, 145(1-2), Veltink, P.H.,Liedtke, C.B.,Droog, A., & Kooij, H. van der (2005). Ambulatory measurement of ground reaction forces. IEEE transactions on neural systems and rehabilitation engineering, 13, Carver, S. Kooij, H. van der, & Jeka, J.J. (2005). Comparing internal models of the dynamics of the visual environment. Biological cybernetics, 92(3), Van der Kooij H, van der Helm FC. Observations from unperturbed closed loop systems cannot indicate causality.j Physiol Dec 1;569. Van Asseldonk, E.H.F., Buurke, J.H., Bloem, B.R., Renzenbrink, G.J., Nene, A.V., Helm, F.C.T. van der, & Kooij, H. van der (2006). Disentangling the contricution of the paretic and non-paretic ankle to balance control in stroke patients. Experimental neurology, 201(2), Veneman, J.F., Ekkelenkamp, R., Kruidhof, R., Helm, F.C.T. van der, & Kooij, H. van der (2006). A series elastic- and Bowden-cable-based actuation system for use as torque actuator in exoskeleton-type robots. International journal of robotics research, 25(3), Liedtke C, Fokkenrood SA, Menger JT, van der Kooij H, and Veltink PH. Evaluation of instrumented shoes for ambulatory assessment of ground reaction forces. Gait Posture 26: 39-47, Prange GB, Kallenberg LA, Jannink MJ, Stienen AH, van der Kooij H, Ijzerman MJ, and Hermens HJ. Influence of gravity compensation on muscle activity during reach and retrieval in healthy elderly. J Electromyogr Kinesiol, 2007 van Asseldonk EH, Carpenter MG, van der Helm FC, and van der Kooij H. Use of induced acceleration to quantify the (de)stabilization effect of external and internal forces on postural responses. IEEE Trans Biomed Eng 54: , van der Kooij H, van Asseldonk EH, Geelen J, van Vugt JP, and Bloem BR. Detecting asymmetries in balance control with system identification: first experimental results from Parkinson patients. J Neural Transm 114: ,

10 Veneman JF, Kruidhof R, Hekman EE, Ekkelenkamp R, Van Asseldonk EH, and van der Kooij H. Design and evaluation of the LOPES exoskeleton robot for interactive gait rehabilitation. IEEE Trans Neural Syst Rehabil Eng 15: , van der Kooij H and de Vlugt E. Postural responses evoked by platform pertubations are dominated by continuous feedback. J Neurophysiol 98: , Veneman JF, Menger J, van Asseldonk EH, van der Helm FC, and van der Kooij H. Fixating the pelvis in the horizontal plane affects gait characteristics. Gait Posture 28(1): , van Asseldonk EHF, Veneman JF, Ekkelenkamp R, Buurke JH, Van der Helm FCT, and Van der Kooij H. the effects on kinematics and muscle activity of walking in a robotic gait trainer during zero force control. IEEE Trans Neural Syst 16(4): ,2008. Visser JE, Carpenter MG, Van der Kooij H, and Bloem BR. The clinical utility of posturography. Clinical Neurophysiology 119(11): , T.A. Boonstra1,2, H. van der Kooij2,3, M. Munneke1 and B.R. Bloem1, Gait disorders and balance disturbances in Parkinson s disease: Clinical update and pathophysiology, Current Opinion Neurology 21(4): ,2008. Vallery H, Veneman JF, van Asseldonk EHF, Ekkelenkamp R, and Van der Kooij H. Compliant Actuation of Rehabilitation Robots: Advantages and Limitations. Robotic Automation Magazine 15(3): 60-69, M. J. Jannink, C. V. Erren-Wolters, A. C. de Kort, and H. van der Kooij, "An electric scooter simulation program for training the driving skills of stroke patients with mobility problems: a pilot study," Cyberpsychol Behav, vol. 11, pp , Dec E. H. van Asseldonk, J. F. Veneman, R. Ekkelenkamp, J. H. Buurke, F. C. van der Helm, and H. van der Kooij, "The Effects on Kinematics and Muscle Activity of Walking in a Robotic Gait Trainer During Zero-Force Control," IEEE Trans Neural Syst Rehabil Eng, vol. 16, pp , Aug Jannink, M.J.A., Aznar, M., Kort, A.C. de, Vis, W. van de, Veltink, P.H. & Kooij, H. van der (2009). Assessment of visuospatial neglect in stroke patients using virtual reality: a pilot study. International journal of rehabilitation research, 32(4), G. B. Prange, M. J. A. Jannink, A. H. A. Stienen, H. van Der