Publications
Hopkins, S., Bowersock, C., Rouse, E.J., Lerner, Z.F. (2024). A Quasi-Passive Robotic Ankle Foot Orthosis With Speed-Adaptive Stiffness. IEEE Robotics and Automation Letters. http://dx.doi.org/10.1109/LRA.2024.3349829
Bons, Z., Thomas, G.C., Mooney, L., Rouse, E.J. (2023). An Energy-Dense Two-Part Torsion Spring Architecture and Design Tool. IEEE/ASME Transactions on Mechatronics. http://dx.doi.org/10.1109/TMECH.2023.3334957
Ingraham, K.A., Tucker, M., Ames, A.D., Rouse, E.J., Shepherd, M.K. (2023). Leveraging user preference in the design and evaluation of lower-limb exoskeletons and prostheses. Current Opinion in Biomedical Engineering. http://dx.doi.org/10.1016/j.cobme.2023.100487
Lee, U.H., Shetty, V.S., Franks, P.W., Tan, J., Evangelopoulos, G., Ha, S., Rouse, E.J. (2023). User preference optimization for control of ankle exoskeletons using sample efficient active learning. Science Robotics. http://doi.org/10.1126/scirobotics.adg3705
Cubillos, L.H, Rouse, E.J., Augenstein, T.E., Joshi, V., Claflin, E.S., & Krishnan, C. (2023). Reliability and minimal detectable change of stiffness and other mechanical properties of the ankle joint in standing and walking. Gait & Posture. http://dx.doi.org/10.2139/ssrn.4411856
Medrano, R.L., Thomas, G.C., Keais, C.G., Rouse, E.J., Gregg, R.D. (2023). Real-time gait phase and task estimation for controlling a powered ankle exoskeleton on extremely uneven terrain. IEEE Transactions on Robotics. http://dx.doi.org/10.1109/TRO.2023.3235584
Best, T.K., Welker, C.G., Rouse, E.J., Gregg, R.D. (2023). Data-Driven Variable Impedance Control of a Powered Knee–Ankle Prosthesis for Adaptive Speed and Incline Walking. IEEE Transactions on Robotics. http://dx.doi.org/10.1109/TRO.2022.3226887
Medrano, R.L., Thomas, G.C., Margolin, D., Rouse, E.J. (2023). The economic value of augmentative exoskeletons and their assistance. Communications Engineering. http://dx.doi.org/10.1038/s44172-023-00091-2
Shepherd, M. K., Gunz, D., Clites, T., Lecomte, C., Rouse, E. J. (2022). Designing Custom Mechanics in Running-Specific Prosthetic Feet via Shape Optimization. IEEE Transaction on Biomedical Engineering. http://doi.org/10.1109/TBME.2022.3202153
Medrano, R. L., Thomas, G. C., Rouse, E. J., Gregg, R. D. (2022). Analysis of the Bayesian Gait-State Estimation Problem for Lower-Limb Wearable Robot Sensor Configurations. IEEE Robotics and Automation Letters. http://doi.org/10.1109/lra.2022.3183790
Medrano, R. L., Thomas, G. C., Rouse, E. J. (2022). Can humans perceive the metabolic benefit provided by augmentative exoskeletons?. Journal of NeuroEngineering and Rehabilitation. http://doi.org/10.1186/s12984-022-01002-w
Azocar, A. F., Rouse, E. J. (2022). Characterization of Open-loop Impedance Control and Efficiency in Wearable Robots. IEEE Robotics and Automation Letters. http://doi.org/10.1109/lra.2022.3150523
Ingraham, K. A., Remy, C. D., Rouse, E. J. (2022). The Role of User Preference in the Customized Control of Robotic Exoskeletons. Science Robotics. https://www.science.org/stoken/author-tokens/ST-407/full
Nesler, C. R., Thomas, G. C., Divekar, N. V., Rouse, E. J., Gregg, R. D. (2022). Enhancing Voluntary Motion with Modular, Backdrivable, Powered Hip and Knee Orthoses. IEEE Robotics and Automation Letters. http://doi.org/10.1109/LRA.2022.3145580
Shetty, V. S., Lee, U. H., Ingraham, K. A., Rouse, E. J. (2022). A Data Driven Approach for Predicting Preferred Ankle Stiffness of a Quasi-Passive Prosthesis. IEEE Robotics and Automation Letters. http://doi.org/10.1109/LRA.2022.3144790
