Research

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CV of Richard F. ff. Weir, Ph.D.

Personal details

Director
Biomechatronics Development Laboratory
Rehabilitation Institute of Chicago
Northwestern University
345 E Superior Street
60611 Chicago, IL, USA
Tel: 312-228-1563
Lab Tel: 312-238-1562
E-mail: rweir@northwestern.edu

Research Intrests

My research interests are in the fields of neural engineering, biomechatronics and rehabilitation, specifically, implantable bioelectric sensors, artificial arm/hand systems, manipulators, robotics and their control. The primary focus of this research is the design of upper-limb prosthetic components and their associated control. The current focus of this work is the development of upper-arm components for the Prototype 1 arm and the Intrinsic hand for the Prototype 2 arm of the DARPA Revolutionizing Prosthetics initiative. We are also developing externally-powered partial hand prostheses for clinical use as well as a more clinically viable multiple degree-of-freedom externally-powered prosthetic hands and 2 DOF wrist for persons with amputations proximal to the wrist. In the area of upper-limb control my research is directed towards the long-term goal of achieving meaningful, simultaneous, multi-functional, control of prosthetic arms and/or hands. This work is currently directed at developing physiologically appropriate microprocessor based controllers based on “BION®-like” implantable myoelectric sensors (IMES) for multiple degree-of-freedom prosthetic arm control. Work is also ongoing in the area of series elastic, or compliant, motors/drives/actuators for use in prosthetic components in particular a compliant elbow and wrist. In addition I have a project to develop a powered humeral rotator for upper-limb prosthetic applications.

Scientific education

1995 Ph.D. Biomedical Engineering, Northwestern University, Evanston, IL.
  Dissertation: Direct Muscle Attachment as a Control Input for a Position Servo Prosthesis Controller.

1989 M.Sc. Biomedical Engineering, Northwestern University, Evanston, IL.
  Thesis: An Externally-Powered, Myo-electrically Controlled Synergetic Prosthetic Hand for the Partial Hand Amputee.

1983 BAI(Hons) Microelectronics & Electrical Engineering, Trinity College, Dublin, Ireland (Major).

1983 BA Mathematics, Trinity College, Dublin, Ireland (Minor).

Honors and Awards

2007 Awarded POPULAR MECHANICS 2007 Breakthrough Innovator Award for the design of the Proto 2 myoelectric arm as part of the Revolutionizing Prosthetics 2009 (RP2009) team led by John Hopkins University Applied Physics Laboratory (JHUAPL).

2003 Plenary Speaker, Rehabilitation Engineering Track, 29th Annual Northeast Bioengineering Conference, New Jersey Institute of Technology, New Jersey, March 22nd - 23rd, 2003.

2002 Awarded US Patent #60/432,676: Weir, R. F. ff., and Grahn, E. G., (2002): A New Externally-Powered Hand Prosthesis Suitable for the Restoration of Prehension of Persons with Amputations at or more Proximal to the level of the Meta-carpophalangeal Joint. United States Provisional Patent, Number: 60/432,676, Filed December 12th, 2002.

2002 Invited Speaker, “Prosthetics Hardware”, Myoelectric Controls Conference (MEC2002), Fredericton, New Brunswick, Canada, August 19th - 23rd, University of New Brunswick, New Brunswick, Canada.

1999 Recipient of a 3 year Career Development Award (B0928CD) “Rehabilitation Research And Development Of Gait Instrumentation And Upper-Extremity Prostheses.” from the Department of Veterans Affairs.

1998 Awarded US Patent #5,831,937: Weir, R. F. ff., Childress, D. S., and Licameli, J. N., (1998): Portable Ranging System for Analyzing Gait. United States Patent, Number: 5,831,937, Date of Patent: November 3rd, 1998.

1995 Recipient Annual Postdoctoral Research Fellowship awarded by the National Institute on Disability and Rehabilitation Research (NIDRR), US Department of Education.

1992, 1993, 1994 Recipient Annual Predoctoral Fellowship awarded by the National Institute on Disability and Rehabilitation Research (NIDRR), US Department of Education.

1989 Winner Easter Seal US National Student Design Competition for “The Design and Development of a Synergetic Partial Hand Prosthesis with Powered Fingers”.

Grants

CURRENT FEDERALLY FUNDED RESEARCH PROJECTS

(2005) A Model-Based Approach to Multifunction Artificial Hand Control (A4207I). PIs: Murray, W. & Weir, R.F.ff. Role Co-PI. 2 Year special collaborative grant solicitation Submitted 06/05 to Department of Veteran’s Affairs RR&D – Funded April 2006. The primary objective of this research is to implement a 3D, computer graphics based model of the upper extremity to develop a control system for a multifunction artificial hand. A secondary objective of this research is to establish a strong collaboration between Dr. Wendy Murray, a principal investigator at the VA Palo Alto Health Care System Center of Excellence on Bone and Joint Rehabilitation and Dr. Richard Weir, a principal investigator at the Jesse Brown VAMC (Chicago, IL). This collaboration will highlight both investigators’ interests in understanding the control of upper extremity and hand movement. It will also serve as a means to integrate their complementary skills in the areas of biomechanical modeling (Dr. Murray) and the design and control of prosthetic devices for the upper limb (Dr. Weir). This work will lead to continual collaboration between the two VA investigators on the application of computer simulation to the design of upper extremity prosthesis.

Implantable Sensors to Revolutionize Control of Prostheses. Subcontract to the Applied Physics Laboratory of John Hopkin’s University (JHU/APL). 2005-pending: 4 year DARPA initiative - Revolutionizing Prosthetics BAA Role PI of NUPRL Subcontract. On this subcontract we were tasked with working with APL and Otto Bock, Vienna, to build a first generation prototype arm, Prototype 1, using “off-the-shelf” technology and to deliver it in the first year. In addition, working with Otto Bock, Vienna, New world Associates and APL we are tasked to complete an intrinsically actuated electromechanical hand solution capable of meeting the full DARPA specifications as part of the Prototype 2 arm. The Intrinsic hand is an 18 DOF hand wrist system. Our other major role in this DARPA initiative is to accelerate the development, testing and integration of a 16 channel implantable myoelectric sensor system.

(2005) Compliant Wrist For Upper-Extremity Prosthetics Applications (A3962R). Role PI. 3 Year Merit Review Proposal, Submitted 06/04 to Department of Veterans Affairs - Funded October, 2005 The goal of this project is to build a new compliant externally-powered two degree-of-freedom (DOF) prosthetic wrist for use in upper-extremity prostheses. We believe that a small two DOF wrist mechanism capable of high speed and torque and that appears compliant when interacting with the environment could substantially improve the function and reliability of upper-limb prostheses for persons with arm amputations, in particular for persons with trans-humeral arm amputations. Making DC electric actuators appear compliant in their real-world interactions will provide prostheses users with electric–powered prosthetic components that interact with objects in a more life-like fashion and devices that will be more robust and less prone to mechanical failure. Electrically–powered prosthetic components use DC electric motors for their drive systems. Such actuators make for very rigid and stiff prosthetic components. This rigidity translates into poor mechanical robustness and a lack of durability in the field: i.e. maintenance is an issue. A compliant electro-mechanical actuator, unlike current stiff electro-mechanical actuators, would provide impact tolerance. Impact tolerance occurs because the compliance of the actuator absorbs the energy from the external load, which allows the actuator control system to minimize peak impact power.

(2005) 1 F31 HD049319-01 Ruth L. Kirchstein National Research Service Award, National Institutes of Health (NICHD/GMB) Fellow: Abidemi B. Ajiboye, My Role: Sponsor. Funded Jan. 1, 2005.

(2003) Multifunction Prosthesis Control using Implanted Sensors (1 R01 EB01672-01), Role PI. 5 Year Bioengineering Research Partnership (BRP) - Submitted 01/23/03 to National Institutes of Health (NIBIB) – Funded September, 2003. This is a project in which we propose to develop a multichannel/multifunction prosthetic hand/arm controller system capable of receiving and processing signals from up to sixteen “BION®-like” implanted bipolar differential electromyographic (EMG) electrodes. An external prosthesis controller will use fuzzy-logic to decipher user intent from telemetry sent over a transcutaneous magnetic link by the implanted electrodes. The same link will provide power for the implanted electrodes.
  • Northwestern University will develop the multifunctional prosthesis controller and perform the animal experiments necessary to demonstrate the implanted devices.
  • Rehabilitation Institute of Chicago will perform animal experiments and help with human subject experiments.
  • Illinois Institute of Technology will develop individually addressable integrated circuit EMG sensor packages. Each sensor will be housed in BION® hermetically sealed packages provided by the Alfred E. Mann Foundation.
  • Sigenics Corp. will develop the transcutaneous telemetry link, (or reader). A custom-designed application-specific integrated circuit (ASIC) will “strip” the data from the link’s telemetry and send it to the prosthesis controller. Powering of the implanted electrodes will also be controlled by the ASIC. The external coil of the inductive link will be laminated into a prosthetic socket. Development of each component of the system will occur in parallel. Throughout years 1 & 2 fine wire studies with human subjects will be used to develop multifunctional prosthesis control algorithms. Initial silicon for the implanted electrodes and reader ASIC will be ready by end of year 1. Packaged electrodes ready for animal testing and a prototype reader will be ready the middle of year 2. Year 3 is expected to be spent going through initial system integration and iterative test-redesign cycles. A definitive design is anticipated to be ready for final testing and tweaking by the middle of year 4. The final year will be spent conducting the final systems integration.