Kooij, M. J. Ijzerman, and H. J. Hermens, "Influence of gravity compensation on muscle activation patterns during different temporal phases of arm movements of stroke patients," Neurorehabilitation and Neural Repair vol. 23, pp Prange, G.B., Kallenberg, L.A.C., Jannink, M.J.A., Stienen, A.H.A., Kooij, H. van der, IJzerman, M.J. & Hermens, H.J. (2009). Influence of gravity compensation on muscle activity during reach and retrieval in healthy elderly. Journal of electromyography and kinesiology, 19(2), e40-e49. A. H. A. Stienen, E. E. G. Hekman, F. C. T. van der Helm, and H. van der Kooij, "Self-aligning exoskeleton axes through decoupling of joint rotations and translations " IEEE Transactions on Robotics vol. 25, pp , H. Vallery, E. H. F. Van Asseldonk, M. Buss, and H. Van Der Kooij, "Reference trajectory generation for rehabilitation robots: Complementary limb motion estimation," IEEE Transactions on Neural Systems and Rehabilitation Engineering vol. 17, pp , M. Jannink, G. Prange, J. Buurke, A. Stienen, E. Van Asseldonk & H. van der Kooij (2008), "State of the art. CVArevalidatie van beperkte arm- en handfunctie: Virtual Reality en Robotica?", Ned Tijdschr Fysiother. Vol. 118(4), pp van asseldonk EHF, Wessels M, Stienen AHA, van der Helm FCT, and Van der Kooij H. influence of guiding force fields on visuomotor learning. submitted, Journal of Physiology (Paris). In press. A. Stienen, E. Hekman, G. Prange, M. Jannink, A. Aalsma, F. van der Helm & H. van der Kooij (2009), "Dampace: design of an exoskeleton for force-coordination training in upper-extremity rehabilitation.", ASME J Med Dev. In press. Stienen, A.H.A., Hekman, E.E.G., Schouten, A.C., Helm, F.C.T. van der & Kooij, H. van der (2009). Suitability of hydraulic disk brakes for passive actuation of upper-extremity rehabilitation exoskeleton. Applied bionics and biomechanics, 6(2), Simons, C.D.M., Asseldonk, E.H.F. van, Kooij, H. van der, Geurts, A.C.H. & Buurke, J.H. (2009). Ankle-foot orthoses in stroke: Effects on functional balance, weight-bearing asymmetry and the contribution of each lower limb to balance control. Clinical biomechanics, 24(9), A. Stienen, E. Hekman, G. Prange, M. Jannink, F. van der Helm & H. van der Kooij (2009), "Freebal: design of a minimal weight-support system for upper-extremity rehabilitation.", ASME J Med Dev 3(4) A. Stienen, E. Hekman, H. Ter Braak, A. Aalsma, F. van der Helm & H. van der Kooij (2010), "Design of a Rotational Hydro-Elastic Actuator for an Active Upper-Extremity Rehabilitation Exoskeleton.", IEEE T Bio-Med Eng. 57(3):

11 Prange, G.B., Jannink, M.J.A., Stienen, A.H.A., Van Der Kooij, H., Ijzerman, M.J., Hermens, H.J. (2010) An explorative, cross-sectional study into abnormal muscular coupling during reach in chronic stroke patients Journal of NeuroEngineering and Rehabilitation 7 (1), art. no. 14 De Rossi, S. M., N. Vitiello, et al. (2011). "Sensing pressure distribution on a lower-limb exoskeleton physical humanmachine interface." Sensors (Basel) 11(1): Molier, B. I., G. B. Prange, et al. (2011). "Effect of position feedback during task-oriented upper-limb training after stroke: five-case pilot study." Journal of Rehabilitation Research and Development 48(9): Ronsse, R., T. Lenzi, et al. (2011). "Oscillator-based assistance of cyclical movements: model-based and model-free approaches." Medical & Biological Engineering & Computing 49(10): Schouten, A. C., T. A. Boonstra, et al. (2011). "A bilateral ankle manipulator to investigate human balance control." IEEE Trans Neural Syst Rehabil Eng 19(6): van der Kooij, H., A. D. Campbell, et al. (2011). "Sampling duration effects on centre of pressure descriptive measures." Gait & Posture 34(1): van der Kooij, H. and R. J. Peterka (2011). "Non-linear stimulus-response behavior of the human stance control system is predicted by optimization of a system with sensory and motor noise." Journal of Computational Neuroscience 30(3): Fluit, R., M. M. van der Krogt, et al. (2012). "A simple controller for the prediction