Joshi, V., Rouse, E. J., Claflin, E. S., Krishnan, C. (2022). How Does Ankle Mechanical Stiffness Change as a Function of Muscle Activation in Standing and Walking Tasks?. IEEE Transactions on Biomedical Engineering, 69(3). https://doi.org/10.1109/tbme.2021.3117516
Clites, T. R., Shepherd, M. K., Ingraham, K. A., Wontorcik, L., Rouse, E. J. (2021). Understanding patient preference in prosthetic ankle stiffness. Journal of NeuroEngineering and Rehabilitation. http://doi.org/10.1186/s12984-021-00916-1
Shorter, A. L., Richardson, J. K., Finucane, S. B., Joshi, V., Gordon, K., Rouse, E. J. (2021). Characterization and clinical implications of ankle impedance during walking in chronic stroke. Scientific Reports. http://doi.org/10.1038/s41598-021-95737-6
Medrano, R. L., Rouse, E. J., Thomas, G. C. (2021). Biological Joint Loading and Exoskeleton Design. IEEE Transactions on Medical Robotics and Bionics. http://doi.org/10.1109/TMRB.2021.3098920
Nazon, Y. F., Doshi, R. M., Rouse, E. J. (2021). Validation of Methods for Estimation of Knee Joint Mechanical Impedance During Locomotion Using a Torque-Controllable Knee Exoskeleton. Journal of Biomechanical Engineering. http://doi.org/10.1115/1.4051843
Quraishi, H. A., Shepherd, M. K., McManus, L., Harlaar, J., Plettenburg, D. H., Rouse, E. J. (2021). A passive mechanism for decoupling energy storage and return in ankle–foot prostheses: A case study in recycling collision energy. Wearable Technologies. http://doi.org/10.1017/wtc.2021.7
Medrano, R. L., Thomas, G. C., Rouse, E. J. (2020). Methods for Measuring the Just Noticeable Difference for Variable Stimuli: Implications for Perception of Metabolic Rate with Exoskeleton Assistance. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). http://doi.org/10.1109/BioRob49111.2020.9224374
Azocar, A. F., Mooney, L. M., Duval, J. F., Simon, A. M., Hargrove, L. J., Rouse, E. J. (2020). Design and clinical implementation of an open-source bionic leg. Nature Biomedical Engineering 4, 1-13. http://doi.org/10.1038/s41551-020-00619-3
Shepherd, M. K., Rouse, E. J. (2020). Comparing preference of ankle–foot stiffness in below-knee amputees and prosthetists. Scientific Reports 10(1), 1-8. http://doi.org/10.1038/s41598-020-72131-2
Vigotsky, A. D., Rouse, E. J., Lee, S. S. (2020). Mapping the relationships between joint stiffness, modeled muscle stiffness, and shear wave velocity. Journal of Applied Physiology 129(3), 483-491. http://doi.org/10.1152/japplphysiol.00133.2020
Wind, A. M., Rouse, E. J. (2020). Neuromotor Regulation of Ankle Stiffness is Comparable to Regulation of Joint Position and Torque at Moderate Levels. Scientific Reports 10(1), 1–9. http://doi.org/10.1038/s41598-020-67135-x
Lee, U. H., Bi, J., Patel, R., Fouhey, D., Rouse, E. (2020). Image Transformation and CNNs: A Strategy for Encoding Human Locomotor Intent for Autonomous Wearable Robots. IEEE Robotics and Automation Letters 5(4), 5440-5447. http://doi.org/10.1109/LRA.2020.3007455
Shorter, A. L., Rouse, E. J. (2020). Ankle mechanical impedance during the stance phase of running. IEEE Transactions on Biomedical Engineering 67(6), 1595–1603. http://doi.org/10.1109/TBME.2019.2940927
Ingraham, K. A., Rouse, E. J., Remy, C. D. (2019). Accelerating the Estimation of Metabolic Cost Using Signal Derivatives: Implications for Optimization and Evaluation of Wearable Robots. IEEE Robotics & Automation Magazine 27(1), 32–42. http://doi.org/10.1109/MRA.2019.2954108
Lee, U. H., Pan, C.-W., Rouse, E. J. (2019). Empirical Characterization of a High-performance Exterior-rotor Type Brushless DC Motor and Drive. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 8018–8025. http://doi.org/10.1109/LRA.2020.3007455
