Mohseni, O., Mohammadi Nejad Rashty, A., Seyfarth, A., Hosoda, K., & Sharbafi, MA. (2022). Bioinspired Legged Robot Design via Blended Physical and Virtual Impedance Control. Journal of Intelligent & Robotic Systems. https://doi.org/10.1007/s10846-022-01631-2.

Mohseni, O., Schmidt, P., Seyfarth, A., & Sharbafi, MA. (2022). Unified GRF-based control for adjusting hopping frequency with various robot configurations. Journal of Advanced Robotics. https://doi.org/10.1080/01691864.2022.2077637.

Galljamov, R., Ahmadi, A., Mohseni, O., Seyfarth, A., Beckerle, P., & Sharbafi, MA. (2021). Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2021.3095024.

Sharbafi, M. A., Yazdanpanah, M. J., Ahmadabadi, M. N., & Seyfarth, A. (2020). Parallel Compliance Design for Increasing Robustness and Efficiency in Legged Locomotion—theoretical background and applications. IEEE/ASME Transactions on Mechatronics, Early access DOI.

Zhao, G., Szymanski, F., & Seyfarth, A. (2020). Bio-inspired neuromuscular reflex based hopping controller for a segmented robotic leg. Bioinspiration & Biomimetics, 15(2). pp. 026007. DOI.

Sharbafi, M. A., Naseri, A., Seyfarth, A., & Grimmer, M Neural control in prostheses and exoskeletons. In Powered Prostheses (pp. 153-178), Elsevier. DOI.

Schumacher, C., Sharbafi, M. A., Seyfarth, A. & Rode, C. Biarticular muscles in light of template models, experiments and robotics: a review. J. R. Soc. Interface, 17. DOI

Barazesh, H., Sharbafi, M. A. A biarticular passive exosuit to support balance control can reduce metabolic cost of walking. Bioinspiration & Biomimetics, vol. 15. no. 3, pp. 036009. DOI.

Schumacher, C., Berry, A., Lemus, D., Rode, C., Seyfarth, A., & Vallery, H. Biarticular muscles are most responsive to upper-body pitch perturbations in human standing. Scientific reports, 9(1), 1-14. DOI

Zhao, G., Sharbafi, M. A., Vlutters, M., van Asseldonk, E., & Seyfarth, A. (2019). Bio-Inspired Balance Control Assistance Can Reduce Metabolic Energy Consumption in Human Walking. IEEE transactions on neural systems and rehabilitation engineering, 27(9), 1760-1769, IEEE

Sharbafi, M. A., Yazdanpanah, M. J., Nili Ahmadabadi. M., & Seyfarth. A., Parallel compliance design for increasing robustness and efficiency in legged locomotion – proof of concept. IEEE Transactions on Mechatronics, 24 (4), 1541 - 1552, IEEE

F Haufe, P Wolf, R Riener, M Grimmer., Biomechanical effects of passive hip springs during walking, Journal of Biomechanics, 109432, DOI

M Grimmer, R Riener, CJ Walsh, A Seyfarth., Mobility related physical and functional losses due to aging and disease - a motivation for lower limb exoskeletons, Journal of NeuroEngineering and Rehabilitation 16 (2), 1 - 21, DOI

M Grimmer, K Schmidt, JE Duarte, L Neuner, G Koginov, R Riener., Stance and swing detection based on the angular velocity of lower limb segments during walking, Frontiers in Neurorobotics 13, 57, DOI

M Grimmer, BT Quinlivan, S Lee, P Malcolm, DM Rossi, C Siviy, CJ Walsh., Comparison of the human-exosuit interaction using ankle moment and ankle positive power inspired walking assistance, Journal of Biomechanics 83, 76-84, DOI

Davoodi, A., Mohseni, O., Seyfarth, A., Sharbafi, M. A., From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability. Royal Society open science, vol. 6, no. 3Royal Society

Oehlke, O., Beckerle, P., Seyfarth, A., Sharbafi, M. A., Human-like hopping in machines; Feedback- versus feed-forward-controlled motions. Biological cybernetics, vol. 113, no. 3Springer

Sarmadi, A., Schumacher, C., Seyfarth, A., & Sharbafi, M. A., Concerted control of stance and balance locomotor subfunctions-Leg force as a conductor. IEEE Transactions on Medical Robotics and Bionics, 49-57 IEEE

Seyfarth, A. & Schumacher, C. Teaching locomotion biomechanics: from concepts to applications. European Journal of Physics IOP

Sharbafi, M. A., Barazesh, H., Iranikhah, M., & Seyfarth, A, Leg force control through biarticular muscles for human walking assistance. Frontiers in neurorobotics, 12, Open Access

TG Sugar, JA Ward, M Grimmer., Ankle prosthetics and orthotics: Trends from passive to active systems, The Encyclopedia of Medical Robotics 4, 111-134, DOI