of three-dimensional gait." Journal of Biomechanics 45(15): Nederhand, M. J., E. H. Van Asseldonk, et al. (2012). "Dynamic Balance Control (DBC) in lower leg amputee subjects; contribution of the regulatory activity of the prosthesis side." Clin Biomech (Bristol, Avon) 27(1): Pasma, J. H., T. A. Boonstra, et al. (2012). "Sensory reweighting of proprioceptive information of the left and right leg during human balance control." Journal of Neurophysiology 108(4): Westerveld, A. J., A. C. Schouten, et al. (2012). "Selectivity and resolution of surface electrical stimulation for grasp and release." IEEE Trans Neural Syst Rehabil Eng 20(1): Boonstra, T. A., A. C. Schouten, et al. (2013). "Identification of the contribution of the ankle and hip joints to multisegmental balance control." Journal of Neuroengineering and Rehabilitation 10(1): 23. Koopman, B., E. H. van Asseldonk, et al. (2013). "Selective control of gait subtasks in robotic gait training: foot clearance support in stroke survivors with a powered exoskeleton." Journal of Neuroengineering and Rehabilitation 10: 3. Peer-reviewed conference proceedings H. Van der Kooij, H. F. J. M. Koopman, R. Jacobs, T. Mergner, and H. J. Grootenboer, "Quantification of sensory information in human balance control," presented at The 2th annual IEEE-EMBS conference, Hong Kong, H. F. J. M. Koopman, Kooij, H. van der & Grootenboer, H.J., "Mechanics of walking - predictive and control models," presented at The International Biomechatronics Workshop, Enschede, The Netherlands, H. Van der Kooij, H. F. J. M. Koopman, R. Jacobs, T. Mergner, and H. J. Grootenboer, "Interpretation of multivariate sway descriptors," presented at International Biomechatronics Workshop, Enschede, the Netherlands, J. Veneman, F. Van der Helm, and H. Van der Kooij, "The use of pneumatic force actuation in robotic rehabilitation," presented at The Eighth International Conference on Rehabilitation Robotics (ICORR), Deajon South Korea, E. Van Asseldonk, F. Van der Helm, and H. Van der Kooij, "A new method to quantify balance control mechanisms in stroke patient," presented at Neurologie & Rehabilitation, supplement, H. Van der Kooij, S. F. Donker, M. De Vrijer, and F. Van der Helm, "Identification of human balance control in standing," presented at IEEE Systems, Machine & Cybernetics, Den Haque, The Netherlands, Veneman, J.F.,Ekkelenkamp, R.,Kruidhof, R.,Helm, F.C.T. van der, & Kooij, H. van der (2005). Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-actuator in exoskeleton-type training. In Proceedings of the 2005 IEEE, 9th Int. Conference on Rehabilitation Robotics (pp ). Chicago: Omnipress. Ekkelenkamp, R.,Veneman, J.F., & Kooij, H. van der (2005). LOPES: Selective control of gait functions during the gait rehabilitation of CVA patients. In Proceedings of the 2005 IEEE (pp ). Chicago: Omnipress Asseldonk, E.H.F. van, Buurke, J.H., Bloem, B.R., Renzenbrink, G.J., Nene, A.V., Helm, F.C.T. van der, & Kooij, H. van der (2006). Contribution of the paretic and non-paretic leg to balance maintenance in stroke patient. Neurorehabilitation and neural repair, (ISSN ), 20,

12 Asseldonk, E.H.F. van, Buurke, J.H., Renzenbrink, G.J., Helm, F.C.T. van der, & Kooij, H. van der (2006). Assessing the regulatory activity of the paretic leg in balance control. Gait and posture, (ISSN ), 24(4,Suppl.), S74- S75. Asseldonk, E.H.F. van, Buurke, J.H., Bloem, B.R., Helm, F.C.T. van der, & Kooij, H. van der (2006). Difference between static and dynamic measures of the efficacy of the paratic leg in balance maintenance. Neurorehabilitation and neural repair, (ISSN ), 20, Asseldonk, E.H.F. van, Ekkelenkamp, R., Veneman, J.F., Helm, F.C.T. van der, & Kooij, H. van der (2006). A Gait Rehabilitation Robot for the Training of Subtasks in Walking. Neurorehabilitation and neural repair, (ISSN ), 20(3), Kooij, H. van der, Veneman, J.F., & Ekkelenkamp, R. (2006). Design of compliantly actuated exo-skeleton for an impedance controlled gait trainer robot (CD-rom). In