prof.dr.ir. H. van der Kooij (Herman)

Full Professor Biomechatronics and Rehabilitation Technology | Chairmen department Biomechanical Engineering

About Me

Fields of interest

Human motor control, adaptation & learning.
rehabilitation and medical robotics. wearable exoskeletons. system Identification, control engineering



Prof. Dr. ir. Herman van der Kooij, chairs the BioMechatronics group. He received his Phd with honors (cum laude) in 2000 and is professor in Biomechatronics and Rehabilitation Technology at the Department of Biomechanical Engineering at the University of Twente (0.8 fte), and Delft University of Technology (0.2fte), the Netherlands. His expertise and interests are in the field of human balance and motor control, adaptation, and learning. He combines experiments with neuro-mechanical models.  His group designed various rehabilitation, wearable robots, diagnostic, and assistive robotics. Examples are the gait rehabilitation robot LOPES and the Mindwalker wearable exoskeleton. He has published over 170 peer-reviewed publications in the area of biomechatronics and human motor control. He is frequently invited as (keynote) speaker at international conferences. He received several award, among were the prestigious Dutch VIDI and VICI personnel grants for excellent researchers in 2001 and 2015 respectively. He is associate editor of IEEE TBME and IEEE Robotics and Automation Letters, member of IEEE EMBS technical committee of Biorobotics and of the advisory board of the IEEE conference BIOROB, chair of the IEEE BIOROB2018 and ICORR2022 conference, and was member of numerous scientific program committees in the field of rehabilitation robotics, bio robotics, and assistive devices. He participated in seven EU projects and was the coordinator of the European FP7 project Symbitron. Currently he leads the Dutch national program Wearable Robotics and the Dutch national 4TU Soft Robotics program. 

20 September 2012 I gave my inaugural lecture that gives an overview of my research activities, and my view on education. An extended version of this lecture can be downloaded from here (only in Dutch).


Download my CV here.


Medicine & Life Sciences
Engineering & Materials Science

Ancillary Activities

  • TuDelft
    Deeltijd HGL


Bayón, C. , Fricke, S. S. , van der Kooij, H. , & van Asseldonk, E. H. F. (2022). Automatic Versus Manual Tuning of Robot-Assisted Gait Training. In D. Torricelli, M. Akay, & J. L. Pons (Eds.), Converging clinical and engineering research on neurorehabilitation IV: Proceedings of the 5th International Conference on Neurorehabilitation (ICNR2020), October 13-16, 2020 (pp. 9-14). (Biosystems and Biorobotics; Vol. 28). Springer. https://doi.org/10.1007/978-3-030-70316-5_2
van ’t Veld, R. C. , Fricke, S. S. , Prieto, A. V. , Keemink, A. Q. L. , Schouten, A. C. , van der Kooij, H. , & van Asseldonk, E. H. F. (2022). A Transparent Lower Limb Perturbator to Investigate Joint Impedance During Gait. In D. Torricelli, M. Akay, & J. L. Pons (Eds.), Converging Clinical and Engineering Research on Neurorehabilitation IV: Proceedings of the 5th International Conference on Neurorehabilitation (ICNR2020), October 13–16, 2020 (pp. 525-529). (Biosystems and Biorobotics; Vol. 28). Springer Science + Business Media. https://doi.org/10.1007/978-3-030-70316-5_84
Gonzalez-Vargas, J. , Sartori, M., Dosen, S. , van der Kooij, H. , & Rietman, J. (2022). SimBionics: Neuromechanical Simulation and Sensory Feedback for the Control of Bionic Legs. In Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020 (pp. 269-273). (Biosystems and Biorobotics; Vol. 27). Springer Science + Business Media. https://doi.org/10.1007/978-3-030-69547-7_44
Durandau, G. , Rampeltshammer, W. , van der Kooij, H. , & Sartori, M. (2022). Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks. In Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020 (pp. 247-250). (Biosystems and Biorobotics; Vol. 27). Springer Science + Business Media. https://doi.org/10.1007/978-3-030-69547-7_40
Other Contributions

