IROS 2023 Workshop on Robotic Leg Prostheses

FULL-DAY Workshop – October 5, 2023 – Detroit, MI, USA

Robotic leg prostheses have evolved from devices tethered to a power supply and a desktop computer to self-contained devices with onboard electronics and batteries. Powered leg prostheses are now able to assist during walking, ambulation on stairs and ramps, and sit-stand transitions. However, there are significant challenges that the field needs to address for powered prostheses to fully realize their potential.

This workshop will focus on the state-of-the-art and open challenges in powered prosthetics. Top researchers in the field will present their current and future approaches to designing and controlling powered prostheses. Live demonstration of robotic leg prostheses will provide hands-on experience with leading technology. Poster sessions and panel discussions will provide further opportunities for participants to interact. This workshop will allow both established researchers and those new to the field of robotic prostheses, to experience where the field is today and what challenges lie ahead.

Invited Speakers

RaffaellA Carloni, PhD
Associate Professor
Bernoulli Institute for Mathematics, Computer Science, and Artificial Intelligence
University of Groningen, The Netherlands.
Simona Crea, PhD
Associate Professor
The Biorobotics Institute
Scuola Superiore Sant’Anna, Italy
Michael Goldfarb, PhD
H. Fort Flowers Chair, Professor
Mechanical Engineering, Electrical Engineering, Computer Science and Physical Medicine and Rehabilitation
Vanderbilt University
Robert D. Gregg, IV, PhD
Associate Professor and Associate Director of Robotics Electrical Engineering and Computer Science, Robotics Institute University of Michigan
He (Helen ) Huang, PhD
Jackson Family Distinguished Professor
Joint Department of Biomedical Engineering
UNC Chapel Hill, NC State University, USA
Tommaso Lenzi, PhD
Associate Professor
Department of Mechanical Engineering
University of Utah, USA
Ann Simon, PhD
Research Scientist
Shirley Ryan AbilityLab
Northwestern University, USA
Hao Su, PhD
Associate Professor
Mechanical and Aerospace Engineering
North Carolina State University University
Qining wang, PhD
Department of Advanced Manufacturing and Robotics
College of Engineering
Peking University, Beijing, China
Cara Gonzalez Welker, PhD
Assistant Professor
Paul M. Rady Mechanical Engineering Department
University of Colorado Boulder, USA
Max Shepherd, PhD
Assistant Professor
Department of Mechanical and Industrial Engineering,
and Physical Therapy and Rehabilitation.
Northeastern University, USA
Elliott Rouse, PhD
Associate Professor
Department of Robotics
University of Michigan

Workshop Program

8:30 – 8:45Welcome and IntroductionTommaso Lenzi,
University of Utah
8:45 – 9:05Invited Talk 1Michael Goldfarb,
Vanderbilt University
9:05 – 9:25Invited Talk 2Suzanne Finucane,
Shirley Ryan AbilityLab
9:25 – 9:45Invited Talk 3Hao Su,
North Carolina University
9:45 – 10:05Invited Talk 4Robert Gregg,
University of Michigan
10:05 – 10:20Panel Session 1All Session speakers
10:20 – 10:35Coffee break
10:35 – 10:50Invited Talk 5Max Shepherd,
Northeastern University
10:50 – 11:05Invited Talk 6Alessandro Mazzarini and Ilaria Fagioli
Scuola Superiore Sant’Anna
11:05 – 11:20Invited Talk 7Cara Welker
University of Colorado, Boulder
11:20 – 11:35Panel Session 2All Session speakers
11:35-11:50Poster Flash TalksEight poster speakers (60 sec each)
11:50 – 13:20Lunch and Poster SessionBoxed lunch will be provided to all attendees thanks to the generous support of the IEEE TCs on Cyborg and Bionic Systems and Rehabilitation and Assistive Robotics
13:20 – 13:40Invited Talk 8Helen Huang,
North Carolina University and
University of North Carolina Chapel Hill
13:40 – 14:00Invited Talk 9Elliott Rouse,
University of Michigan
14:00 – 14:20Invited Talk 10Raffaella Carloni,
University of Groningen
14:20 – 14:40Invited Talk 11Tommaso Lenzi,
University of Utah
14:40-15:00Panel Session 3All Session speakers
15:00 – 15:15Coffee Break
15:15-16:15Demo Session 1Vanderbilt University (Dr. Goldfarb)
University of Michigan (Dr. Gregg)
University of Groningen (Dr. Carloni)
North Carolina University (Dr. Su)
Notre Dame (Dr. Wensing)
16:15-17:15Demo Session 2University of Utah (Dr. Lenzi)
University of Michigan (Dr. Rouse)
Shirley Ryan AbilityLab (Dr. Hargrove)
Scuola Superiore Sant’Anna (Mazzarini and Fagioli)
17:15- 17:30Best Poster Award and Closing RemarksTommaso Lenzi, Elliott Rouse, Bobby Gregg
University of Utah and University of Michigan

POster PResentations

  1. Recognizing Transition Intent Between Surfaces of Varying Stiffness via EMG, Kinematic, and Ground Reaction Force Data, Charikleia Angelidou and Panagiotis Artemiadis, University of Delaware
  2. Electromagnetic Suspension of Robotic Leg Prostheses, Will Flanagan, Alexandra Stavrakis, Nicholas Bernthal, and Tyler Clites, University of California, Los Angeles
  3. Model-Based Prosthesis Control with Real-Time Force Sensing, Rachel Gehlhar Humann and Aaron D. Ames, California Institute of Technology
  4. Evaluation of functional benefits of a powered knee ankle prosthesis in comparison to state-of-the-art microprocessor-controlled prostheses, Kyle Embry and Arun Jayaraman, Shirley Ryan AbilityLab
  5. The effect of power on intersegmental coordination while walking on a knee ankle prosthesisNili Krausz and Tamar Flash, Weizmann Institute of Science
  6. Phase Variable Impedance Hybrid Volitional Control of Robotic Prosthetic Ankle, Ryan R. Posh, James P. Schmiedeler, and Patrick M. Wensing , University of Notre Dame
  7. Exploring Dielectric Elastomer Actuators as Artificial Muscles for Powered Prosthetic Limbs, Quentin Richards, Gymama Slaughter, Krishnanand Kaipa, Old Dominion University
  8. Magnetomicrometry: Real-Time Muscle Tissue Length Tracking for Robotic Leg Control, Cameron R. Taylor, Christopher C. Shallal, Rick J. Casler, Seong Ho Yeon, Tsung-Han Hsieh, Hyungeun Song, Ellen G. Clarrissimeaux, Hugh M. Herr, Massachusetts Institute of Technology

Robotic leg demonstrations



IEEE/RAS TC on Wearable Robotics
IEEE/RAS TC for Cyborg and Bionic Systems
IEEE/RAS TC on Rehabilitation and Assistive Robotics


Tommaso Lenzi, University of Utah, USA.
Elliott Rouse, University of Michigan, USA.
Robert Gregg, University of Michigan, USA.