Qanti: A Software Tool for Quick Ambiguous Non-standard Text Input. - Torsten Felzer; I. Scott MacKenzie; Philipp Beckerle; Stephan Rinderknecht (ICCHP (2), 2010)

Prosthesis-user-in-the-loop: User-centered design parameters and visual simulation. - Oliver Christ; Janis Wojtusch; Philipp Beckerle; Kerstin Wolff; Joachim Vogt 002; Oskar von Stryk; Stephan Rinderknecht (EMBC, 2012)

Prosthesis-User-in-the-Loop: A user-specific biomechanical modeling and simulation environment. - Janis Wojtusch; Philipp Beckerle; Oliver Christ; Kerstin Wolff; Oskar von Stryk; Stephan Rinderknecht; Joachim Vogt 002 (EMBC, 2012)

Design and control of a robot for the assessment of psychological factors in prosthetic development. - Philipp Beckerle; Oliver Christ; Janis Wojtusch; Jochen Schuy; Kerstin Wolff; Stephan Rinderknecht; Joachim Vogt 002; Oskar von Stryk (SMC, 2012)

Power-optimized stiffness and nonlinear position control of an actuator with Variable Torsion Stiffness. - Philipp Beckerle; Janis Wojtusch; Jochen Schuy; Bruno Strah; Stephan Rinderknecht; Oskar von Stryk (AIM, 2013)

Dimensioning and evaluation of the elastic element in a Variable Torsion Stiffness actuator. - Jochen Schuy; Philipp Beckerle; Jakob Faber; Janis Wojtusch; Stephan Rinderknecht; Oskar von Stryk (AIM, 2013)

Conception and Design of a Hardware Simulator for Restoring Lost Biomechanical Function. - Philipp Beckerle; L. Lahnstein; Janis Wojtusch; Stephan Rinderknecht; Oskar von Stryk (SMC, 2013)

Experimental comparison of nonlinear motion control methods for a variable stiffness actuator. - Philipp Erler; Philipp Beckerle; Bruno Strah; Stephan Rinderknecht (BioRob, 2014)

Multi-Signal Virtual Keyboard (MSVK): Use of Various Sensors to Replace the Standard Keyboard - First Steps. - Muhammad Bilal Saif; Michael Neubert; Sebastian Spengler; Philipp Beckerle; Torsten Felzer; Stephan Rinderknecht (MIDI, 2014)

Implementation, control and user-feedback of the Int2Bot for the investigation of lower limb body schema integration. - Philipp Beckerle; Fabian Schultje; Janis Wojtusch; Oliver Christ (RO-MAN, 2014)

Comparison of trajectory generation methods for a human-robot interface based on motion tracking in the Int2Bot. - Fabian Schultje; Philipp Beckerle; Martin Grimmer 001; Janis Wojtusch; Stephan Rinderknecht (RO-MAN, 2014)

A new device to measure load and motion in lower limb prosthesis - Tested on different prosthetic feet. - Jochen Schuy; Alexander Burkl; Philipp Beckerle; Stephan Rinderknecht (ROBIO, 2014)

Comparison of passivity based impedance controllers without torque-feedback for Variable Stiffness Actuators. - Markus Lendermann; Bajwa R. P. Singh; Florian Stuhlenmiller; Philipp Beckerle; Stephan Rinderknecht; P. V. Manivannan (AIM, 2015)

Sensor-minimal motion control of variable stiffness actuators based on the passivity principle and velocity estimation. - Bajwa R. P. Singh; P. V. Manivannan; Philipp Beckerle (AIM, 2015)

Measurement of biomechanical interactions at the stump-socket interface in lower limb prostheses. - Veronika Noll; Janis Wojtusch; Jochen Schuy; Martin Grimmer 001; Philipp Beckerle; Stephan Rinderknecht (EMBC, 2015)

Design & evaluation of a sensor minimal gait phase and situation detection Algorithm of Human Walking. - Jochen Schuy; T. Mielke; M. Steinhausen; Philipp Beckerle; Stephan Rinderknecht (Humanoids, 2015)