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First author Journal publications

  1. van der Kooij, H., R. Jacobs, et al. (1999).A multisensory integration model of human stance control. Biological Cybernetics 80: 299-308.
  2. van der Kooij, H., R. Jacobs, et al. (2001).An adaptive model of sensory integration in a dynamic environment applied to stance control. Biological Cybernetics 84: 103-115.
  3. Van der Kooij, H., Jacobs, R., Koopman, B., Van der Helm, F. (2003). An alternative approach to synthesizing bipedal walking.  Biological Cybernetics, 88 (1), pp. 46-59.
  4. van der Kooij, H., E. van Asseldonk, et al. (2005).Comparison of different methods to identify and quantify balance control. Journal of Neuroscience Methods 145(1-2): 175-203.
  5. van der Kooij H, de Vlugt E. (2007). Postural responses evoked by platform pertubations are dominated by continuous feedback. J Neurophysiol. 98(2):730-43.
  6. Van Der Kooij, H., Van Asseldonk, E.H.F., Geelen, J., Van Vugt, J.P.P., Bloem, B.R. (2007). Detecting asymmetries in balance control with system identification: First experimental results from Parkinson patients. Journal of Neural Transmission, 114 (10), pp. 1333-133751.
  7. Van Der Kooij, H., Peterka, R.J.(2011). Non-linear stimulus-response behavior of the human stance control system is predicted by optimization of a system with sensory and motor noise/ Journal of Computational Neuroscience, 30 (3), pp. 759-778.
  8. Van der Kooij, H., Campbell, A.D., Carpenter, M.G.(2011). Sampling duration effects on centre of pressure descriptive measures. Gait and Posture, 34 (1), pp. 19-24.

Supervised PHD Thesis

  1. Design and Evaluation of the Gait Rehabilitation Robot Lopes. Veneman, Jan Frederik (2007).
  2. Restitution and Compensation in the Recovery of Function in the lower Extremities of Stroke Survivors: Design of Evaluation and Training Methods.  Edwin hendricus Franciscus van Asseldonk (2008).
  3. Development of novel devices for upper-extremity rehabilitation.  Adrianus Hubertus Arno Stienen (2009).
  4. The contribution of each leg to bipedal balance control. Tjitske A. Boonstra (2013).
  5. Robotics combined with electrical stimulation: hybrid support of arm and hand for functional training after stroke. Ard J Westerveld (2014).
  6. Identification of connectivity in human motor control: exciting the afferent pathways Sanne Floor Campfens  (2014).
  7. Robot aided gait training and assessment: development of support strategies and assessment methods for LOPES Bram Koopman (2014).
  8. Design of a robot-assisted gait trainer: LOPES II. Johannes Hendricus Meuleman (2015).
  9. Quantifying balance control during stance: a multivariate system identification approach. Denise Engelhart  (2015).
  10. Human-Exoskeleton Interaction.  Wietse Van Dijk (2015).
  11. Haptic Physical Human Assistance. Arvid Keemink 2017).
  12. Foot Placement in balance recovery - complex humans vs simple model (suma
    cum laude). Mark Vlutters (2017).
  13. TIBAR Therapist Inspired Balance Assisting Robot. Juliet Haarman ( 2017).
  14. Trans-Spinal Direct Current Stimulation for the Modulation of the Lumbar Spinal Motor Networks. Alexander Kuck ( 2018).
  15. Haptic human-human interaction: motor learning & haptic communication. Niek Beckers (12 July 2019)
  16. Towards postural balance control of exoskeletons. Amber R. Emmens (8 May 2020)
  17. Towards personalized robot-assisted gait training. Simone S. Fricke (10 July 2020)
  18. Assessing Balance Control After Minor Stroke. Moving from laboratory towards clinic. Ingrid M. Schut (30 September 2020)
  19. Towards the next Generation in Human-machine-interfacing: Controlling Wearable Robots via Neuromusculoskeletal Modelling. Guillaume Durandau (6 November 2020)