PREVIOUS FEDERALLY FUNDED RESEARCH PROJECTS

(2005) Hyper-Reinervation to Improve Myoelectric Prosthesis Control in Shoulder Disarticulation (N01-HD-5-3402). Subcontract to RIC on NIH NICHD Contract. PI: Todd Kuiken, MD, PhD. Role: Co-Investigator (PI of Subcontract). June 1, 2005-May 31, 2006. This is a project to develop a system capable of providing force feedback directly to the skin of a woman who has undergone targeted sensory reinnervation. This new system is based on the Otto Bock Sensor hand which already has force and vibration sensors. The sensor hand has an onboard microprocessor and Otto Bock has agreed to release the proprietary information and collaborate on this project. This will provide data on the force the hand is applying to an object and vibration (the slip sensor component). A small compliant actuator will be developed that is wearable by the subject. This will likely still involve a compliant ‘plunger’ actuator; however it will be smaller and lay on the side of the socket so that there is an acceptable profile or contour to the socket. The initial controller will be PC based, however we would hope that a simple algorithm for control could be incorporated into the LTI Boston Elbow controller. If not, a separate, parallel control would be developed that could be mounted in the arm.

(2003) Technology Transfer of an Externally-Powered Trans-Metacarpal Hand Prosthesis (A3028R). Role Co-PI. 3 Year Merit Review Proposal, Submitted 10/02 to Department of Veterans Affairs - July 2003 – June 2006. The purpose of this project is to develop into a commercially realizable form, a prototype externally-powered trans-metacarpal hand prosthesis developed by our laboratory using VARR&D funds. A company, Variety Ability Systems Inc. (VASI), Toronto, Canada has expressed an interest in developing this prototype into a commercial product. The expected outcome is the successful transfer of our current laboratory prototype into a viable commercial product. The current laboratory prototype mechanism needs to be refined as a prelude to a clinical evaluation. In particular the current backlock/clutch mechanism, which is a VASI component needs to be redesigned/reengineered to handle higher torques and the VASI controller needs to be modified to fit into the hand mechanism. Once this work has been done a series of trial fittings will be performed to allow us to ascertain robustness of the device in actual use outside of laboratory conditions. An aspect of the work, which we will also explore further in this project, is the development of an appropriate prosthetic interface that will preserve the residual motion of the wrist. Ideally we would like to see a prosthetic interface that consists of a self-suspending silicone sleeve-socket to which the hand mechanism is attached. An outer cosmetic glove would then be rolled over this inner silicone sleeve socket. As envisioned the silicone sleeve socket and cosmetic glove would then be rolled on and off together in a fashion similar that used in donning and doffing trans-tibial silicone suspension sleeves.

(2004) 1 R13 EB004819-01 9th International Conference on Rehabilitation Robotics (ICORR 2005), National Institutes of Health (NIBIB/NICHD) PI: Jim Patton, My Role: Co-Investigator.

(2004) Whitiker Foundation in support of the 9th International Conference on Rehabilitation Robotics (ICORR 2005). PI: Jim Patton, My Role: Co-Investigator. October 7th, 2004

(2001) Development of a Four Degree-of-Freedom Hand (A2364R). Role: Co-PI 3 Year Merit Review Proposal, Submitted 4/00 to Department of Veterans Affairs - Funded Apr. 2001. The goal of this project is to develop and evaluate a four degree-of-freedom prosthetic hand and controller for use by persons with amputations at or proximal to the wrist. At issue is the need for a multi-functional hand prosthesis to achieve our goal of coordinated control of individual digits on an artificial hand. Given the inherent complexity of the natural hand we believe that limiting the design of this hand to four degrees-of-freedom (DOF) is an acceptable compromise that will allow most commonly used hand prehension patterns to be attained. The four degrees-of-freedom that will be implemented are:
  • Flexion-extension of the index finger;
  • Flexion-extension of the middle, ring, and little fingers together;
  • Flexion-extension of the thumb;
  • Adduction-abduction of the thumb;
For the purpose of this project it is proposed to develop a myoelectric controller based on fuzzy-logic pattern recognition to demonstrate the multi-functional aspects of the device.

(1999) Rehabilitation Research and Development of Gait Instrumentation and Upper-Extremity Prostheses. 3 Year Rehabilitation Research Career Development Award (B0928CD), Submitted 2/99 to Department of Veterans Affairs – Expired July, 2002.
  • To develop an easily controlled multi-functional prostheses for upper-limb amputees. Our upper-limb work has been directed towards the long-term goal of achieving meaningful, simultaneous, multi-functional, control of a prosthetic arm or hand. The current focus of this work is the development of a powered finger hand for clinical use. In the longer term this hand may be controlled by surgically created miniature muscle/tendon interfaces.
  • To develop low-cost tools for the evaluation of pathological gaits - specifically amputee gait. In the area of lower-limb pathological gait diagnosis and measurement, our work involves the development of portable systems which measure a person's instantaneous forward velocity. From the instantaneous velocity profile measures such as: average walking speed, cadence, stride length, left & right step length, time to steady-state walking, and peak-to-peak velocity fluctuation, etc. can be obtained. These systems have applications in the area of outcome measures for lower-limb joint implant surgery, surgical procedures used to correct gait anomalies, lower limb prosthesis alignment, and monitoring the rehabilitation of persons with gait pathologies.

(1999) Development of an Externally Powered Prosthetic Hand for Partial-Hand Amputees (A2263-RC). 2 Year Merit Review Proposal, Submitted 4/98 to Department of Veterans Affairs – Expired Jan. 2001. The goal of the project was to develop an externally powered prosthetic hand for persons with trans-metacarpal amputations. At this level of amputation all except the very simplest function of the hand is lost. However, the wrist is usually still functional and its motions are extremely valuable in positioning the hand in space. Preservation of the wrist's motion maintains the ability to position the hand in space; this ability is critical to maintaining overall function. In the past there have not been prosthetic components that were functional enough or that would fit gracefully into the space available. We propose to build upon our previous experience to develop a new artificial hand that will be capable of developing 12lbsf of pinch, have a width of opening of 3 1/2" and travel at rates in excess of 2 radians/sec. Myoelectric signals from superficial intrinsic muscles of the hand will be used to control the device in partial hand fittings. This prosthesis will be applicable to prosthetic restoration of prehension (with cosmesis) in partial hand, and wrist disarticulation amputees as well as the more conventional below elbow fitting. Being light in weight it will also have application in the fitting of persons with high level transhumeral amputations.

OTHER FEDERALLY FUNDED RESEARCH PROJECTS

Projects Funded by the Department of Veterans Affairs

(1996) Generalized EPP Position Controller for Electric-Powered Upper-Limb Prosthesis (A2087-RA), 3 Year Merit Review Proposal, Submitted 4/96 to Department of Veterans Affairs. PI: D. S. Childress, My Role: Research Engineer

(1993) Direct Muscle Attachment: Multifunctional Control of Hands & Arms (A306-4DC), 3 Year Merit Review Proposal, Submitted 4/93 to Department of Veterans Affairs. PI: D. S. Childress, My Role: Biomedical Engineer

(1990) New Control Applications for Upper-Limb Prostheses (A306-2DA/A521-2DA), 3 Year Merit Review Proposal, Submitted 4/90 to Department of Veterans Affairs. PI: D. S. Childress, My Role: Biomedical Engineer

(1987) Improved Upper-Limb Prosthetics Development Program-Development of Powered Prosthetic Fingers (A306-2A). 3 Year Merit Review Proposal, Submitted 4/87 to Department of Veterans Affairs. PI: D. S. Childress, My Role: Research Assistant

Projects Funded by the Department of Education

– National Institute For Disability Research And Rehabilitation (NIDRR) [Grant #H133E980023]. Application “Rehabilitation Engineering Center in Prosthetics and Orthotics” dated August 1998 Funded for 5 years beginning October, 1998. PI: D. S. Childress, My Role: Project Director: Development of a Portable, Real-Time, 3-D Single Marker Gait Evaluation System

Teaching Experience

1997-present Adjunct Faculty - Fundamentals of Biomaterials for Prosthetists and Orthotists, Fall & Winter semester, (12 lecture course each semester), Northwestern University Prosthetics and Orthotics School (NUPOC).