A systematic approach to experimental modeling and assessment of elastic actuators by component-wise parameter identification. - Markus Lendermann; Florian Stuhlenmiller; Philipp Erler; Philipp Beckerle; Stephan Rinderknecht (IROS, 2015)

Exploration of lower limb body schema integration with respect to body-proximal robotics. - Tim Schürmann; Philipp Overath; Oliver Christ; Joachim Vogt 002; Philipp Beckerle (RTSI, 2015)

Low-cost Sensor Glove with Force Feedback for Learning from Demonstrations using Probabilistic Trajectory Representations. - Elmar Rueckert; Rudolf Lioutikov; Roberto Calandra; Marius Schmidt; Philipp Beckerle; Jan Peters 001 (CoRR, 2015)

OnScreenDualScribe with Point-and-Click Interface: A Viable Computer Interaction Alternative based on a Virtual Modified Numerical Keypad. - Kavita Krishnaswamy; Patricia Ordóñez 002; Philipp Beckerle; Stephan Rinderknecht; Torsten Felzer (ASSETS, 2016)

Template-based hopping control of a bio-inspired segmented robotic leg. - Jonathan Oehlke; Maziar Ahmad Sharbafi; Philipp Beckerle; André Seyfarth (BioRob, 2016)

Proprioceptive control of an over-actuated hexapod robot in unstructured terrain. - Marko Bjelonic; Navinda Kottege; Philipp Beckerle (IROS, 2016)

Human body schema exploration: Analyzing design requirements of Robotic Hand and Leg Illusions. - Philipp Beckerle; Albert De Beir; Tim Schürmann; Emilie A. Caspar (RO-MAN, 2016)

A low-cost sensor glove with vibrotactile feedback and multiple finger joint and hand motion sensing for human-robot interaction. - Paul Weber; Elmar Rueckert; Roberto Calandra; Jan Peters 001; Philipp Beckerle (RO-MAN, 2016)

A sensor to acquire the relative movement between residual limb and prosthetic socket. - Veronika Noll; Paul Weber; Stephanie Scortecci; Philipp Beckerle; Stephan Rinderknecht (SMC, 2016)

A Stiffness-Fault-Tolerant Control Strategy for Reliable Physical Human-Robot Interaction. - Florian Stuhlenmiller; Gernot Perner; Stephan Rinderknecht; Philipp Beckerle (HFR, 2017)

Autonomous navigation of hexapod robots with vision-based controller adaptation. - Marko Bjelonic; Timon Homberger; Navinda Kottege; Paulo V. K. Borges; Margarita Chli; Philipp Beckerle (ICRA, 2017)

Commentary: Proceedings of the First Workshop on Peripheral Machine Interfaces: Going beyond Traditional Surface Electromyography. - Philipp Beckerle (Frontiers Neurorobotics, 2017)

A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics. - Philipp Beckerle; Gionata Salvietti; Ramazan Unal; Domenico Prattichizzo; Simone Rossi 002; Claudio Castellini; Sandra Hirche; Satoshi Endo; Heni Ben Amor; Matei T. Ciocarlie; Fulvio Mastrogiovanni; Brenna D. Argall; et al. (Frontiers Neurorobotics, 2017)

A human-machine-centered design method for (powered) lower limb prosthetics. - Philipp Beckerle; Oliver Christ; Tim Schürmann; Joachim Vogt 002; Oskar von Stryk; Stephan Rinderknecht (Robotics Auton. Syst., 2017)

Human-oriented approaches for assistive and rehabilitation robotics - Engineering methods, technical implementation, and treatment. - Philipp Beckerle; Gionata Salvietti; Ramazan Unal; Fulvio Mastrogiovanni (Robotics Auton. Syst., 2017)

Design and Testing of Sensors for Text Entry and Mouse Control for Individuals with Neuromuscular Diseases. - Anna M. H. Abrams; Carl Fridolin Weber; Philipp Beckerle (ASSETS, 2018)