Zhi, L., Rouse, E. J., Reissman, T. (2019). Passive Stiffness Reduction in Human Ankle Joint Mechanical Impedance When Exposed to Externally Imposed Movement. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) 127–131. http://doi.org/10.1109/ICORR.2019.8779490
Shepherd, M. K., Gunz, D., Lecomte, C., Rouse, E. J. (2019). Methods for Describing and Characterizing the Mechanical Behavior of Running-Specific Prosthetic Feet. 2019 IEEE 16th International Conference on Rehabilitation Robotics (ICORR) 892–898. http://doi.org/10.1109/ICORR.2019.8779557
Shorter, A. L., Finucane, S., Rouse, E. J. (2019). Ankle mechanical impedance during walking in chronic stroke: Preliminary results. IEEE International Conference on Rehabilitation Robotics, 2019–June, 246–251. http://doi.org/10.1109/ICORR.2019.8779436
Nizamis, K., Stienen, A. H. A., Kamper, D. G., Keller, T., Plettenburg, D. H., Rouse, E. J., Farina, D., Koopman, B. F. J. M., Sartori, M. (2019). Transferrable expertise from bionic arms to robotic exoskeletons: Perspectives for stroke and Duchenne muscular dystrophy. IEEE Transactions on Medical Robotics and Bionics 1(2), 88–96. http://doi.org/10.1109/TMRB.2019.2912453
Azocar, A. F., Shorter, A. L., Rouse, E. J. (2019). Damping Perception During Active Ankle and Knee Movement. IEEE Transactions on Neural Systems and Rehabilitation Engineering 27(2), 198-206. http://doi.org/10.1109/TNSRE.2019.2894156
Shepherd, M. K., Azocar, A. F., Major M. J., Rouse E. J. (2018). Amputee perception of prosthetic ankle stiffness during locomotion. Journal of NeuroEngineering and Rehabilitation 15(1), 99. http://doi.org/10.1186/s12984-018-0432-5
Shorter, A. L., & Rouse, E. J. (2018). Mechanical impedance of the ankle during the terminal stance phase of walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 26(1), 135-143. http://dx.doi.org/10.1109/TNSRE.2017.2758325
Azocar, A. F., Shorter, A. L., & Rouse, E. J. (2018). Perception of Mechanical Impedance During Active Ankle and Knee Movement. 2018 40th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 3044-3047. http://dx.doi.org/10.1109/EMBC.2018.8513022
Azocar, A.F. & Rouse, E.J. (2017). Stiffness Perception During Active Ankle and Knee Movement. IEEE Transactions on Biomedical Engineering, 64(12), 2949-2956. http://dx.doi.org/10.1109/TBME.2017.2691308
Lee, J. D., Mooney, L. M., & Rouse, E. J. (2017). Design and characterization of a quasi-passive pneumatic foot-ankle prosthesis. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 25(7), 823-831. http://dx.doi.org/10.1109/TNSRE.2017.2699867
Shepherd, M.K., & Rouse, E.J. (2017). The VSPA Foot: A Quasi-Passive Ankle-Foot Prosthesis With Continuously Variable Stiffness. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 25(12), 2375-2386. http://dx.doi.org/10.1109/TNSRE.2017.2750113
Azocar, A. F., Mooney, L. M., Hargrove, L. J., & Rouse, E. J. (2018). Design and Characterization of an Open-Source Robotic Leg Prosthesis. 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 111-118. http://dx.doi.org/10.1109/BIOROB.2018.8488057
Shepherd, M. K., Azocar, A. F., Major, M. J., & Rouse, E. J. (2018). The Difference Threshold of Ankle-Foot Prosthesis Stiffness for Persons with Transtibial Amputation. 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 100-104. http://dx.doi.org/10.1109/BIOROB.2018.8488075
Shepherd, M. K., Azocar, A. F., Major, M. J., & Rouse, E. J. (2018). The Difference Threshold of Ankle-Foot Prosthesis Stiffness for Persons with Transtibial Amputation. 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 100-104. http://dx.doi.org/10.1109/BIOROB.2018.8488075