UT Research Information System

Google Scholar Link


Watch our research on YouTube

In the press

Media Coverage: Television & Radio

  1. October 14 2017: The ankle exoskeleton Achilles in Dutch television program “Klaas kan alles” 
  2. January 12 2016: A lot of our research in Dutch popular science program for children het Klokhuis: “Looprobots
  3. September 30, 2013: Mindwalker in Euronews: “Exoskeletons on the March” 
  4. September 25, 1011: Lopes in BBC news: “Robo legs help stroke victim to walk”
  5. October 3, 2011: Lopes in SBS6 Hart van Nederland: “Robot is doorbraak in revalidatie” 
  6. January 12, 2011: Lopes on Reuters: “ Robot legs help stroke survivors to walk again”
  7. April 5, 2011: Lopes in NTR-VPRO program Labyrinth: “De machinemens
  8. November 19, 2008: Lopes in Vara’s Nieuwslicht: “Robot benen helpen mensen sneller op de been

Media Coverage: Newspapers & Magazines, etc

  1. March 3 2018, interviewed for NRC Handelsblad: “Het Exoskelet kan de hindernis baan op
  2. March 2 2018, interview for Tubantia/ AD: “Weer lopen in een exoskelet
  3. July 2017, interviewed for book “hallo robot” from Bennie Mols and Nieske Vergunst
  4. July 2017, interviewed for podcast e-book leven.metrobots.nu from Bennie Mols and Karin van den Boogaert
  5. Nov 2014, LOPES II in De Ingenieur,: “Weer leren lopen: robot ontlast fysiotherapeut
  6. Sep 19, 2014, LOPES II in Bits & Chips,: “Looprobot zet stap naar commerciële versie
  7. May 9, 2014,LOPES II in De Gelderlander, , : “Robot leert patiënten in kliniek weer lopen
  8. May 8, 2014, LOPES II op RTLnieuws site,: Looprobot Lopes II is een grote stap vooruit
  9. May 6, 2014, LOPES II op nu.nl,: “Klinieken zetten nieuwe looprobot in voor revalidatie patienten” 
  10. September 6, 2013: Mindwalker in de Ingenieur: “Exoskelet laat verlamde lopen” 
  11. June 7, 2014: Mindwalker in de New Scientist: “Exoskelet laat verlamde mensen lopen” 
  12. May 30, 2014: Mindwalker in Horizon the EU Research and Innovation Magazine: “Walking again with an exoskeleton” 
  13. September, 2011: Lopes in Fysiopraxis 
  14. February 16,2010: Interview Herman van der Kooij en Wietse van Dijk in Volkskrant: “Hersenen activeren futurtische robotbenen
  15. November 2009 Lopes in Made in Holland: “Rehabilitation robots
  16. October 17, 2009: Lopes in Twentsche Courant Tubantia: “ De robot helpt een handje”
  17. September 29, 2009: Lopes in NRC Hadelsblad: “Therapeut met stalen rug
  18. June 13, 2009: Lopes in de Volkskrant: “Leren omgaan met mensen
  19. February 25, 2009: Promovendus Arno Stienen in Medical facts.
  20. December 16, 2008: Lopes in Metro: “Nieuwe Twentse robot zorgen voor vergaande fysiotherapie”
  21. June 13, 2008: Lopes in Twentsche Courant Tubantie.
  22. Lopes in Technisch weekblad.
  23. July 12, 2007, Jan Veneman’s PhD project in Bits&Chips: “Exoskelet leert lopen”
  24. September 25, 2003: Interview Herman van der Kooij Volkskrant: “Mensen viruteel nabootsen”


Contact Details

Visiting Address

University of Twente
Faculty of Engineering Technology
Horst Complex (building no. 20), room W112
De Horst 2
7522LW  Enschede
The Netherlands

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Mailing Address

University of Twente
Faculty of Engineering Technology
Horst Complex  W112
P.O. Box 217
7500 AE Enschede
The Netherlands

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