A Movement Manipulator to Introduce Temporary and Local Perturbations in Human Hopping. - Christian Schumacher; Martin Grimmer 001; Andrej Scherf; Guoping Zhao; Philipp Beckerle; André Seyfarth (BioRob, 2018)

A Pilot Study: Advances in Robotic Hand Illusion and its Subjective Experience. - Anna M. H. Abrams; Philipp Beckerle (HRI (Companion), 2018)

Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study. - Philipp Beckerle; Matteo Bianchi 002; Claudio Castellini; Gionata Salvietti (Adv. Robotics, 2018)

Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive Robotics. - Philipp Beckerle; Risto Kõiva; Elsa Andrea Kirchner; Robin Bekrater-Bodmann; Strahinja Dosen; Oliver Christ; David A. Abbink; Claudio Castellini; Bigna Lenggenhager (Frontiers Neurorobotics, 2018)

Weaver: Hexapod robot for autonomous navigation on unstructured terrain. - Marko Bjelonic; Navinda Kottege; Timon Homberger; Paulo Vinicius Koerich Borges; Philipp Beckerle; Margarita Chli (J. Field Robotics, 2018)

Systematic Experimental Assessment of a 2D-Motion Sensor to Detect Relative Movement between Residual Limb and Prosthetic Socket. - Veronika Noll; Stephan Rinderknecht; Philipp Beckerle (Sensors, 2018)

Fault-Tolerant Physical Human-Robot Interaction via Stiffness Adaptation of Elastic Actuators. - Florian Stuhlenmiller; Rodrigo J. Velasco-Guillen; Stephan Rinderknecht; Philipp Beckerle (HFR, 2019)

Human-like hopping in machines - Feedback- versus feed-forward-controlled motions. - Jonathan Oehlke; Philipp Beckerle; André Seyfarth; Maziar Ahmad Sharbafi (Biol. Cybern., 2019)

The Bayesian causal inference model benefits from an informed prior to predict proprioceptive drift in the rubber foot illusion. - Tim Schürmann; Joachim Vogt 002; Oliver Christ; Philipp Beckerle (Cogn. Process., 2019)

How Cognitive Models of Human Body Experience Might Push Robotics. - Tim Schürmann; Betty J. Mohler; Jan Peters 001; Philipp Beckerle (Frontiers Neurorobotics, 2019)

A Hopping Robot Driven by a Series Elastic Dual-Motor Actuator. - Tom Verstraten; Raphael Furnemont; Philipp Beckerle; Bram Vanderborght; Dirk Lefeber (IEEE Robotics Autom. Lett., 2019)

An introductory review of active compliant control. - Marie Schumacher; Janis Wojtusch; Philipp Beckerle; Oskar von Stryk (Robotics Auton. Syst., 2019)

A Sensor Array for the Measurement of Relative Motion in Lower Limb Prosthetic Sockets. - Veronika Noll; Sigrid Whitmore; Philipp Beckerle; Stephan Rinderknecht (Sensors, 2019)

Robotic Leg Illusion: System Design and Human-in-the-Loop Evaluation. - Dimitri Penner; Anna M. H. Abrams; Philipp Overath; Joachim Vogt 002; Philipp Beckerle (IEEE Trans. Hum. Mach. Syst., 2019)

Can Wearable Haptic Devices Foster the Embodiment of Virtual Limbs? - Jakob Fröhner; Gionata Salvietti; Philipp Beckerle; Domenico Prattichizzo (IEEE Trans. Haptics, 2019)

A Stiffness-Fault-Tolerant Control Strategy for an Elastically Actuated Powered Knee Orthosis. - Rodrigo J. Velasco-Guillen; Victor Grosu; Víctor A. Carmona-Ortiz; Bram Vanderborght; Dirk Lefeber; Josep M. Font-Llagunes; Philipp Beckerle (BioRob, 2020)