2004 Guest Lecturer – BMD ENG 495 Biomedical Robotics, May 5th & 7th, 2004. Spring Quarter Department of Biomedical Engineering, Northwestern University.

2004-present Co-Instructor – BMD ENG 365 Human Limbs and Their Artificial Replacements, Winter Quarter Department of Biomedical Engineering, Northwestern University.

2003 PBL Tutor – Problem Based Learning Block 103, Group 21, Northwestern University Feinberg School of Medicine, Winter Quarter, 2003.

2003 Guest Lecturer - BMD ENG 365 Human Limbs and Their Artificial Replacements, March 2003, Winter Quarter, Department of Biomedical Engineering, Northwestern University

2002 Guest Lecturer – BMD ENG 495 Biomedical Robotics, May 22nd, 2002. Spring Quarter Department of Biomedical Engineering, Northwestern University.

2002 Co-Instructor – BMD ENG 365 Human Limbs and Their Artificial Replacements, Winter Quarter Department of Biomedical Engineering, Northwestern University.

2001 Guest Lecturer - 765(BME)-C95 Human Limbs and Their Artificial Replacements, February 28th & March 2nd 2001, Winter Quarter, Department of Biomedical Engineering, Northwestern University.

2000 Guest Lecturer – 765(BME)-C66: Biomechanics of Movement, May 18th, 2000, Spring Quarter, Department of Biomedical Engineering, Northwestern University.

1999 Guest Lecturer – 765(BME)-C66: Biomechanics of Movement, May 13th, 1999, Spring Quarter. Department of Biomedical Engineering, Northwestern University.

1999 Guest Lecturer – PBL 104 Problem Based Learning, in the Structure/Function Course for First Year Medical Students, Northwestern University Medical School, May 3rd, 1999.

1998 Guest Lecturer - 765(BME)-C95 Human Limbs and Their Artificial Replacements. Department of Biomedical Engineering, Northwestern University.

1997 Guest Lecturer - Problem Based Learning, in the Structure/Function Course for First Year Medical Students, Northwestern University Medical School.

1996 Guest Lecturer - Externally Powered Prostheses, Upper and Lower-Limb Prosthetics and Orthotics for Physicians and Surgeons - 723, Section B, Northwestern University Prosthetics and Orthotics School (NUPOC).

1994 Guest Lecturer - 765(BME)-C65 Control of Human Limbs and Their Artificial Replacements, Department of Biomedical Engineering, Northwestern University.

Students

Current

Alex Birdwell

Jeff Christensen

Jeff Schroeder

Former

A. Bolu Aijiboye, Ph.D.

Todd Farrell, Ph.D.

Jon Sensinger, Ph.D.

COURSES, SESSIONS, PANELS, SYMPOSIA

Reviewer, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sheraton Hotel, San Diego, California, USA October 29th - November 2nd, 2007.

Reviewer and Invited Session Contributor, Session 6.1.2 IS: 29th Annual International Conference of the IEEE Engineering in Medicine Society (EMBS) Lyon, France, August 23rd – 26th, 2007.

Reviewer and Session Chair, 10th International Conference on Rehabilitation Robotics, Noordwijk, The Netherlands, June 13th – 15th, 2007.

Reviewer and Session Chair, “Orthopaedics and Rehabilitation Engineering I”, Biomedical Engineering Society Meeting (BMES), Chicago, IL, October 12, 2006.

Symposium Organizer and Chair, The Role of Instrumentation in Prosthetics and Orthotics. Invited Symposium. 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, 2004.

Panelist, Debate and Round table Discussion: “What is Neural Engineering?” Featuring: Elliot Roth, MD, Enrico Mugniani, MD, W. Zev Rymer, MD, PhD, Edward Colgate, PhD, John Troy, PhD, Richard Weir, PhD. Neural Engineering Workshop, Chicago Campus, Northwestern University, Chicago Il, April 30th, 2004.

Sholas, M., Malas, B., Carls, L., Weir, R. F. ff., Gaebler-Spira, D. J., (2003): Pediatric Orthotics: A Practical and Outcome Driven Discussion on Orthotic Prescription and Evaluation. M108, October 9, 8:30am-10:00am, Educational Program of the 64th Annual Assembly of the American Academy of Physical Medicine & Rehabilitation (AAPM&R), Hilton Chicago, Chicago, Illinois, October 9th – 12th, 2003.

Session Chair, 5.5.4 Assistive Devices and Prostheses. 25th Silver Anniversary International Conference of the IEEE Engineering In Medicine and Biology Society (EMBS), Cancun, Mexico, September 17th – 21st, 2003.

Session Chair, “Prosthetics Hardware”, Myoelectric Controls Conference (MEC2002), Fredericton, New Brunswick, Canada, August 19th - 23rd, University of New Brunswick, New Brunswick, Canada.

Complete List of Publications

INVITED BOOK CHAPTERS

Weir, R. F. ff., and Childress, D. S., (1996): Prostheses and Artificial Limbs, Invited Chapter in Encyclopedia of Applied Physics, Vol. 15, Trigg, G. L. (Editor), New York and Germany: VCH Publishers, Inc.

Weir, R. F. ff., and Childress, D. S., (1998): Motor Prostheses and the Lack of Physiologically Appropriate Feedback: Their function and connections with Manipulators, Robots, and other Human-Machine Systems. Invited Chapter for: Human and Machine Haptics, Section 3.21, Eds: M. Cutkosky & Srinivasan, (MIT Press) [Accepted 3/98].

Weir, R. F. ff., (2002): Robotics and Manipulators. Invited Chapter (Chapter 17) in: Clinician’s Guide to Assistive Technology, D. A. Olson and F. DeRuyter (Editors). St. Louis: Mosby, Inc., pp. 281 – 293.

Weir, R. F. ff. (2003): Design of Artificial Arms and Hands for Prosthetic Applications. Invited Chapter (Chapter 32) in Standard Handbook of Biomedical Engineering & Design. Myer Kutz, Editor, McGraw-Hill, New York, pp. 32.1 – 32.61.

Weir, R. F. ff., and Childress, D. S., (2004): Research Trends for the 21st Century. Invited Chapter, In Functional Restoration of Adults and Children with Upper Extremity Amputation, Robert H. Meier, III, MD and Diane J. Aitkins, OTR (Editors), Demos Medical Publishing Inc., New York.

Childress, D. S. and Weir, R. F. ff., (2004): Control of Limb Prostheses. Invited Chapter (Chapter 12) in Atlas of Amputations and Limb Deficiencies – Surgical, Prosthetic and Rehabilitation Principles (3rd Edition), Douglas G. Smith, MD, John W. Michael, MEd, CPO, and John H. Bowker, MD, (Editors) American Academy of Orthopaedic Surgeons (AAOS), Rosemont, Illinois.

Mussa-Ivaldi, F. A., Miller, L. E., Rymer, W. Z., and Weir., R. F. ff., (2005): Neural Engineering. Invited Chapter in "Neuroergonomics: The Brain at Work" Raja Parasuraman and Matthew Rizzo, Editors. Oxford University Press.

PEER REVIEWED PUBLICATIONS

Weir, R. F. ff., and Childress, D. S., (1997): A Portable, Low Cost, Real-Time, Clinical Gait Analysis System. IEEE Transactions on Rehabilitation Engineering, Vol. 5, No. 4, pp. 310 - 321, December.

Weir, R. F. ff., and Childress, D. S., (2001): Die Kineplastik zur Steuerung von Fremdkraftprothesen. Medizinisch-Orthopädische Technik. No. 121, pp. 9 - 12, January.

Weir, R. F. ff., Grahn, E. C., and Duff, S. J., (2001): A New Externally-Powered, Myoelectrically Controlled Prosthesis for Persons with Partial Hand Amputations at the Metacarpals. Journal of Prosthetics and Orthotics. Vol. 12, No. 2, pp. 26 - 31, June 2001.

Weir, R. F. ff., Heckathorne, C. W., and Childress D. S., (2001): Cineplasty as a Control Input for Externally Powered Prosthetic Components. Journal of Rehabilitation Research and Development. Vol. 38, No. 4, pp. 357 - 363, July/August 2001.

Al-angari, H. M., Weir, R F. ff., Heckathorne, C. W., Childress, D. S., (2003): A Two Degree-of-Freedom Microprocessor Based Extended Physiological Proprioception (EPP) Controller for Upper Limb Prostheses. Technology and Disability, Vol. 15, No. 2, pp. 113 – 127.

Farrell, T. R., Weir, R. F. ff., Heckathorne, C. W., Childress, D. S., (2005): The Effects of Static Friction and Backlash on Extended Physiological Proprioception (EPP) Control of a Powered Prosthesis. Journal of Rehabilitation Research and Development. Vol. 42, No. 3, pp. 327-342, May/June 2005.