Yazdi-Mirmokhalesouni, S. D., Sharbafi, M. A., Yazdanpanah, M. J., & Nili-Ahmadabadi, M, Modeling, control and analysis of a curved feet compliant biped with HZD approach. Nonlinear Dynamics, 91(1), 459-473.Springer

Sharbafi M. A. and Seyfarth A., Bioinspired Legged Locomotion: Models, Concepts, Control and Applications. Butterworth-Heinemann, 2017. DOI: 10.1016/B978-0-12-803766-9.00001-4 Elsevier

Sharbafi, M. A., Lee D., Kiemel, T., Seyfarth A., Fundamental Subfunctions of Locomotion. In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (pp. 11-53), DOI: 10.1016/B978-0-12-803766-9.00003-8Elsevier.

Seipel, J., Kvalheim, M., Revzen, S., Sharbafi, M. A., Seyfarth, A., Conceptual Models of Legged Locomotion, In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (pp.55-131), DOI: 10.1016/B978-0-12-803766-9.00004-X, Elsevier.

Sharbafi, M. A., Seyfarth, A., Hosoda, K., & Sugar, T. G. Conclusion: Related research projects and future directions. In Bioinspired Legged Locomotion: Models, Concepts, Control and Applications (pp. 640-657), DOI: 10.1016/B978-0-12-803766-9.00012-9 Elsevier.

Sharbafi M. A., Shin H., Zhao G., Hosoda K. and Seyfarth A., Electric-Pneumatic Actuator: A New Muscle for Locomotion. Actuators 2017, 6(4), 30; DOI:10.3390/act6040030 Open Access

Sharbafi M. A., Zhao G. and Seyfarth A., Locomotor Sub-functions for Control of Assistive Wearable Robots. Frontiers in neurorobotics 2017, 11(44); DOI:10.3389/fnbot.2017.00044 Open Access

Schumacher C. and Seyfarth A., Sensor-Motor Maps for Describing Linear Reflex Composition in Hopping. Frontiers in Computational Neuroscience, 2017. 11:108, DOI: 10.3389/fncom.2017.00108 Open Access

Sharbafi M. A., Nejad Rashty A. M., Rode C. and Seyfarth A., Reconstruction of human swing leg motion with passive biarticular muscle models. Human movement science 2017, 52, 96-107; DOI: 10.1016/j.humov.2017.01.008 ScienceDirect

Sharbafi M. A. and Seyfarth A. How locomotion sub-functions can control walking at different speeds? Journal of biomechanics 53, 163-170; DOI: 10.1016/j.jbiomech.2017.01.018 JBiomechanics

Sharbafi, M.A., Rode, C., Kurowski, S., Scholz, D., Möckel, R., Radkhah, K., Zhao, G., Rashty, A.M., von Stryk, O. and Seyfarth, A., A new biarticular actuator design facilitates control of leg function in BioBiped3. Bioinspiration & Biomimetics, 11(4), p.046003, 2016. DOI: 10.1088/1748-3190/11/4/046003. Open Access

Calandra, R., Seyfarth, A., Peters, J. and Deisenroth, M.P., 2016. Bayesian optimization for learning gaits under uncertainty. Annals of Mathematics and Artificial Intelligence, 76(1-2), pp.5-23. Springer

M Grimmer, Holgate M., Holgate R., Boehler A., Ward J., Hollander K., Sugar T. and Seyfarth A. A powered prosthetic ankle joint for walking and running. Biomedical engineering online 15 (3), 141, 2016. Open Access

Windrich M., M Grimmer, Christ O., Rinderknecht S. and Beckerle P. Active lower limb prosthetics: a systematic review of design issues and solutions. Biomedical engineering online 15 (3), 140, 2016. Open Access

Christ O. and Beckerle P. Towards active lower limb prosthetic systems: design issues and solutions. Biomedical engineering online 15 (3), 139; DOI: 10.1186/s12938-016-0283-x Open Access

Merker, A., Kaiser, D., Seyfarth, A. and Hermann, M., Stable running with asymmetric legs: a bifurcation approach. International Journal of Bifurcation and Chaos, 25(11), p.1550152, 2015. WorldScientific

Maus, H.M., Revzen, S., Guckenheimer, J., Ludwig, C., Reger, J. and Seyfarth, A., Constructing predictive models of human running. Journal of The Royal Society Interface, 12(103), p.20140899, 2015. The Royal Society

Seyfarth A., Radkhah K., von Stryk O ., Concepts of Softness for Legged Locomotion and Their Assessment. Soft Robotics, pp. 120-133, 2015. Springer

Maus, H.M. and Seyfarth, A., Walking in circles: a modelling approach. Journal of The Royal Society Interface, 11(99), p.20140594, 2014.