Wearable Vibrotactile Interface Using Phantom Tactile Sensation for Human-Robot Interaction. - Julian Seiler; Niklas Schäfer; Bastian Latsch; Romol Chadda; Markus Hessinger; Philipp Beckerle; Mario Kupnik (EuroHaptics, 2020)

A Prosthetic Shank With Adaptable Torsion Stiffness and Foot Alignment. - Jochen Schuy; Nadine Stech; Graham Harris; Philipp Beckerle; Saeed Zahedi; Stephan Rinderknecht (Frontiers Neurorobotics, 2020)

Human Lower Limb Joint Biomechanics in Daily Life Activities: A Literature Based Requirement Analysis for Anthropomorphic Robot Design. - Martin Grimmer 001; Ahmed A. Elshamanhory; Philipp Beckerle (Frontiers Robotics AI, 2020)

Benchmarking Wearable Robots: Challenges and Recommendations From Functional, User Experience, and Methodological Perspectives. - Diego Torricelli; Carlos Rodriguez Guerrero; Jan F. Veneman; Simona Crea; Kristín Briem; Bigna Lenggenhager; Philipp Beckerle (Frontiers Robotics AI, 2020)

Assessing the Involvement of Users During Development of Lower Limb Wearable Robotic Exoskeletons: A Survey Study. - Anna L. Ármannsdóttir; Philipp Beckerle; Juan C. Moreno 001; Edwin H. F. van Asseldonk; Maria Teresa Manrique-Sancho; Antonio J. del Ama; Jan F. Veneman; Kristín Briem (Hum. Factors, 2020)

A Human-Computer Interface Replacing Mouse and Keyboard for Individuals with Limited Upper Limb Mobility. - Diyar Gür; Niklas Schäfer; Mario Kupnik; Philipp Beckerle (Multimodal Technol. Interact., 2020)

Embodiment, Presence, and Their Intersections: Teleoperation and Beyond. - Nicolas Nostadt; David A. Abbink; Oliver Christ; Philipp Beckerle (ACM Trans. Hum. Robot Interact., 2020)

Human-Robot Body Experience - Philipp Beckerle (Springer, 2021)

Comparing Online Robot Joint Space Trajectory Optimization for Task Space Applications. - Maximilian Krämer; Rodrigo J. Velasco-Guillen; Philipp Beckerle; Torsten Bertram (AIM, 2021)

A high-accuracy, low-budget Sensor Glove for Trajectory Model Learning. - Robin Denz; Rabia Demirci; Mehmet Ege Cansev; Adna Bliek; Philipp Beckerle; Elmar Rueckert; Nils Rottmann (ICAR, 2021)

Interactive Human-Robot Skill Transfer: A Review of Learning Methods and User Experience. - Mehmet Ege Cansev; Honghu Xue; Nils Rottmann; Adna Bliek; Luke E. Miller; Elmar Rueckert; Philipp Beckerle (Adv. Intell. Syst., 2021)

Feel-Good Requirements: Neurophysiological and Psychological Design Criteria of Affective Touch for (Assistive) Robots. - Mehmet Ege Cansev; Daniel Nordheimer; Elsa Andrea Kirchner; Philipp Beckerle (Frontiers Neurorobotics, 2021)

Adaptation Strategies for Personalized Gait Neuroprosthetics. - Anne D. Koelewijn; Musa L. Audu; Antonio J. del Ama; Annalisa Colucci; Josep M. Font-Llagunes; Antonio Gogeascoechea; Sandra K. Hnat; Nathan S. Makowski; Juan C. Moreno 001; Mark J. Nandor; Roger D. Quinn; Marc Reichenbach; et al. (Frontiers Neurorobotics, 2021)

Peripheral Neuroergonomics - An Elegant Way to Improve Human-Robot Interaction? - Alessandro Del Vecchio; Claudio Castellini; Philipp Beckerle (Frontiers Neurorobotics, 2021)

Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping. - Rustam Galljamov; Arjang Ahmadi; Omid Mohseni; André Seyfarth; Philipp Beckerle; Maziar Ahmad Sharbafi (IEEE Robotics Autom. Lett., 2021)

A Stiffness-Fault-Tolerant Control Strategy for a Redundant Elastic Actuator. - Rodrigo J. Velasco-Guillen; Raphaël Furnemónt; Tom Verstraten; Philipp Beckerle (AIM, 2022)

Personalizable Alternative Mouse and Keyboard Interface for People with Motor Disabilities of Neuromuscular Origin. - Daniel Andreas; Hannah Six; Adna Bliek; Philipp Beckerle (ASSETS, 2022)

Experimental Evaluation of a Stiffness-Fault-Tolerant Control Strategy on an Elastic Actuator for Wearable Robotics. - Rodrigo J. Velasco-Guillen; Victor Grosu; Bram Vanderborght; Josep M. Font-Llagunes; Philipp Beckerle (BioRob, 2022)

A Literature-Based Perspective on Human-Centered Design and Evaluation of Interfaces for Virtual Reality in Robotics. - Chenxu Hao; Anany Dwivedi; Philipp Beckerle (HFR, 2022)

Modeling Human Behavior in Human-Robot Interactions. - Arkady Zgonnikov; Serge Thill; Philipp Beckerle; Catholijn M. Jonker (HRI, 2022)

Ultrasensitive and low-cost insole for gait analysis using piezoelectrets. - Omar Ben Dali; Youssef Sellami; Sergey Zhukov; Heinz von Seggern; Niklas Schäfer; Bastian Latsch; Gerhard M. Sessler; Philipp Beckerle; Mario Kupnik (IEEE SENSORS, 2022)

Design of a Wearable Haptic Device to Mediate Affective Touch with a Matrix of Linear Actuators. - Nikolas Ferguson; Mehmet Ege Cansev; Anany Dwivedi; Philipp Beckerle (SYSINT, 2022)

Editorial: Embodiment and Co-adaptation Through Human-Machine Interfaces: At the Border of Robotics, Neuroscience and Psychology. - Philipp Beckerle; Claudio Castellini; Bigna Lenggenhager; Strahinja Dosen (Frontiers Neurorobotics, 2022)

Human-Robot Body Experience: An Artificial Intelligence Perspective. - Philipp Beckerle (Künstliche Intell., 2022)

A Systematic Review of Sensor Fusion Methods Using Peripheral Bio-Signals for Human Intention Decoding. - Anany Dwivedi; Helen Groll; Philipp Beckerle (Sensors, 2022)

Design and Implementation of a Personalizable Alternative Mouse and Keyboard Interface for Individuals with Limited Upper Limb Mobility. - Daniel Andreas; Hannah Six; Adna Bliek; Philipp Beckerle (Multimodal Technol. Interact., 2022)

In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based Approach. - Martin Rohrmüller; Philipp Beckerle; Knut Graichen; Monica Malvezzi; Maria Pozzi (Humanoids, 2023)

An EMG-Based Objective Function for Human-in-the-Loop Optimization. - María Alejandra Díaz; Sander De Bock; Philipp Beckerle; Jan Babic; Tom Verstraten; Kevin De Pauw (ICORR, 2023)

Low Creep 3D-Printed Piezoresistive Force Sensor for Structural Integration. - Bastian Latsch; Omar Ben Dali; Romol Chadda; Niklas Schäfer; Alexander A. Altmann; Martin Grimmer 001; Philipp Beckerle; Mario Kupnik (SENSORS, 2023)

A hierarchical sensorimotor control framework for human-in-the-loop robotic hands. - Lucia Seminara; Strahinja Dosen; Fulvio Mastrogiovanni; Matteo Bianchi 002; Simon J. Watt; Philipp Beckerle; Thrishantha Nanayakkara; Knut Drewing; Alessandro Moscatelli; Roberta L. Klatzky; Gerald E. Loeb (Sci. Robotics, 2023)

