Horst Complex

dr.ir. A.Q.L. Keemink (Arvid)

Assistant Professor
ET-BE-BRT
Horst Complex W115
a.q.l.keemink@utwente.nl
+31534896486
Business card

Arvid received his MSc (cum laude) in Mechatronics and did his PhD in human power augmentation systems and interaction control. He is currently an Assistant Professor in the field of Biomechatronics and Biorobotics. His main interests are in the development of optimization based control methods for human-robot combinations for support of the upper-extremity (arms) and lower-extremity (legs). His work focuses on control of exoskeletons for the support of the human arm and exoskeletons for standing balance and walking for people with movement deficits. Optimization based control relates to: machine learning, optimal motion planning, optimal control distribution, model-predictive-control and imitation of human neuromechanics.

Expertise

  • Medicine and Dentistry

    • Exoskeleton
    • Ankle
    • Joint
    • Walking
    • Lower Limb

  • Computer Science

    • Control
    • Robot

  • Engineering

    • Joints (Structural Components)

Organisations

Publications

2025

Spatial Robust Whole-Body Dynamic Trajectory Optimization of a Lower-Limb Exoskeleton (2025)In 2025 International Conference on Rehabilitation Robotics, ICORR 2025 (pp. 634-641) (IEEE International Conference on Rehabilitation Robotics). IEEE. Sheikh Aboumasoudi, S. S., Vallinas Prieto, A., De Bruin, S., Köroǧlu, H., Van Der Kooij, H. & Keemink, A.https://doi.org/10.1109/ICORR66766.2025.11062929Establishing Personalized and Sparse Spinal Reflex Circuitry From Locomotion Data (2025)IEEE transactions on neural systems and rehabilitation engineering, 33, 598-609. Wang, H., Keemink, A. Q. L. & Sartori, M.https://doi.org/10.1109/TNSRE.2025.3529976Implementation and Tuning of Momentum-Based Controller for Standing Balance in a Lower-Limb Exoskeleton with Paraplegic User (2025)IEEE transactions on neural systems and rehabilitation engineering, 33, 343-353. Vallinas Prieto, A., Keemink, A. Q. L., Van Asseldonk, E. H. F. & Van Der Kooij, H.https://doi.org/10.1109/TNSRE.2025.3526424

2024

Autonomous balance control of underactuated torque-controlled lower-limb exoskeletons for paraplegic users (2024)[Thesis › PhD Thesis - Research UT, graduation UT]. University of Twente. Vallinas Prieto, A.https://doi.org/10.3990/1.9789036563239Implementation and Tuning of Momentum-Based Controller for Standing Balance in a Lower-limb Exoskeleton with Paraplegic User (2024)[Working paper › Preprint]. TechRxiv. Prieto, A. V., Keemink, A. Q. L., van Asseldonk, E. H. F. & van der Kooij, H.https://doi.org/10.36227/techrxiv.171595901.16498675/v2

2023

Robust and versatile control of lower limb exoskeletons (2023)[Thesis › PhD Thesis - Research UT, graduation UT]. University of Twente. Rampeltshammer, W. F.https://doi.org/10.3990/1.9789036559058Control of an Archimedes Drive based actuator for wearable robotics (2023)[Thesis › EngD Thesis]. University of Twente. Zeng, X.Momentum-Based Balance Control of a Lower-Limb Exoskeleton During Stance (2023)In 2023 International Conference on Rehabilitation Robotics (ICORR) (pp. 1-6) (IEEE ... International Conference on Rehabilitation Robotics : [proceedings]). IEEE. Vallinas, A., Keemink, A., Bayon, C., van Asseldonk, E. & van der Kooij, H.https://doi.org/10.1109/ICORR58425.2023.10304732ET-BE Rules and Guidelines for Writing a Thesis (2023)[Other contribution › Other contribution]. University of Twente. Halfwerk, F. R., Kalpathy Venkiteswaran, V. & Keemink, A. Q. L.https://doi.org/10.3990/1.9789036551557Evaluation and Comparison of SEA Torque Controllers in a Unified Framework (2023)Actuators, 12(8). Article 303. Rampeltshammer, W. F., Keemink, A., Sytsma, M., Asseldonk, E. v. & van der Kooij, H.https://doi.org/10.3390/act12080303

Research profiles

Current projects

Wearable Robotics

Exo-Aid for spinal cord injured subjects

Finished projects

H-Haptics

Flexible Robotic Suit

Address

University of Twente

Horst Complex (building no. 20), room W115
De Horst 2
7522 LW Enschede
Netherlands

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