Ajiboye, A. B., and Weir, R. F. ff., (2005): A Heuristic Fuzzy Logic Approach To EMG Pattern Recognition for Multifunctional Prosthesis Control. IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 13, No. 3, pp. 280 – 291, September.

Dario, P., Hogan, N., Krebs, H. I., Rahman, T., Patton, J., van der Loos, H.F. M., Harwin, W. S., Childress, D. S., Weir, R. F. ff., (2005): The Past, Present and Future of Rehabilitation Robotics: An Ethical View from Pioneers of the Research. Industry/Research News, IEEE Robotics and Automation Magazine Vol. 12, No. 4, December, pp.92-95, [Website: http://www.ncsu.edu/IEEE-RAS/RAS/ICORR05EthicsRTsept9.htm].

Sensinger J.W., and Weir, R. F. ff., (2006): Improved Torque Ripple Turning in Harmonic Drives through the Union of Two Existing Strategies. IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 4, pp. 457-461, August 2006.

Lowery, M. M., Weir, R. F. ff., Kuiken, T. A., (2006): Simulation of Intramuscular EMG Signals Detected Using Implantable Myoelectric Sensors (IMES). IEEE Transactions on Biomedical Engineering, Vol. 53, No. 10, pp. 1926 – 1933, Oct. 2006.

Onishi, K., Weir, R. F. ff., Kuiken, T. A., (2007): Neural Machine Interfaces for Controlling Multifunctional Powered Upper-Limb Prostheses. Expert Reviews in Medical Devices, vol. 4, No. 1, pp. 43-53, 2007.

Farrell, T., and Weir, R .F. ff., (2007): The Optimal Controller Delay for Multifunctional Prostheses. IEEE Transactions of Neural Systems and Rehabilitation Engineering, Vol. 15, No. 1, pp:111 – 118, March 2007.

Ajiboye A. B., Bogey R. A., Weir R. F. ff., (2007) "Muscle synergies in the scaling of hand grasp forces". Journal of Neurophysiology (Submitted Oct 2007 - ID# JN-01119-2007).

Farrell, T. R. and Weir, R. F. ff., (2007) “Controller-Induced Delay Based on Analysis Window Attributes for Multifunctional Prosthesis Control,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, (submitted: TNSRE-2007-00137.)

Ajiboye AB, Weir R. F. Ff. (2007) "Muscle synergies form a predictive framework for hand postures". Experimental Brain Research. (In preparation for Target Oct 2007.)

Sensinger, J. W. and Weir, R .F. ff., (2008). "User-Modulated Impedance Control of a Prosthetic Elbow in Unconstrained, Perturbed Motion." IEEE Transactions on Biomedical Engineering Vol. 55 No. 3 March 2008 pp: 1043-1055

Sensinger, J. W. and Weir, R .F. ff., (2008). "Modeling and Measurement of Rotational Stiffness in Trans-humeral Pseudarthrosis." IEEE Transactions on Neural Systems and Rehabilitation Engineering Vol. 16 No. 2 April 2008 pp: 184-190

Farrell, T. R. and Weir, R. F.,(2008) “A Comparison of Electrode Implantation and Targeting on Pattern Classification Accuracy for Prosthesis Control,” IEEE Transactions on Biomedical Engineering, Vol. 55, No. 9 Sept. 2008 pp: 2198-2211.

R. F. ff. Weir, P. R. Troyk, G. A. DeMichele, D. A. Kerns, J. F. Schorsch, H. Maas (2008): Implantable MyoElectric Sensors (IMES) for Intramuscular Electromyogram Recording. IEEE Transactions on Biomedical Engineering. (Accepted for publication TBME-00035-2008.R2)

PEER REVIEWED PROCEEDINGS

Weir, R. F. ff., and Childress, D. S., (1997): A New method of Characterizing Gait using a Portable, Real-time, Ultrasound Ranging Device. Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), Chicago, Illinois, October 30th - November 2nd, 1997, pp. 1810 - 1812.

Bertos, Y. A., Weir, R. F. ff., Heckathorne, C. W., Childress, D. S., (1997): Microprocessor Based E.P.P. Position Controller for Electric Powered Upper-Limb Prostheses. Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), Chicago, Illinois, October 30th - November 2nd, 1997, pp. 2311 - 2314.

Childress, D. S., and Weir, R. F. ff., (1997): The Gait Velocigram (GVG): A Graphical Representation of Walking. Workshop on Human Motion Analysis: Technical Advances and Clinical Applications. Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS), Chicago, Illinois, October 30th - November 2nd, 1997, pp. 2905 - 2908.

Weir, R. F. ff. and Ajiboye, A. B., (2003): A Multifunction Prosthesis Controller based on Fuzzy-Logic Techniques. Proceedings of the 25th Silver Anniversary International Conference of the IEEE Engineering In Medicine and Biology Society (EMBS), Cancun, Mexico, September 17th – 21st, 2003.

Weir, R. F. ff., Troyk, P. R., DeMichele, G., Kuiken, T., (2003): Implantable Myoelectric Sensors (IMES) for Upper-Extremity Prosthesis Control – Preliminary Work. Proceedings of the 25th Silver Anniversary International Conference of the IEEE Engineering In Medicine and Biology Society (EMBS), Cancun, Mexico, September 17th – 21st, 2003.

Lowery, M. M., Weir, R. F. ff., Kuiken, T. A., (2005): Simulation of Intramuscular EMG Signal Detection using Implantable MyoElectric Sensors (IMES). Proceedings of the 2nd International IEEE EMBS Conference on Neural Engineering, Washington D.C., USA, March 16-18, 2005. Winner Excellence in Neural Engineering Award, IEEE EMBS Conference on Neural Engineering, Washington D.C., March, 2005

Ajiboye, A. B., and Weir, R. F. ff., (2005): Fuzzy C-Means Clustering Analysis of the EMG Patterns of Six Major Hand Grasps. Proceedings of the 9th International IEEE Conference on Rehabilitation Robotics (IEEE ICORR 2005), Chicago, Illinois, June 28th-July 1st.

Farrell, T. R., and Weir, R. F. ff., (2005): Pilot Comparison of Surface vs. Implanted EMG for Multifunctional Prosthesis Control. Proceedings of the 9th International IEEE Conference on Rehabilitation Robotics (IEEE ICORR 2005), Chicago, Illinois, June 28th-July 1st.

Sensinger, J. W., and Weir, R. F. ff., (2005): Design and Analysis of a Non-backdrivable Series Elastic Actuator. Proceedings of the 9th International IEEE Conference on Rehabilitation Robotics (IEEE ICORR 2005), Chicago, Illinois, June 28th-July 1st.

Weir, R. F. ff., Troyk, P. R., DeMichele, G., Kerns, D., (2005): Technical Details of the Implantable Myoelectric Sensor (IMES) System for Multifunction Prosthesis Control. Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine Society (EMBS) – “Innovation from Biomolecules to Biosystems”, Shanghai International Convention Center, Shanghai, China, September, 1st - 4th, 2005.

Zhou, P., Lowry, M. M., Weir, R. F. ff., Kuiken, T. A., (2005): Elimination of ECG Artifacts from Myoelectric Prosthesis Control Signals Developed by Targeted Muscle Reinnervation. Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine Society (EMBS) – “Innovation from Biomolecules to Biosystems”, Shanghai International Convention Center, Shanghai, China, September, 1st - 4th, 2005.

Sensinger, J. W. and Weir, R. F. ff., (2006): Impedance Control Using a Compact Series Elastic Actuator. Proceedings of IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Beijing, China, August 2006.

Sensinger, J. W. and Weir, R. F. ff., (2006): Improvements to Series Elastic Actuators. Proceedings of IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Beijing, China, August 2006.

Sensinger, J. W. and Weir, R. F. ff., (2006): Non-backdrivable Impedance Control. Proceedings of the Workshop on Robotic Systems for Rehabilitation, Exoskeleton, and Prosthetics (Yoky Matsuoka & Bill Townend, Eds.,) at Robotics: Science and Systems, Philadelphia, PA, August 16-19, 2006.

DeMichele, G., Troyk, P., Kerns, D., Weir, R. F. ff., (2006): An Implantable Myoelectric Sensor Based Prosthesis Control System. Proceedings of the 28th Annual International Conference of the IEEE Engineering in Medicine Society (EMBS) New York, , August 30th - September 3rd, 2006.

Troyk, P., DeMichele, G., Kerns, D., Weir, R. F. ff., (2007): IMES: An Implantable Myoelectric Sensor. Session 6.3.1: Neural Stimulation 1, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine Society (EMBS) Lyon, France, August 23rd – 26th , 2007.

Weir, R. F. ff., (2007): “New Multifunctional Prosthetic Arm and Hand Systems", Session 6.1.2 IS: Modern Assistive Technologies, Proceedings of the 29th Annual International Conference of the IEEE Engineering in Medicine Society (EMBS) Lyon, France, August 23rd – 26th, 2007.