A Commentary on Towards autonomous artificial agents with an active self: Modeling sense of control in situated action. - Chenxu Hao; Nele Russwinkel; Daniel F. B. Haeufle; Philipp Beckerle (Cogn. Syst. Res., 2023)

Human-in-the-Loop Optimization of Wearable Robotic Devices to Improve Human-Robot Interaction: A Systematic Review. - María Alejandra Díaz; Matthias Voß; Arnau Dillen; Bruno Tassignon; Louis L. Flynn; Joost Geeroms; Romain Meeusen; Tom Verstraten; Jan Babic; Philipp Beckerle; Kevin De Pauw (IEEE Trans. Cybern., 2023)

Human-Exoskeleton Interaction Force Estimation Based on Quasi-Direct Drive Actuators. - Julian Seiler; Niklas Schäfer; Guoping Zhao; Bastian Latsch; Martin Grimmer 001; Philipp Beckerle; Mario Kupnik (BioRob, 2024)

Force Myography Sensors for Gait Phase Detection. - Bastian Latsch; Niklas Schäfer; Stephan Schaumann; Steffen Graffe; Asghar Mahmoudi; Martin Grimmer 001; Alexander A. Altmann; Omar Ben Dali; Julian Seiler; Stephan Rinderknecht; Philipp Beckerle; Mario Kupnik (IEEE SENSORS, 2024)

Modular Wireless Inertial Motion Capture System with Self-Calibration. - Niklas Schäfer; Bastian Latsch; Julian Seiler; Lukas Hugo Hammen; Lars Stein; Felix Herbst; Philipp Beckerle; Mario Kupnik (IEEE SENSORS, 2024)

ASDF: Assembly State Detection Utilizing Late Fusion by Integrating 6D Pose Estimation. - Hannah Schieber; Shiyu Li; Niklas Corell; Philipp Beckerle; Julian Kreimeier; Daniel Roth 001 (ISMAR, 2024)

Networked Systems Diagnostics: A Fusion of Failure Mode and Effects Analysis and a Delphi Expert Study. - Yongxu Ren; Felix Deichsel; Valentin Hopf; Jürgen Seiler; André Kaup; Philipp Beckerle (SMC, 2024)

Intuitive and versatile bionic legs: a perspective on volitional control. - Matthias Voß; Anne D. Koelewijn; Philipp Beckerle (Frontiers Neurorobotics, 2024)

Implementing social and affective touch to enhance user experience in human-robot interaction. - Mehmet Ege Cansev; Alexandra J. Miller; Jeremy D. Brown; Philipp Beckerle (Frontiers Robotics AI, 2024)

A Wearable Bidirectional Human-Machine Interface: Merging Motion Capture and Vibrotactile Feedback in a Wireless Bracelet. - Julian Kindel; Daniel Andreas; Zhongshi Hou; Anany Dwivedi; Philipp Beckerle (Multimodal Technol. Interact., 2024)

How Positioning Wearable Haptic Interfaces on Limbs Influences Virtual Embodiment. - Anany Dwivedi; Shihan Yu; Chenxu Hao; Gionata Salvietti; Domenico Prattichizzo; Philipp Beckerle (IEEE Trans. Haptics, 2024)

A Multimodal Bracelet to Acquire Muscular Activity and Gyroscopic Data to Study Sensor Fusion for Intent Detection. - Daniel Andreas; Zhongshi Hou; Mohamad Obada Tabak; Anany Dwivedi; Philipp Beckerle (Sensors, 2024)

Conceptualizing the Integration of Cognitive and Physical Models to Enable Continuous Human-Robot Interaction. - Chenxu Hao; Nele Russwinkel; Daniel F. B. Haeufle; Philipp Beckerle (CogSIMA, 2025)

Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance. - Niklas Schäfer; Julian Seiler; Bastian Latsch; Mario Kupnik; Philipp Beckerle (IEEE Trans. Haptics, 2025)