Proceedings of the 28th IEEE EBMC Annual International Conference. New York, USA: IEEE Service Center (ISBN ). Nederhand, M.J., Asseldonk, E.H.F. van, & Kooij, H. van der (2006). Dynamic balance control in transfemoral amputees: Individual contribution of the prosthesis side. Gait and posture, (ISSN ), 24(4 Suppl), S124- S125. van der Kooij, H, Veneman, J, Ekkelenkamp R, Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot. In Proceedings of the 28th Annual International Conference of the IEEE Engineerng in Medicine and Biology, August 30-September 3, 2006, New York City, USA. Ekkelenkamp R, Veltink PH, Stramigioli S, and van der Kooij H. Evaluation of a VMC for the selective support of gait functions using an exoskeleton. 10th International Conference on Rehabilitation Robotics(ICORR), 2007, edited by driessen B, Herder JL and Gelderblom GJ, Noordwijk, The Netherlands. IEEE Catalog Number: 07EX1830C, Heike V, Ekkelenkamp R, Buss M, and van der Kooij H. Complementary Limb Motion Estimation based on Interjoint Coordination: Experimental Evaluation. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, edited by driessen B, Herder JL and Gelderblom GJ, Noordwijk, The Netherlands, Jannink MJA, Prange GB, Stienen AHA, van der Kooij H, Kruitbosch JM, IJzerman MJ, and Hermens HJ. Reduction of muscle activity during repeated reach and retrieval with gravity compensation in stroke patients. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, June 12-15, edited by driessen B, Herder JL and Gelderblom GJ, Noordwijk, The Neterlands, Prange GB, Stienen AHA, Jannink MJA, van der Kooij H, IJzerman MJ, and Hermens HJ. Increased range of motion and decreased muscle activity during maximal reach with gravity compensation in stroke patients. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, edited by Driessen B, Herder JL and Gelderblom GJ, Noordwijk, Stienen AHA, Hekman EG, van der Helm F, Prange GB, Jannink MJA, Aalsma AMM, and van der kooij H. Freebal: dedicated gravity compensation for the upper extremities. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, edited by Driessen B, Herder JL and Gelderblom GJ, Noordwijk, The Netherlands, Stienen AHA, Hekman EG, van der Helm F, Prange GB, Jannink MJA, and van der kooij H. Dampace: dynamic forcecoordination trainer for the upper extremities. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, edited by driessen B, Herder JL and Gelderblom GJ, Noordwijk, The Netherlands, Vallery H, Ekkelenkamp R, Buss M, and Van der Kooij H. Complementary Limb Motion Estimation based on Interjoint Coordination: Experimental Evaluation. International Conference on Rehabilitation Robotics, Noordwijk, The Netherlands, 2007, p Vallery H, Ekkelenkamp R, van der Kooij H, and Buss M. Passive and Accurate Torque Control of Series Elastic Actuators. IEEE International Conference on Intelligent Robots and Systems, San Diego, USA, 2007, p Van Asseldonk EHF, Ekkelenkamp R, Veneman JF, Van der Helm FCT, and Van der Kooij H. Selective control of a subtask of walking in a robotic gait trainer(lopes). ICORR'07, 10th International Congres on Rehabilitation Robotics, edited by driessen B, Herder JL and Gelderblom GJ, Noordwijk aan Zee, the Netherlands, van der Kooij H, Nederhand M, and van Asseldonk EHF. Detecting asymmetries in balance control with system identification:first experimental results from above knee amputees. Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, edited by driessen B, Herder JL and Gelderblom GJ, Noordwijk, The Netherlands, Veneman JF, Van Asseldonk EHF, Ekkelenkamp R, van der Helm FCT, and van der Kooij H. Evaluation of the effect on walking of balance-related degrees of freedom in a robotic gait training device. 10th International Conference on Rehabilitation Robotics (ICORR), 2007., edited by driessen B, Herder JL and Gelderblom GJ, Noordwijk, the Netherlands,

