Kreg Gruben


(608) 262-2711

325 Service Medical Institute

1300 University Ave

Madison, WI 53706-1532

Gruben, Kreg

Visit the Neuromuscular Coordination Laboratory web site  


  • PhD Biomedical Engineering, Johns Hopkins University, 1993

Select Publications

  • Dills, P., Dawson-Eli, A., Gruben, K., Adamczyk, P., & Zinn, M. (2022). Stability and rendering limitations of a parallel hybrid active-passive haptic interface. IEEE Haptics Symposium (HAPTICS)
  • Dills, P., Dawson-Eli, A., Gruben, K., Adamczyk, P., & Zinn, M. (2021). An Investigation of a balanced hybrid active-passive actuator for physical human-robot interaction. IEEE Robotics and Automation Letters (DOI: 10.1109/LRA.2021.3064497).
  • Dutt-Mazumber, A., & Gruben, K. (2021). Modulation of sagittal-plane center of pressure and force vector direction in human standing on sloped surfaces. J Biomechanics (DOI: 10.1016/j.jbiomech.2021.110288).
  • Yamagata, M., Gruben, K., Falaki, A., Ochs, W., & Latash, M. (2020). Biomechanics of vertical posture and control with referent joint configurations. Journal of Motor Behavior, 1-11 (DOI: 10.1080/00222895.2020.1723483).
  • Travers, B. G., Mason, A., Gruben, K. G., Dean III, D. C., & McLaughlin, K. (2018). Standing balance on unsteady surfaces in children on the autism spectrum: The effects of IQ. Research in Autism Spectrum Disorders, 51, 9-17.
  • Boehm, W. L., & Gruben, K. G. A kinetic feedback-based robotic environment for neuromuscular training and rehabilitation of human standing and walking. IEEE Transactions on Neural Systems and Rehabilitation Engineering
  • Gruben, K. G., Boehm, W. L., & Nichols, K. M. Frequency-dependent contributions of sagittal-plane foot force to upright standing. J Biomechanics
  • Boehm, W. L., & Gruben, K. G. (2016). Post-Stroke Walking Behaviors Consistent with Altered Ground Reaction Force Direction Control Advise New Approaches to Research and Therapy. Translational Stroke Research, 7(1), 3–11. Online Publication/Abstract.
  • Gruben, K. G., & Boehm, W. (2014). Ankle torque control that shifts the center of pressure from heel to toe contributes non-zero sagittal plane angular momentum during human walking. Journal of Biomechanics Elsevier Online Publication/Abstract.
  • Gruben, K. G., & Boehm, W. (2012). Force direction pattern stabilizes sagittal plane mechanics of human walking. Human Movement Science, 31(3), 649-659. Human Movement Science Online Publication/Abstract.