Shepherd, M.K., & Rouse, E.J. (2017). Design and Validation of a Torque-Controllable Knee Exoskeleton for Sit-to-Stand Assistance. IEEE/ASME Transactions on Mechatronics, 22(4), 1695-1704. http://dx.doi.org/10.1109/TMECH.2017.2704521
Shepherd, M. K., & Rouse, E. J. (2017). Design of a quasi-passive ankle-foot prosthesis with biomimetic, variable stiffness. 2017 IEEE International Conference on Robotics and Automation (ICRA), 6672-6678. http://dx.doi.org/10.1109/ICRA.2017.7989788
Lee, H., Rouse, E. J., & Krebs, H. I. (2016). Summary of Human Ankle Mechanical Impedance during Walking. IEEE Journal of Translational Engineering in Health and Medicine, 4, 1-7. http://dx.doi.org/10.1109/JTEHM.2016.2601613
Shepherd, M. K., & Rouse, E. J. (2016). Design and Characterization of a Torque-Controllable Actuator for Knee Assistance during Sit-to-Stand. IEEE/ASME Transactions on Mechatronics, 22(4), 1695-1704. http://dx.doi.org/10.1109/TMECH.2017.2704521
Shepherd, M. K., & Rouse, E. J. (2016). Design of a quasi-passive ankle-foot prosthesis with biomimetic, variable stiffness. 2016 IEEE International Conference on Robotics and Automation (ICRA), 6672-6678. http://dx.doi.org/10.1109/ICRA.2017.7989788
Shepherd, M.K., & Rouse, E. J. (2016). Design and Characterization of a Torque-Controllable Actuator for Knee Assistance during Sit-to-Stand. 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2228-2231. http://dx.doi.org/10.1109/EMBC.2016.7591172
Rouse, E. J., Villagaray-Carski, N. C., Emerson, R. W., & Herr, H. M. (2015). Design and Testing of a Bionic Dancing Prosthesis. PloS one, 10(8), e0135148. http://dx.doi.org/10.1371/journal.pone.0135148
Lee, H., Rouse, E. J., & Krebs, H. I. (2016). Summary of Human Ankle Mechanical Impedance during Walking. IEEE Journal of Translational Engineering in Health and Medicine, 4, 1-7. http://dx.doi.org/10.1109/JTEHM.2016.2601613
Gregg, R. D., Rouse, E. J., Hargrove, L. J., & Sensinger, J. W. (2014). Evidence for a time-invariant phase variable in human ankle control. PloS one, 9(2), e89163. http://dx.doi.org/10.1371/journal.pone.0089163
Mooney, L. M., Rouse, E. J., & Herr, H. M. (2014). Autonomous exoskeleton reduces metabolic cost of human walking. Journal of NeuroEngineering and Rehabilitation, 11(1), 151. http://dx.doi.org/10.1186/1743-0003-11-151
Mooney, L. M., Rouse, E. J., & Herr, H. M. (2014). Autonomous exoskeleton reduces metabolic cost of human walking during load carriage. Journal of NeuroEngineering and Rehabilitation, 11(1), 80. http://dx.doi.org/10.1186/1743-0003-11-80
Tkach, D. C., Young, A. J., Smith, L. H., Rouse, E. J., & Hargrove, L. J. (2014). Real-time and offline performance of pattern recognition myoelectric control using a generic electrode grid with targeted muscle reinnervation patients. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 22(4), 727-734. http://dx.doi.org/10.1109/TNSRE.2014.2302799
Rouse, E. J., Hargrove, L. J., Perreault, E. J., & Kuiken, T. A. (2014). Estimation of human ankle impedance during the stance phase of walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 22(4), 870-878. http://dx.doi.org/10.1109/TNSRE.2014.2307256
Rouse, E. J., Mooney, L. M., & Herr, H. M. (2014). Clutchable series-elastic actuator: Implications for prosthetic knee design. The International Journal of Robotics Research, 33(13), 1611–1625. http://dx.doi.org/10.1177/0278364914545673
Young, A. J., Smith, L. H., Rouse, E. J., & Hargrove, L. J. (2014). A comparison of the real-time controllability of pattern recognition to conventional myoelectric control for discrete and simultaneous movements. Journal of NeuroEngineering and Rehabilitation, 11(5), 1-10. http://dx.doi.org/10.1186/1743-0003-11-5