13 H. van der Kooij, B. Koopman, and E. H. van Asseldonk, "Body weight support by virtual model control of an impedance controlled exoskeleton (LOPES) for gait training," Conf Proc IEEE Eng Med Biol Soc, vol. 2008, pp , G. Prange, T. Krabben, B. Molier, H. Van Der Kooij, and M. Jannink, "A low-tech virtual reality application for training of upper extremity motor function in neurorehabilitation " in 2008 Virtual Rehabilitation, IWVR, Vancouver, 2008, pp A. H. A. Stienen, E. E. G. Hekman, H. Ter Braak, A. M. M. Aalsma, F. C. T. Van Der Helm, and H. Van Der Kooij, "Design of a rotational hydro-elastic actuator for an active upper-extremity rehabilitation exoskeleton," in Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008, pp. pp E. H. F. Van Asseldonk, B. Koopman, J. H. Buurke, C. D. Simons, and H. Van der Kooij, "Selective and adaptive robotic support of foot clearance for training stroke survivors with stiff knee gait," in 2009 IEEE 11th International Conference on Rehabilitation Robotics, Kyoto International Conference Center, Japan, Kooij, H. van der, Prange, G.B., Krabben, T., Renzenbrink, G.J., Boer, J. de, Hermens, H.J. & Jannink, M.J.A. (2009). Preliminary results of training with gravity compensation of the arm in chronic stroke survivors. In Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2009, EMBC 2009 Vol. 1. IEEE engineering in medicine and biology magazine (pp ) Van Asseldonk, E.H.F., Koopman, B., Simons, C., Buurke, J., Van Der Kooij, H., Feasibility of selective robotic support of foot clearance with continuously adapting impedance levels IFMBE Proceedings 25 IFMBE (9), pp ,2009. Stienen, A.H.A., Hekman, E.E.G., Van Der Kooij, H., Ellis, M.D., Dewald, J.P.A., Aspects of weight-support mechanisms in rehabilitation robotics, IFMBE Proceedings 25 IFMBE (9), pp ,2009. Lagoda, C., Schouten, A.C., Stienen, A.H.A., Hekman, E.E.G., Van Der Kooij, H Design of an electric series elastic actuated joint for robotic gait rehabilitation training rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010, art. no , pp Koopman, B., Van Asseldonk, E.H.F., Van Der Kooij, H In vivo measurement of human knee and hip dynamics using MIMO system identification Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, art. no , pp De Rossi, S.M.M., Vitiello, N., Lenzi, T., Ronsse, R., Koopman, B., Persichetti, A., Giovacchini, F., (...), Carrozza, M.C Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb.annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10, art. no , pp Koopman, B., E. H. van Asseldonk, et al. (2011). "Rendering potential wearable robot designs with the LOPES gait trainer." IEEE Int Conf Rehabil Robot 2011: Meuleman, J., W. Terpstra, et al. (2011). "Effect of added inertia on the pelvis on gait." IEEE Int Conf Rehabil Robot 2011: Molier, B. I., G. B. Prange, et al. (2011). "Effect of position feedback during task-oriented upper-limb training after stroke: five-case pilot study." Journal of Rehabilitation Research and Development 48(9): Prange, G. B., T. Krabben, et al. (2011). "An explorative study into changes in circle drawing after gravity compensation training in chronic stroke patients." IEEE Int Conf Rehabil Robot 2011: Ronsse, R., B. Koopman, et al. (2011). "Oscillator-based walking assistance: a model-free approach." IEEE Int Conf Rehabil Robot 2011: Tufekciler, N., E. H. van Asseldonk, et al. (2011). "Velocity-dependent reference trajectory generation for the LOPES gait training robot." IEEE Int Conf Rehabil Robot 2011: van Asseldonk, E. H., B. Koopman, et al. (2011). "Locomotor adaptation and retention to gradual and sudden dynamic perturbations." IEEE Int Conf Rehabil Robot 2011: van Dijk, W., H. van der Kooij, et al. (2011). "A passive exoskeleton with artificial tendons: design and experimental evaluation." IEEE Int Conf Rehabil Robot 2011: Wang, L., E. H. van Asseldonk, et al. (2011). "Model Predictive Control-based gait pattern generation for wearable exoskeletons." IEEE Int Conf Rehabil Robot 2011: Wang, S., W. van Dijk, et al. (2011). "Spring uses in exoskeleton actuation design." IEEE Int Conf Rehabil Robot 2011: Westerveld, A. J., A. Kuck, et al. (2012). "Grasp and release with surface functional electrical stimulation using a Model Predictive Control approach." Conf Proc IEEE Eng Med Biol Soc 2012:

14 Other proceedings (first author only) H. Van der Kooij, R. Jacobs, H. F. J. M. Koopman, and H. J. Grootenboer, "Stability in human stance," presented at IBME-researchschooldays, Papendal, Arnhem., H. Van der Kooij, R. Jacobs, H. F. J. M. Koopman, and H. J. Grootenboer, "A multisensory integration model to study manipulation of sensory systems," presented at Dutch Annual conference on BioMedical Engineering, Papendal, The Netherlands, H. Van der Kooij and R. Jacobs, "A model to quantify multi-sensory integration in (un)perturbed standing," presented at Neural control of movement., Cancun, Mexico, H. Van der Kooij and R. Jacobs, "Quantifying multisensory integration in (un)-perturbed standing," presented at 13th International Symposium Multisensory Control of Posture and Gait, Paris, France, H. Van der Kooij and R. Jacobs, "The effect of vestibular loss during platform perturbations: a simulation study," presented at Proceedings Sensory and biomechanical contributions to posture and gait, Cozumel, Mexico, H. Van der Kooij, R. Jacobs, K. H.F.J.M., and H. J. Grootenboer, "Identification of sensory information in human balance control," presented at sattelite symposium to the XXth meeting of Barany-Society, Freiburg, Germany, H. Van der Kooij, H. F. J. M. Koopman, and H. J. Grootenboer, "A model for simulation of human walking," presented at Dutch annual conference on Biomedical Engineering., Papenda, The Netherlands, H. Van der Kooij, H. F. J. M. Koopman, R. Jacobs, T. Mergner, and H. J. Grootenboer, "Interpretation of multivariate sway descriptors," presented at International Biomechatronics Workshop, Enschede, the Netherlands, H. Van der Kooij, R. Jacobs, H. F. J. M. Koopman, T. Mergner, and A. Forner Cordero, "Specific changes on multivariate descriptors of human postural sway for different experimental conditions," presented at XVIIth Congress of the International Society of Biomechanics., Calgary (Alberta) Canada, H. Van der Kooij, R. Jacobs, and H. F. J. M. Koopman, "An adaptive estimator model explaining perceptual tresholds," presented at XVIIth Congress of the International Society of Biomechanics, Calgary (Alberta) Canada, H. Van der Kooij, H. F. J. M. Koopman, and H. J. Grootenboer, "Simulation of bipedal walking: a simple and fast control algorithm," presented at Dutch Annual Conference on Biomedical Engineering, Papendal, The Netherlands, H. Van der Kooij, "Adaptive models for balance control during standing.," presented at World Biomechanics Symposium 2000., Amsterdam, H. Van der Kooij, H. F. J. M. Koopman, and F. C. T. v. d. Helm, "A robust and flexible control scheme to synthesise bipedal walking," presented at XVIIIth congressof the International Society of Biomechanics, Zürich, Swiss, H. Van der Kooij and S. F. Donker, "Adaptive model of balance explains observed non linear characteristics of human balance control," presented at HUMAN POSTURE CONTROL: Physiology, Disorders, Modeling and Balance Rehabilitation, Smolensk Castle, Slovakia, H. Van der Kooij and S. F. Donker, "Use of adaptive model of balance control in the identification of postural dynamics," presented at International Society of Biomechanics XIXth Congress, Dunedin, New Zealand, Kooij, H. van der, & Asseldonk, E.H.F. van (2005). Non-parametric identified balance control mechanisms can be described by simple parametric models. In N. Gantchev (Ed.), From Basic motor control to functional recovery (pp. 9-17). Sofia: Academic Publishing House. H. van der Kooij, R.J. Peterka, Enhancing our sense of body orientation from body sway velocity explains the slow fluctuations in postural sway., in abstract of the 4th international posture symposium, June 25-28, 2006, Smolensk Castle, Slovak Republic, pp 57 (ISBN ). Kooij, H. van der, & Peterka, R.J. (2006). Enhancing our sense of body orientation from