Maykranz, D. and Seyfarth, A., Compliant ankle function results in landing-take off asymmetry in legged locomotion. Journal of theoretical biology, 349, pp.44-49, 2014.

Lipfert, S.W., Günther, M., Renjewski, D. and Seyfarth, A.,Impulsive ankle push-off powers leg swing in human walking. Journal of Experimental Biology, 217(8), pp.1218-1228, 2014.

M Grimmer, Eslamy, M. and Seyfarth, A., Energetic and peak power advantages of series elastic actuators in an actuated prosthetic leg for walking and running. In Actuators (Vol. 3, No. 1, pp. 1-19), 2014.

Sharbafi, M. A. and Maufroy, C. and Seyfarth, A. Yazdanpanah, M. J. and Nili Ahmadabadi, M. Robust hopping based on Virtual Pendulum Posture Control. Bioinspiration & Biomimetics, 8(3) (6pp), 2013. DOI: dx.doi.org/10.1016/j.jtbi.2014.01.029

Riese, S. and Seyfarth and S. Grimmer, A. Linear center-of-mass dynamics emerge from non-linear leg-spring properties in human hopping. Journal of Biomechanics, 46(13) 036002 (16pp), 2013.DOI: dx.doi.org/10.1016/j.jbiomech.2013.06.019

Maykranz, D., Grimmer, S., & Seyfarth, A. A work-loop method for characterizing leg function during sagittal plane movements. Journal of applied biomechanics, 29(5), 2013. http://europepmc.org/abstract/MED/23249899

Ludwig C, Grimmer S, Seyfarth A, Maus HM. Multiple-step model-experiment matching allows precise definition of dynamical leg parameters in human running. Journal of Biomechanics, 45(14): 2472–2475, 2012 DOI:10.1016/j.jbiomech.2012.06.030

Peuker, F., Maufroy, C., and Seyfarth, A. Leg-adjustment strategies for stable running in three dimensions. Bioinspiration & Biomimetics, 7(3) 036002 (14pp), 2012.DOI: 10.1088/1748-3182/7/3/036002

Häufle, D. F. B., Grimmer, S., Kalveram, K.-T., and Seyfarth, A. Integration of intrinsic muscle properties, feed-forward and feedback signals for generating and stabilizing hopping. J R Soc Interface, Ahead of Print, 2012. DOI:10.1098/rsif.2011.0694, PMID:22219395

Kalveram, K. T., Häufle, D. F. B., Seyfarth, A., and Grimmer, S. Energy management that generates terrain following versus apex-preserving hopping in man and machine. Biological Cybernetics 106, 1–13, 2012. DOI:10.1007/s00422-012-0476-8

Riese S, Seyfarth A. Stance leg control: variation of leg parameters supports stable hopping. Bioinspiration & Biomimetics, 7(1) 016006 (10pp), 2012. DOI:10.1088/1748-3182/7/1/016006

Blum Y, Birn-Jeffery A, Daley MA, Seyfarth A. Does A Crouched Leg Posture Enhance Running Stability and Robustness? Journal of Theoretical Biology, 281(1): 97-106, 2011. DOI:10.1016/j.jtbi.2011.04.029

Maus H-M, Seyfarth A, Grimmer S. Combining forces and kinematics for calculating consistent centre of mass trajectories. Journal of Experimental Biology 214:3511-3517, 2011 DOI:10.1242/jeb.057422, CoM Combine

Merker A, Rummel J, Seyfarth A. Stable walking with asymmetric legs. Bioinspiration & Biomimetics, 6(4) 045004 (13pp), 2011.DOI:10.1088/1748-3182/6/4/045004

Schaarschmidt M, Lipfert SW, Meier-Gratz C, Scholle HC, Seyfarth A. Functional gait asymmetry of unilateral transfemoral amputees. Human Movement Sciece, in Press. DOI:10.1016/j.humov.2011.09.004

Lipfert SW, Günther M, Renjewski D, Grimmer S, Seyfarth A. A model-experiment comparison of system dynamics for human walking and running. The Journal of Theoretical Biology [Epub ahead of print]. DOI:10.1016/j.jtbi.2011.09.021, PMID: 21959315

Rummel J, Blum Y, Seyfarth A. Robust and efficient walking with spring-like legs. Bioinspiration & Biomimetics, 5(4): 046004 (13pp), 2010. DOI:10.1088/1748-3182/5/4/046004

Maus HM, Lipfert SW, Gross M, Rummel J, Seyfarth A. Upright human gait did not provide a major mechanical challenge for our ancestors. Nature Communications, 1(6): 70, 2010. DOI:10.1038/ncomms1073

Blum Y, Lipfert SW, Rummel J, Seyfarth A. Swing Leg Control in Human Running. Bioinspiration & Biomimetics, 5(2), 2010. DOI:10.1088/1748-3182/5/2/026006