Mooney, L. M., Rouse, E. J., & Herr, H. M. (2014). Autonomous exoskeleton reduces metabolic cost of walking. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 3065-3068. http://dx.doi.org/10.1109/EMBC.2014.6944270
Mooney, L. M., Lai, C. H., & Rouse, E. J. (2014). Design and characterization of a biologically inspired quasi-passive prosthetic ankle-foot. 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 1611-1617. http://dx.doi.org/10.1109/EMBC.2014.6943913
Rouse, E. J., Gregg, R. D., Hargrove, L. J., & Sensinger, J. W. (2013). The difference between stiffness and quasi-stiffness in the context of biomechanical modeling. IEEE Transactions on Biomedical Engineering, 60(2), 562-568. http://dx.doi.org/10.1109/TBME.2012.2230261
Rouse, E. J., Hargrove, L. J., Perreault, E. J., Peshkin, M. A., & Kuiken, T. A. (2013). Development of a robotic platform and validation of methods for estimating ankle impedance during the stance phase of walking. ASME. Journal of Biomechanical Engingeering, 135(8), 081009. http://dx.doi.org/10.1115/1.4024286
Young, A. J., Smith, L. H., Rouse, E. J., & Hargrove, L. J. (2013). Classification of simultaneous movements using surface EMG pattern recognition. IEEE Transactions on Biomedical Engineering, 60(5), 1250-1258. http://dx.doi.org/10.1109/TBME.2012.2232293
Rouse, E. J., Mooney, L. M., Martinez-Villalpando, E. C., & Herr, H. M. (2013). Clutchable series-elastic actuator: Design of a robotic knee prosthesis for minimum energy consumption. 2013 IEEE International Conference on Rehabilitation Robotics (ICORR), 1-6. http://dx.doi.org/10.1109/ICORR.2013.6650383
Rouse, E. J., Hargrove, L. J., Perreault, E. J., & Kuiken, T. A. (2012). Estimation of human ankle impedance during walking using the perturberator robot. 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 373-378. http://dx.doi.org/10.1109/BioRob.2012.6290842
Rouse, E. J., Nahlik, D. C., Peshkin, M. A., & Kuiken, T. A. (2011). Development of a model Osseo-Magnetic Link for intuitive rotational control of upper-limb prostheses. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 19(2), 213-220. http://dx.doi.org/10.1109/TNSRE.2010.2102365
Rouse, E. J., Nahlik, D. C., Peshkin, M. A., & Kuiken, T. A. (2011). Development of a model Osseo-Magnetic Link for intuitive rotational control of upper-limb prostheses. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 19(2), 213-220. http://dx.doi.org/10.1109/TNSRE.2010.2102365
Rouse, E. J., Hargrove, L. J., Akhtar, A., & Kuiken, T. A. (2012). Validation of methods for determining ankle stiffness during walking using the Perturberator robot. 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 1650-1655. http://dx.doi.org/10.1109/BioRob.2012.6290840
Young, A. J., Smith, L. H., Rouse, E. J., & Hargrove, L. J. (2012). A new hierarchical approach for simultaneous control of multi-joint powered prostheses. 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 514-520. http://dx.doi.org/10.1109/BioRob.2012.6290709
Rouse, E. J., Hargrove, L. J., Peshkin, M. A., & Kuiken, T. A. (2011). Design and validation of a platform robot for determination of ankle impedance during ambulation. 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 8179-8182. http://dx.doi.org/10.1109/IEMBS.2011.6092017
Shirota, C., Simon, A. M., Rouse, E. J., & Kuiken, T. A. (2011). The effect of perturbation onset timing and length on tripping recovery strategies. 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 7833-7836. http://dx.doi.org/10.1109/IEMBS.2011.6091930