J. Baker, D. Yatsenko, J. F. Schorsch, R. F. ff. Weir, G. Clark, D. Hutchinson, and B. Greger (2008): Wirelessly Decoding Individuated Finger Movements Using Implantable Myoelectric Sensors (IMES). Neural Interfaces Conference (2008). Cleveland, Ohio, June 16th-18th

R. F. ff. Weir, J. F. Schorsch, P. R. Troyk, and G. A. DeMichele (2008): Multifunction Prosthesis Control Using Implanted MyoElectric Sensors (IMES). Proceedings of the XVIIth Congress of the International Society of Electrophysiology & Kinesiology (ISEK), Niagara Falls, Ontario, CA, June 18th – 21st 2008.

R. F. ff. Weir, P. R. Troyk, G. A. DeMichele, D. A. Kerns, J. F. Schorsch, H. Maas (2008): Multifunction Prosthesis Control Using Implanted MyoElectric Sensors. Proceedings of the Myoelectric Controls Conference (MEC2008), Fredericton, New Brunswick, Canada, August 12th – 15th 2008.

PEER REVIEWED ABSTRACTS

Weir, R. F. ff., (1989): The Design and Development of a Synergetic Partial Hand Prosthesis with Powered Fingers. Proceedings of the RESNA 12th Annual Conference, New Orleans, Louisiana, June 25th – 30th, pp. 473 - 474.

Weir, R. F. ff., and Childress, D. S., (1997): A Portable, Clinical Gait Analysis System for the Real-Time Evaluation of Gait Pathologies. Proceedings of the 21st Annual Meeting of the American Society of Biomechanics (ASB), Clemson, South Carolina, September 24th - 27th, 1997, pp.198 - 199.

Weir, R. F. ff., (1998): A Century of the Sauerbruch-Lebsche-Vanghetti Muscle Cineplasty: The US Experience. Proceedings of the 9th World Congress of the International Society for Prosthetics and Orthotics (ISPO), Amsterdam, Netherlands, June 28th - July 3rd, 1998, Sy94, pp. 200 - 203.

Bertos, Y. A., Weir, R. F. ff., Heckathorne, C. W., Childress, D. S., (1998): A Microprocessor Based E.P.P. Controller for Electric-Powered Prostheses. Proceedings of the 9th World Congress of the International Society for Prosthetics and Orthotics (ISPO), Amsterdam, Netherlands, June 28th - July 3rd, 1998, Fp63, pp. 339-341.

Weir, R. F. ff., and Childress, D. S., (1998): A Portable, Real-Time, Ultrasound Ranging Device for the Clinical Evaluation of Gait. Proceedings of the 9th World Congress of the International Society for Prosthetics and Orthotics (ISPO), Amsterdam, Netherlands, June 28th - July 3rd, 1998, Fp89, pp. 385 - 387.

Childress, D. S., Weir, R. F. ff., and Heckathorne, C. W. (1998): Integration of Below-Elbow Prostheses with the Human Body: Principles and Possibilities. Proceedings of the 9th World Congress of the International Society for Prosthetics and Orthotics (ISPO), Amsterdam, Netherlands, June 28th - July 3rd, 1998, Sy40.

Weir, R. F. ff., (1998): Design Issues for the Development of an Externally-Powered Partial-Hand Prosthesis. Proceedings of the 1998 ASME Mechanical Engineering Congress and Exposition, Anaheim, California, BED-Vol. 39, Advances in Bioengineering, pp. 313 - 314, November 15th - 20th, 1998.

Weir, R. F. ff., (1998): 3-Dimensional, Single Marker, Gait Analysis System. Proceedings of the 1998 ASME Mechanical Engineering Congress and Exposition, Anaheim, California, BED-Vol. 39, Advances in Bioengineering, pp. 403 - 404, November 15th - 20th, 1998.

Weir, R. F. ff., and Gaebler-Spira, D., (1999): Pilot study using Instantaneous Gait Velocity Analysis as an Outcome Measure in the Clinical Management of Children with Cerebral Palsy receiving Botulinum toxin A and Adults with Intrathecal Baclofen. Proceedings of the 11th Annual Meeting of the European Academy of Childhood Disability (EACD). The Senate House, University of London, England, October 21st to 23rd, 1999. Published in Journal of Developmental Medicine & Child Neurology, Supplement No. 81, October 1999, Vol. 41, p. 22.

Weir, R. F. ff., Childress, D. S., and Grahn, E. C., (2000): Development of Externally-Powered Prostheses for Persons with Partial Hand Amputations. Proceedings of the Chicago 2000 World Congress on Medical Physics and Biomedical Engineering. Track 16 Rehabilitation Engineering, Session MO-E325-4, Chicago, Illinois. July 23rd - 28th, 2000.

Weir, R. F. ff., and Childress, D. S. (2000): Portable Devices for the Clinical Measurement of Gait Performance and Outcomes" Proceedings of the Chicago 2000 World Congress on Medical Physics and Biomedical Engineering. Track 16 Rehabilitation Engineering, Session WE-CXH-120, Chicago, Illinois. July 23rd - 28th, 2000.

Weir, R. F. ff., (2000): One Microsecond Trigger Pulse Generator. Circuit Ideas, Electronics World, Vol. 106, No. 1774, p. 811, October 2000.

Weir, R. F. ff., and Childress, D. S. (2000): A Portable System for the Clinical Measurement of Gait Performance. Proceedings of the 12th Conference of the European Society of Biomechanics (ESB). Trinity College, Dublin, Ireland, p. 132, 27th - 30th August 2000, Editors: P. J. Prendergast, T. C. Lee, & A. J. Carr; Dublin: Royal Academy of Medicine in Ireland.

Weir, R. F. ff., (2002): Design of a Clinically Viable Multifunctional Prosthetic Hand. Invited Paper, Proceedings of the Myoelectric Controls Conference (MEC2002), Fredericton, New Brunswick, Canada, August 19th - 23rd, University of New Brunswick, New Brunswick, Canada, pp. 2-5.

Weir, R. F. ff., and Grahn, E. G., (2002): A Myoelectrically Controlled Prosthetic Hand for Transmetacarpal Amputations. Invited Paper, Proceedings of the Myoelectric Controls Conference (MEC2002), Fredericton, New Brunswick, Canada, August 19th - 23rd, University of New Brunswick, New Brunswick, Canada, pp. 6-9.

Farrell, T. R., Weir, R. F. ff., Heckathorne, C. W., Childress, D. S., (2002): Real-Time Computer Modeling of a Prosthesis Controller Based on Extended Physiological Proprioception (EPP). Proceedings of the Myoelectric Controls Conference (MEC2002), Fredericton, New Brunswick, Canada, August 19th - 23rd, University of New Brunswick, New Brunswick, Canada, pp.77-80.

Ajiboye, A. B., Weir, R. F. ff., Heckathorne, C. W., and Childress, D. S., (2002): Neurofuzzy Logic as a Control Algorithm for an Externally Powered Multifunctional Hand Prosthesis. Proceedings of the Myoelectric Controls Conference (MEC2002), Fredericton, New Brunswick, Canada, August 19th - 23rd, University of New Brunswick, New Brunswick, Canada, pp. 126-130.

Weir, R. F. ff., (2003): The Great Divide – The Human-Machine Interface: Issues in the Control of Prostheses, Manipulators, and other Human Machine Systems. Invited Paper, Proceedings of the 29th Annual Northeast Bioengineering Conference, New Jersey Institute of Technology, New Jersey, March 22nd - 23rd, 2003.

Ajiboye A. B., and Weir R. F. ff. (2004): EMG Pattern Classification for Controlling Trans-radial Myoelectric Hand Prostheses. Proceedings of the XVth Congress of the International Society of Electrophysiology & Kinesiology (ISEK), Boston, MA, June 18th – 21st, Abstract 312, p88.

Weir R. F. ff., Kuiken, T. A., and Ajiboye A. B., (2004): Implantable Myoelectric Sensors (IMES) for Upper-Extremity Prosthesis Control – Independence of Multiple Intra-Muscular EMGs. Proceedings of the XVth Congress of the International Society of Electrophysiology & Kinesiology (ISEK), Boston, MA, June 18th – 21st, Abstract 313, p89.

Weir R. F. ff., and Childress, D. S., (2004): The Role of Surgery in the Creation of Innovative Control Solutions for Multifunctional Prostheses. Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p15.

Weir R. F. ff., Kuiken, T. A., and Ajiboye A. B., (2004): Independence of Multiple Intra-Muscular EMGs for Implantable Myoelectric Sensors (IMES). Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p46.

Ajiboye A. B., Weir R. F. ff., and Heckathorne C. W., (2004): EMG Pattern Classification for Controlling Trans-radial Myoelectric Hand Prostheses. Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p47.