body sway velocity explains the slow fluctuations in postural sway. In Frantisek Hlavacka & Nad'a Adamcov (Eds.), Abstracts of the 4th International Posture Symposium (pp ). Bratislava: Institute of Normal and Pathological Physiology (ISBN ). van der Kooij, H. and E. de Vlugt (2007). POSTURAL RESPONSES EVOKED BY PLATFORM PERTUBATIONS ARE CONCISTENT WITH CONTINUOUS BUT NOT WITH DISCONTINUOUS FEEDBACK. Prog Mot Cont VI, Santos, Brazil. van der Kooij, H. and E. de Vlugt (2007). Postural responses evoked by platform perturbations are dominated by continuous feedback. XXI Congress, Taipei, Taiwan. Book chapters 14

15 H. van der Kooij, J. Veneman, R.Ekkelenkamp Compliant actuation of exoskeletons Chapter 7 : Mobile Robots, toward new applications, edited by Aleksandar Lazinica, copyright Advanced robotic systems international, December 2006 (isbn 10: ) PiV pro literature verlag Rober Mayer-Scholz, Mammendorf, Germany. PhD thesis:van der Kooij H (2000). Balance control in standing and walking, University of Twente, The Netherlands. Invited talks: Non-parametric identified balance control mechanisms can be described by simple parametric models Motor control conference, September 2005, Sofia, Bulgaria. computer modeling, The international congress on gait & mental function, February 3-5, 2006, Madrid, Spain. Design of a compliantly actuated exo-skeleton for an impedance controlled gait trainer robot. The 28th Annual International Conference of the IEEE Engineerng in Medicine and Biology, August 30-September 3, 2006, New York City, USA. Future rehabilitation technologies, Technology in Stroke Rehabilitation,Train Brain10 November 2006,Aalborg University, Denmark. Workshop on Motor Learning in Stroke Recovery, March 2007, Rome, Italy. Back to the future symposium OIM orthopedie, 30 March 2007 Zeewolde, The Netherlands. Robot-Augmented Movement Re-Learning? Neuro Robotics Symposium, July , Freiburg, Germany. The effect of assist as needed in robotic gait therapy: a pilot study, International Neurorehabilitation Symposium 2009, February 12 14, 2009, University of Zurich, Campus Irchel, Switzerland. Adaptation in postural control and reaching of the arm. Sensorimotor computation seminars. February 17, 2009, UBC, Vancouver, Canada, Tuesday. The history and future of therapy robots, 17 November 2009, King Abdul Aziz City for Science and Technology, Riaad, Saudi Arabia. De ontwikkeling en toekomst van de LOPES: een revalidatierobot voor looptraining, Mechatronics valley twente congres, 15 April 2009, Enschede, the Netherlands. Therapeutic devices for the lower and upper extremities, 3 May 2010,Scuola Superiore Sant Anna, Pisa, Italy. Development of therapeutic and assistive devices for humans with movement disorders - a bio-mechatronical approach -9 June 2010, EPFL, Lausanne, Switserland. Speaker at the, session: Robotics interaction with humans - Embodied Intelligence for better robots, The European Future Technologies Conference, 6 May 2011 Budapest. Lower extremity powered (wearable) assistive and therapeutic exoskeletons Symposium Europe-Japan Technology Exchange toward Contribution of IRT to Medical Care and Welfare - From Physical Assistance to Cognitive Assistance 7 maart 2011, Leuven, Belgium LOPES: powered exoskeleton for gait training & assessment" International workshop on rehabilitation robotics at ROBOTICA 2011 Fair, 17 November 2011, Rome, Italy. Human Balance control: prediction of sensory reweighing and feedback gains in human postural control, Dynamic walking, May , Pensacola Beach, United States of America. The dependence of human balance control on stimulus amplitude. Joint World congress of ISPGR and Gait & Mental function, June 24-28, 2012, Trondheim, Norway. Comparison of different methods to support Human Walking. ICRA 14 MAY 2012, St Paul, USA. Sensorimotor control principles in rehabrobotics Translational Engineering in Neurorehabilitation (TEN 2012) June , Göttingen, Germany 15

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