Häufle DFB, Grimmer S, Seyfarth A. The role of intrinsic muscle properties for stable hopping—stability is achieved by the force–velocity relation. Bioinspiration & Biomimetics, 5(1), 2010. DOI:10.1088/1748-3182/5/1/016004

Kalveram KT, Seyfarth A. Inverse biomimetics: How robots can help to verify concepts concerning sensorimotor control of human arm and leg movements. Journal of Physiology - Paris, 103(3-5): 232-243, 2009. DOI:10.1016/j.jphysparis.2009.08.006

Blum Y, Lipfert SW, Seyfarth A. Effective Leg Stiffness in Running. Journal of Biomechanics, 42(16): 2400-2405, 2009. DOI:10.1016/j.jbiomech.2009.06.040

Lipfert SW, Günther M, Seyfarth A. Diverging times in movement analysis. Journal of Biomechanics, 42(6): 786-788, 2009. DOI:10.1016/j.jbiomech.2008.12.020

Seyfarth A, Tausch R, Stelzer M, Iida F, Karguth A, von Stryk O. Towards Bipedal Running as a Natural Result of Optimizing Walking Speed for Passively Compliant Three-Segmented Legs. International Journal of Robotics Research, 28(2): 257-265, 2009. DOI:10.1177/0278364908095843

Iida F, Minekawa Y, Rummel J, Seyfarth A. Toward a human-like biped robot with compliant legs. Robotics and Autonomous Systems, 57(2): 137-144, 2009. DOI:10.1016/j.robot.2007.12.001

Grimmer S, Ernst M, Guenther M, Blickhan R. Running on uneven ground: leg adjustment to vertical steps and self-stability. Journal of Experimental Biology, 211(18): 2989-3000, 2008. DOI:10.1242/jeb.014357

Rimmel J, Seyfarth A. Stable running with segmented legs. International Journal of Robotics Research, 27(8): 919-934, 2008. DOI:10.1177/0278364908095136

Iida F, Rummel J, Seyfarth A. Bipedal Walking and Running with Spring-Like Biarticular Muscles. Journal of Biomechanics, 41(3): 656-667, 2008. DOI:10.1016/j.jbiomech.2007.09.033

Blickhan R, Seyfarth A, Geyer H, Grimmer S, Wagner H, Günther M. Intelligence by Mechanics. Philosophical Transactions of the Royal Society of London, Series A, 365(1850): 199-220, 2007. DOI:10.1098/rsta.2006.1911

Geyer H, Seyfarth A, Blickhan R. Compliant leg behaviour explains basic dynamics of walking and running. Proceedings of the Royal Society of London, Series B: Biological Sciences, 273(1603): 2861-2867, 2006. DOI:10.1098/rspb.2006.3637

Knuesel H, Geyer H, Seyfarth A. Influence of swing leg movement on running stability. Human Movement Science, 24(4): 532-543, 2005. DOI:10.1016/j.humov.2005.08.002

Geyer H, Seyfarth A, Blickhan R. Spring-mass running: simple approximate solution and application to gait stability. Journal of Theoretical Biology, 232(3): 315-328, 2005. DOI:10.1016/j.jtbi.2004.08.015

Guenther M, Keppler V, Seyfarth A, Blickhan R. Human leg design: optimal axial alignment under constraints. Journal of Mathematical Biology, 48(6): 623-646, 2004 DOI:10.1007/s00285-004-0269-3

Seyfarth A, Geyer H, Herr H. Swing-Leg Retraction: A simple control model for stable running. Journal of Experimental Biology, 206(15): 2547-2555, 2003. DOI:10.1242/jeb.00463

Geyer H, Seyfarth A, Blickhan R. Positive force feedback in bouncing gaits? Proceedings of the Royal Society of London, Series B: Biological Sciences, 270(1529): 2173-2183, 2003. DOI:10.1098/rspb.2003.2454

Seyfarth A, Geyer H, Guenther M, Blickhan R. A movement criterion for running. Journal of Biomechanics, 35(5): 649-655, 2002. DOI:10.1016/S0021-9290(01)00245-7

Seyfarth A, Guenther M, Blickhan R. Stable Operation of an Elastic Three-Segmented Leg. Biological Cybernetics, 84(5): 364-382, 2001. DOI:10.1007/PL00007982

Seyfarth A, Blickhan R, van Leeuwen JL. Optimum take-off techniques and muscle design for long jump. Journal of Experimental Biology, 203(4): 741-750, 2000.

Seyfarth A, Friedrichs A, Wank V, Blickhan R. Dynamics of the long jump. Journal of Biomechanics, 32(12), 1259-1267, 1999. DOI:10.1016/S0021-9290(99)00137-2