Weir R. F. ff., and Saha, D., (2004): Quantitative Measures for Use in Prosthetics and Orthotics. SY3B2 Quantitative Measures for Use in Prosthetics and Orthotics. Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p131.

Heckathorne C. W. and Weir R. F. ff., (2004): Test Fitting of a Prototype Electric-Powered Partial-Hand Prosthesis. Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p171.

Farrell T., and Weir R. F. ff., (2004): Extended Physiological Proprioception (EPP) Control of a Powered Elbow Prosthesis: The Effects of Non-Linearities. Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p272.

Weir R. F. ff., (2004): A New Externally-Powered Prosthetic Option for Persons with Transmetacarpal Amputations. Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p234.

Weir R. F. ff., (2004): A Robust Multifunctional Hand Prosthesis for Amputations Proximal to the Wrist Proceedings of the 11th World Congress of the International Society for Prosthetics & Orthotics (ISPO), Hong Kong, August 1st - 6th, p235.

Ajiboye A. B., Weir R. F. ff., (2005): Principal Component (PC) and Fuzzy C-Means (FCM) Cluster Analyses of the EMG of Six Major Grasp Patterns. Proceedings of the 15th Annual Neural Control of Movement Conference, Key Biscayne, FL, April 12 - April 17, 2005.

Heckathorne, C. W., and Weir, R. F. ff., (2005): Evaluation of a Prototype Electric-Powered Partial-Hand Prosthesis. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Weir, R. F. ff., and Grahn, E. C., (2005): Powered Humeral Rotator for Persons with Shoulder Disarticulation Amputations. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Weir, R. F. ff., Troyk, P. R., DeMichele, G., Lowry, M. M., Kuiken, T. A.,.(2005): Implantable Myoelectric Sensors (IMES). Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Sensinger, J. W., and Weir, R. F. ff., (2005): Non-Backdrivable Series Elastic Actuator for Use in a Prosthetic Elbow. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Kuiken, T. A., Sensinger, J. W., Farrell, T. R., and Weir, R. F. ff., (2005): Phantom Limb Sensory Feedback Through Nerve Transfer Surgery. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Farrell, T. R., and Weir, R. F. ff., Heckathorne, C. W., (2005): The Effect Of Controller Delay On Box And Block Test Performance. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada,

Farrell, T. R., and Weir, R. F. ff., (2005): Comparison of Surface vs. Implanted EMG for Multifunctional Prosthesis Control. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Miller, L. A., Lipschutz, R. D., Weir, R. F. ff., Williams, T. W., Stubblefield, K. A., Heckathorne, C. W., and Kuiken, T. A., (2005): Shoulder Disarticulation Fitting with 6 Independently Controlled Motors after Targeted Hyper-Reinnervation Nerve Transfer Surgery. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Zhou, P., Lowry, M. M., Weir, R. F. ff., Kuiken, T. A., (2005): Removal of ECG Artifact from Myoelectric Prosthesis Control Signals. Proceedings of the Myoelectric Controls Conference (MEC2005), Fredericton, New Brunswick, Canada, August 15th – 19th, University of New Brunswick, New Brunswick, Canada.

Sensinger J., and Weir, R. F. ff., (2006): Biomimetic Control of Traditional Prostheses. Proceedings of the 32nd Annual Meeting and Scientific Symposium of the American Academy of Orthotists and Prosthetists (AAOP), Hyatt Regency Chicago, Chicago, IL., USA, March 1st - 4th, 2006.

Kuiken, T. A., J. W. Sensinger, Weir, R. F. ff., (2006): Phantom Limb Sensory Feedback through Nerve Transfer Surgery. Proceedings of the 32nd Annual Meeting and Scientific Symposium of the American Academy of Orthotists and Prosthetists (AAOP), Hyatt Regency Chicago, Chicago, IL., USA, March 1st - 4th, 2006.

Farrell, T. R., and Weir, R. F. ff., (2006): Comparison of Surface vs. Implanted EMG for Multifunctional Prosthesis Control. Proceedings of the 32nd Annual Meeting and Scientific Symposium of the American Academy of Orthotists and Prosthetists (AAOP), Hyatt Regency Chicago, Chicago, IL., USA, March 1st - 4th, 2006.

Ajiboye A. B., and Weir, R. F. ff., (2006): Analysis of Shared and Specific Neuromuscular Synergies of Hand Grasp Patterns at Varying Force Levels using Non-negative Matrix Factorization. Proceedings of the 16th Annual Neural Control of Movement Conference, Key Biscayne, FL, May 02 - May 07, 2006.

Sensinger, J. W., B. Lock, Weir, R. F. ff., et al.,. (2006): Physiological differences in targeted hyper-reinervation subject's force perception. Proceedings of the 2006 Biomedical Engineering Society Meeting, Chicago, IL, October 11 – October 14, 2006.

Sensinger, J. W. and Weir, R. F. ff., (2006): User-modulated Impedance Control. Proceedings of the 2006 Biomedical Engineering Society Meeting, Chicago, IL, October 11 – October 14, 2006.

Ajiboye A. B., and Weir, R. F. ff (2006): Shared and specific muscle synergies in the control of hand postures at varying force levels. Proceedings of the 2006 Biomedical Engineering Society Meeting, Chicago, IL, October 11 – October 14, 2006

Sensinger, J. W., Lock, B. A., Weir, R. F. ff., and Kuiken, T.A., (2007): Targeted Sensory Reinervation Subject Force Perception. Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 554, 2007.

Sensinger, J. W. and Weir, R. F. ff., (2007): Inherently Compensating Body Powered Elbow. Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 311, 2007.

Sensinger, J. W. and Weir R. F. ff., (2007): Trans-humeral socket residual-limb interface stiffness. Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 111, 2007.

Sensinger, J. W. and Weir, R. F. ff., (2007): User-Modulated Impedance Control of a Prosthesis. Proceedings of the 12th International Conference for the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 520, 2007.

Farrell, T. R. and Weir R. F. ff., (2007): “The Effect of Analysis Window Attributes on Multifunctional Prosthesis Controllers,” Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 288, 2007.

Farrell, T. R. and Weir R. F. ff., (2007): “The Effect of EMG Electrode Implantation and Targeting on Multifunctional Prosthesis Controller Classification Accuracy,” Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 291, 2007.

Farrell, T. R. and Weir R. F. ff., (2007): “Multifunctional Myoelectric Control: The Optimal Controller Delay,” Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 381, 2007.

Weir R. F. ff., Troyk, P. R., DeMichele, G., & Kerns, D., (2007): “Implantable EMG Sensors (IMES) for Improved Myoelectric Control” Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 223, 2007.

Weir R. F. ff., Mitchell, M., Clark, S., Puchhammer, G., Haslinger, M., Reinhard, G., Kumar, N., Hofbauer, R., Kuschnigg, P., (2007): “The Intrinsic Hand: An 18 Degree-of-Freedom Artificial Hand Replacement” Proceedings of the 12th International Conference of the International Society for Prosthetics and Orthotics (ISPO), Vancouver, Canada, July 29th – August 3rd, p. 273, 2007.

Weir R. F. ff., Troyk, P. R., DeMichele, G., (2007) Implantable Myoelectric Sensors (IMES) for Improved Myoelectric Control. Track: Neural Engineering: Peripheral Neural Interfaces. Proceedings of the 2007 Annual Fall Meeting of the Biomedical Engineering Society (BMES), Los Angeles, CA. p698.

Ajiboye A. B., Weir R. F. ff. (2007) "Volitional control of neuromuscular synergies in a two-dimensional orthogonal field". Society for Neuroscience Abstract. San Diego, CA. Nov 2007.

Birdwell , J. A., Weir R. F. ff., (2007) Hill-based musculo-skeletal hand models for controlling multi-DoF hand prostheses. Society for Neuroscience Abstract. San Diego, CA. Nov 2007

J. Baker, D. Yatsenko, J. F. Schorsch, R. F. ff. Weir, G. Clark, D. Hutchinson, and B. Greger (2008): Wirelessly Decoding Individuated Finger Movements Using Implantable Myoelectric Sensors (IMES). Society for Neuroscience Abstract. Washington, DC. Nov 15th-18th 2008

D. J. Warren, J. J. Baker, D. T. Hutchinson, J. F. Schorsch, R. F. ff. Weir, P. R. Troyk, G. A. DeMichele, G. A. Clark, and B. Greger. (2008): Optimal linear filter control of a virtual prosthetic hand via wirelessly recorded myoelectric signals. Society for Neuroscience Abstract. Washington, DC. Nov 15th-18th 2008

NON-PEER REVIEWED PUBLICATIONS

Weir R. F. ff., (1992): Prosthesis Control by way of Direct Muscle Attachment. Capabilities, Vol. 1, No. 4, pp. 1 & 5, January 1992.

Weir R. F. ff., and Childress, D. S., (1992): Measurement of the Ability of Direct Muscle Attachment to Act as a Control Input for Prosthesis Controllers. Proceedings of the 7th World Congress of the International Society of Prosthetists and Orthotists (ISPO), Chicago, June 28th - July 3rd, p. 310.

Childress, D. S., Grahn, E., Weir R. F. ff.,., Heckathorne, C. H., and Uellendahl, J., (1993): Modification of a Bock Electric Hand for EPP Control by Exteriorized Tendons. Proceedings of the 19th Annual meeting of the American Academy of Orthotists and Prosthetists (AAOP). Las Vegas, Nevada, March 30th - April 4th.

Childress, D. S., and Weir R. F. ff., (1995): Quantitative Assessment of Direct Muscle Attachment to Act as a Control Input for Externally Powered Prostheses. Proceedings of the 8th World Congress of the International Society of Prosthetists and Orthotists (ISPO), Melbourne, Australia, p. 101, April 2nd –7th, 1995.

Weir R. F. ff., (1997): Precise Timing via the PC’s RS-232 Port. Circuit Ideas, Electronics World, Vol. 103, No. 1729, p. 46, January 1997.

Weir R. F. ff., Childress, D. S., and Licameli, J. N., (1997): A Low Cost Ultrasound Ranging System for the Analysis of Gait. Gait and Posture, Vol. 5, No. 2, April 1997, pp. 180 - 181.

Weir R. F. ff., (1997): Exploring a Direct Ultrasound Ranging System to Make Gait Analysis Faster and More Economical. Capabilities, Vol. 6, No. 2, April 1997, pp. 1 - 2 & 10 - 11.

Weir R. F. ff., (1998): A Century of the Sauerbruch-Lebsche-Vanghetti Muscle Cineplasty: The United States Experience. Capabilities, Vol. 7, No. 4, pp. 1 - 2 & 10 - 11, October 1998.

Weir R. F. ff., Childress, D. S., and Heckathorne, C. W., (1998): Towards Achieving the Goal of Meaningful, Coordinated, Subconscious, Multi-Functional, Control of Prostheses. Proceedings of the VA Rehabilitation Research & Development Service 1st Annual Meeting, "Enabling Veterans: Meeting the Challenge of Rehabilitation in the Next Millennium", Westin City Center Hotel, Washington, D.C., October 1st - 3rd, 1998, p. 192.

Weir R. F. ff., and Gaebler-Spira, D., (2000): Clinical Experience Using Real-Time Measurement of Instantaneous Gait Velocity as an Outcome Measure. Capabilities, Vol. 9, No. 1, pp. 1-2 & 8, January 2000.

Weir R. F. ff., Childress, D. S., and Grahn, E. C., (2000): Development of an Externally Powered Prosthetic Hand for Persons with Partial Hand Amputations. Proceedings of the VA Rehabilitation Research & Development Service 2nd Annual Meeting, "The Next Generation", Crystal Gateway Marriott, Arlington, VA, February 20th - 22nd, 2000, p. 122.

Weir R. F. ff., Gaebler-Spira, D., and Patterson, K., (2000): Analysis of Orthotic Effect on Functional Gait Utilizing Real-time Measurement of Instantaneous Gait Velocity as an Outcome Measure. Proceedings of the Association of Children's Prosthetic-Orthotic Clinics (ACPOC), Banff, Canada, April 23rd - 26th, 2000.

Weir R. F. ff., Grahn, E. C., and Duff, S. J., (2001): A New Externally-Powered, Myoelectrically Controlled Hand Prosthesis For Persons With Partial Hand Amputations. Proceedings of the Annual Meeting and Scientific Symposium of the American Academy of Orthotists and Prosthetists (AAOP), Dallas, TX, March 8th - 10th.

Weir R. F. ff., Grahn, E. C., Duff, S. J., and Childress, D. S., (2001): Development of an Externally-Powered, Myoelectrically Controlled Hand Prosthesis for Persons with Partial Hand Amputations. Proceedings of Intellectual Property In The VA: Changes, Challenges & Collaborations, April 12th & 13th, 2001, Crystal Gateway Marriott, Arlington, VA, p. 07.

Weir R. F. ff., (2001): Development of a New Partial Hand Prosthesis. Capabilities, Vol. 10, No. 2, pp. 1-3,11, April 2001.

Weir R. F. ff., and Childress, D. S., (2001): A Three-Dimensional, Single Marker, Gait Analysis System for Real-Time Use in Small Clinical Facilities. Proceedings of the 10th World Congress of the International Society for Prosthetics and Orthotics (ISPO), Glasgow, UK, July 1st - July 6th, p. MO8.2.

Weir R. F. ff., and Grahn, E. C., (2001): A New Externally-Powered Hand Prosthesis for Persons with Partial-Hand Amputations. Proceedings of the 10th World Congress of the International Society for Prosthetics and Orthotics (ISPO), Glasgow, UK, July 1st - July 6th, p. MO6.6.

Weir R. F. ff., (2001): Development of a Portable, Real Time, 3-D Single Marker Gait Evaluation System. Research Project Update, Capabilities, Vol. 10, No. 4, p. 4, Autumn 2001.

Weir R. F. ff., and Childress, D. S., (2002): Design Issues in The Development of a Four Degree-of-Freedom Multifunctional Prosthetic Hand. Proceedings of the VA Rehabilitation Research & Development Service 3rd National Meeting, "Rehabilitation Research for the 21th Century: The New Challenges", Crystal Gateway Marriott, Arlington, VA, February 10th – 12th, 2002, p.121.

Weir R. F. ff., (2005): ICORR 2005 IEEE 9th International Conference on Rehabilitation Robotics – Frontiers of the Human-Machine Interface June 28 – July 1, 2005. Capabilities, Vol. 13, No. 4, pp. 1 - 3, Autumn 2005.

INVITED TALKS/PRESENTATIONS

Weir R. F. ff. (2007): The Next Generation of Prosthetic Arm Systems. Invited Speaker, No Barriers Festival 2007, Squaw Valley, California, June 28th – July 2nd, 2007.

Weir R. F. ff. (2007): The latest and Greatest in Hand Replacement Technology. Symposium: Quantification & mechanisms of impaired motor control, In honor of past, present & future contributions of Dr. W. Zev Rymer, Daniel Hale Williams Auditorium, Room 2-320, McGaw Medical Center, Northwestern University Feinberg School of Medicine, 240 E. Huron St., Chicago, IL., June 26-27 2007.

Weir R. F. ff. (2007): “Arms for Veterans - The next Generation of Devices”, Invited Speech Student/Faculty Seminar Series, Illinois Institute of Technology, March 2nd, Chicago, IL.

Weir R. F. ff. (2007): The New New Things About Prosthetic Arms, Invited Speech Biomedical Engineering Department Seminar Series, Northwestern University, Thursday, January 25, 2006, 4:00 pm – 5:00 pm, Tech L361. Evanston, IL.

Weir R. F. ff. (2006): The New New Things About Prosthetic Arms and Hands, Invited Speech Emerging Trends in Rehabilitation Robotics session, MARS-RERC Annual Meeting, RIC 16th Floor, Magnuson Auditorium, 1:30 – 2:40 pm, Friday, November 17. RIC, Chicago, IL.

Weir R. F. ff. (2006): From EPP and Muscle Tunnel Cineplasties to Neuroelectric Control for Artificial Arms and Hands. Dudley S. Childress Scientific Symposium, Room 1702, Rehabilitation Institute of Chicago, Chicago, Illinois, Friday October 6th, 2006. (FessSchrift for Dr. Childress).

Weir R. F. ff. (2006): "A True Replacement for the Natural Hand and Arm - An Elusive Dream?". Invited presentation. Neural Prosthesis Seminar, Cleveland FES Center, Case Western Reserve University, Cleveland, Ohio, Friday, September 22, 2006, Wolstein Auditorium, 8::30AM to 9:30 AM.

Weir R. F. ff. (2006): The Next Generation of Arm Prostheses: Hope or Hubris. Invited presentation. Proceedings of the Workshop on Robotic Systems for Rehabilitation, Exoskeleton, and Prosthetics (Yoky Matsuoka & Bill Townend, Eds.,) at Robotics: Science and Systems, Philadelphia, PA, August 16-19, 2006.

Weir R. F. ff. (2006): Multifunction Prosthesis Control using Implanted Sensors. Invited Speech, Bioengineering Research Partnership Grantee Planning Meeting National Institutes of Health (NIH), Bethesda, MD, July 12-14, 2006.

Weir, R. F. ff., (2005): The Next Generation of Artificial Arm and Hand Replacements: A Help or Hubris? Invited Speech, Mechanical Engineering Department, Vanderbilt University, Nashville, Tennessee, Oct 2nd, 2005.

Weir, R. F. ff., (2005): The Shape of Things to Come: The Next Generation of Artificial Arm and Hand Replacements. Grand Rounds, Department Physical Medicine and Rehabilitation, University of Michigan, Ann Arbor, August 26th, 2005.

Weir, R. F. ff., (2005): The Next Generation of Artificial Arm and Hand Replacements: A Help or Hubris? Invited Speech, The Biomedical Engineering Research Group in University College Dublin (UCD) and The Biomedical Engineering Division of the Institute of Engineers of Ireland (IEI), Rm 326, Engineering Building, University College Dublin, Belfield, Dublin Ireland, July 27th, 2005.

Weir, R. F. ff. and Kuiken, T. A., (2005): Neural Control for Artificial Arms and Hands: Implantable Myoelectric Sensors & Targeted Reinnervation. Invited Presentation, DHHS NIH NICHD/DARPA Translating Civilian & Defense Technologies for Pediatric Critical Care and Rehabilitation Research Rockville, MD, May 16th-17th

Childress, D. S., Kuiken, T. A., Weir, R. F. ff. and Gard S. A., (2005): The New Artificial Limb Systems: A Help or Hubris? Domain Dinner, Williams Auditorium, 3rd Floor, McGaw Pavilion, Northwestern University, Chicago Campus, January 19, 2005.

Weir, R. F. ff., (2004): Issues in the Control of Advanced Multifunctional Prosthetic Systems. Invited Lecture Course No. 04.B.ST.SP.NTC.A, National Joint Prosthetics & Rehabilitation services conference. Department of Veterans Affairs Employee Education System and The Prosthetic and Sensory Aids Service, Hyatt - McCormick Center, Chicago, Illinois, May 11-13, 2004.

Weir, R. F. ff., (2004): Multifunction Prosthesis Control using Implanted Sensors. Sensory Motor Performance Program (SMPP) laboratory meeting, SMPP Conference Room, Rehabilitation Institute of Chicago (RIC), Illinois, February 26th, 2004.

Weir, R. F. ff., (2004): Implantable Myoelectric Sensors (IMES) for Multi-functional Prosthesis Control. Department of Physical Medicine & Rehabilitation, Quarterly Departmental Faculty Meeting, February 24th, 2004.

Weir, R. F. ff., (2003): Issues in the Control of Prostheses, Manipulators, and other Human Machine Systems. Invited Lecture, Third Annual Meeting of Centers for Research on Neurorehabilitation (CARN), NIH R24 Grant HD39627-03 “Restoration of Function in Neurologic Impairment”, Harrison Conference Center, Lake Bluff, Illinois, June 13-15, 2003.

Weir, R. F. ff., (2003): Northwestern University/MTS Transponder System: a Proof-of-Concept System for Implantable Myoelectric Sensors (IMES). Third Annual Meeting of Centers for Research on Neurorehabilitation (CARN), NIH R24 Grant HD39627-03 “Restoration of Function in Neurologic Impairment”, Harrison Conference Center, Lake Bluff, Illinois, June 13-15, 2003.

Weir, R. F. ff., (2003): The Great Divide – The Human-Machine Interface: Issues in the Control of Prostheses, Manipulators, and other Human Machine Systems. Plenary Speaker, Rehabilitation Engineering Track, 29th Annual Northest Bioengineering Conference, New Jersey Institute of Technology, New Jersey, March 22nd - 23rd, 2003

Weir, R. F. ff., (2002): Prosthetics Hardware, Invited Speaker, Proceedings of the Myoelectric Controls Conference (MEC2002), Fredericton, New Brunswick, Canada, August 19th - 23rd, University of New Brunswick, New Brunswick, Canada.

Silver-Thorn, M. B., and Weir, R. F. ff., (2002): Open Session Discussion Leaders, State-of-the-Science Meeting in Prosthetics and Orthotics (P&O), May 17th – 18th, 2002, hosted by Northwestern University Rehabilitation Engineering Research Program in Prosthetics and Orthotics, Chicago, Illinois.

Weir, R. F. ff., (2001): Speaker for the Advanced Training Course: Overview of Gait Analysis for Prosthetists and Orthotists. American Academy of Orthotists and Prosthetists (AAOP). Northwestern Universisty September, 2001.

Heckathorne, C. W., Hungspreugs, P., and Weir, R. F. ff., (2001): Developments in Upper Extremity Prosthetic Devices. Sensory Motor Performance Program (SMPP) laboratory meeting, SMPP Conference Room, Rehabilitation Institute of Chicago (RIC), Illinois, July 26th, 2001.

Weir, R. F. ff. and Gard, S. G., (2000): Vertical Movement of the Body During Normal Walking. Demonstration: Motion Analysis Research Laboratory. Annual Research Colloquium, Rehabilitation Institute of Chicago (RIC), Illinois, June 6th, 2000.

Weir, R. F. ff., (1999): New Horizons in Prosthetics Research. Invited Speaker UnLIMBited Potential, Amputee Support Group at the Rehabilitation Institute of Chicago. Hayworth Room, Rehabilitation Institute of Chicago (RIC), June 24th, 1999.

Weir, R. F. ff., (1999): A Portable Gait Analyzer System. McCormick School of Engineering & Applied Science Tech Corporate Partners Annual Technology Review, Technological Institute, Northwestern University Evanston Illinois, March 23rd, 1999.

Rymer, W. Z., Weir, R. F. ff., Healy, K. E., (1998): Novel Engineering Applications in Rehabilitation: From Machines to Materials. Invited Speaker Shirley Ryan Seminar -- Lifelong Learning Course, Fall 1998 lecture series “Globalization Technology and the Beginning of the 21st Century.” McCormick Auditorium, Allen Center, Evanston Campus, Northwestern University, Illinois, November 24th, 1998.

Weir, R. F. ff., (1998): Towards Achieving the Goal of Meaningful, Coordinated, Subconscious, Multi-Functional, Control of Prostheses. Poster Presentation, Rehabilitation Institute of Chicago (RIC), October 15th, 1998.

Weir, R. F. ff., (1998): A Century of Cineplasty - Implications for the Future of Upper-limb Prosthetic Control. Invited Speaker Grand Rounds Series, The Rehabilitation Institute of Chicago and Northwestern University Medical School Department of Rehabilitation Medicine, Magnusson Auditorium, Rehabilitation Institute of Chicago (RIC), Chicago, Illinois, May 27th, 1998.

Weir, R. F. ff., (1998): Clinical Applications of Movement Instrumentation: Measurement Technology for Small Offices. Senior Research Colloquium, Research Department, Rehabilitation Institute of Chicago (RIC), May 22nd, 1998.

Weir, R. F. ff., and Childress, D. S., (1997): The Gait Velocigram as a Tool for Evaluating Gait. Invited Speaker Gait Analysis Symposium honoring Susan Sienko Thomas, M.S. at Children’s Memorial Hospital, Bigler Auditorium, Chicago, Illinois, November 6th, 1997.

Weir, R. F. ff., (1997): Design, Development, and Use of a Portable, Real-Time, Ultrasound Ranging System for the Analysis of Gait Velocity. Invited Speaker Friday series Seminar, Department of Biomedical Engineering, Marquette University, Milwaukee, Wisconsin, October 24th, 1997.

Weir, R. F. ff., (1996): Cineplasty Revisited: Muscles as a Control Input for Powered Prostheses. Invited Speaker Midwest Chapter of the American Academy of Orthotists and Prosthetists (AAOP), Fall Scientific Seminar, Chicago, Illinois, September 28th, 1996.

Weir, R. F. ff., (1996): Cineplasty Revisited: Muscles as a Control Input for Powered Prostheses. FestSchrift honoring Univ.-Prof. Dr. med. Rene Baumgartner, Sponsored by the Northwestern University Rehabilitation Engineering Research Center and Prosthetics Research Laboratory, Chicago, Illinois July 2nd, 1996.

Weir, R. F. ff., Chan, R. B., and Childress, D. S., (1995): Single Marker Gait Analysis. Invited Speaker Gait Analysis Symposium honoring Dr. David Winter at Children’s Memorial Hospital, Bigler Auditorium, Chicago, Illinois, October 19th, 1995.

Weir, R. F. ff., (1994): Direct Muscle Attachment as a Control Input for Powered Prostheses. Symposium on upper-limb amputation surgical techniques in honor of Dr Robert Beasley, Sponsored by the Northwestern University Rehabilitation Engineering Research Center and Prosthetics Research Laboratory, Chicago, Illinois, June 10th, 1994.

Memberships

1991 Member of the Institute of Electrical and Electronic Engineers (IEEE) - Robotics and Automation Society.

1994 Member Sigma XI, the Scientific Research Society.

1998 Member of the American Society of Mechanical Engineers (ASME) - Bioengineering Society.

1998 Member of the International Society for Prosthetics and Orthotics (ISPO).