J.L. (Just) Herder

Professor, Interactive Mechanisms and Mechatronics  

Just Herder is a full professor of Interactive Mechanisms and Mechatronics, Chair of the Mechatronic System Design group and Head of Department of Precision and Microsystems Engineering at Delft University of Technology.

He has widely published in international peer-reviewed journals and conferences and has received several international awards. He is an ASME fellow, board member of several international conferences, associate editor of Mechanism and Machine Theory, and co-founder of Mechanical Sciences. Seven start-up companies have emerged from his research and he holds over a dozen international patents in different areas of mechanism design. He held visiting positions at Laval University, Canada, and at MIT, USA, as a Fulbright Visiting Scholar.

Research Interests

“My research interest is in mechatronic systems with remarkable behavior and their applications. In particular I am interested in those mechanisms that effect or are affected in a special way by interaction with their environment, called Interactive Mechanisms. A long term goal is to establish Distributed Mechatronics, where motion, actuation and sensing are distributed along a compliant structure, with a high level of function integration, trending towards small length scales. To reach this goal, we focus on the development of new technology, methods and techniques, such as static balancing, dynamic balancing, compliant mechanisms, parallel kinematics, self-adaptability, distributed actuation and sensing. Applications fields include precision engineering and mechatronics, robotics, rehabilitation engineering, high-tech industry, MEMS”.

Education and Employment
  • Full Professor, Delft University of Technology, Fac of Mechanical, Maritime, and Materials Engineering (3mE), Dept Precision and Microsystems Engineering (PME), Interactive Mechanisms and Mechatronics. (0.8 FTE), 2012-present.
  • Fulbright Visiting Scholar (6-months sabbatical leave, Aug 2013-Feb 2014), Compliant Instrument Design, Massachusetts Institute of Technology (MIT), Precision Engineering Research Group (PERG), headed by Prof. Alexander Slocum.
  • Full Professor, University of Twente, Fac of Engineering Technology (CTW), Dept of Mechanical Engineering, Laboratory of Mechanical Automation (WA), Design of Mechanisms and Robotics. (0.2 FTE), 2009-present.
  • Founder and director of Interactive Mechanisms research group, Faculty of Mechanical, Maritime, and Materials Engineering (3mE), Delft University of Technology, 2007-present.
  • Associate Professor, Delft University of Technology, Faculty of Mechanical, Maritime, and Materials Engineering (3mE), Dept of Biomechanical Engineering (BMechE). (0.8 FTE), 2007-2012.
  • Visiting researcher (5-months sabbatical leave, Sept 2002-Jan 2003), Dynamically balanced parallel mechanisms, Laval University, Dept of Mechanical Engineering, Robotics Laboratory, headed by Prof. Clément Gosselin.
  • Assistant Professor, Delft University of Technology (TU Delft), Faculty of Mechanical, Maritime, and Materials Engineering (3mE), Department of Biomechanical Engineering (BMechE), 1998-2007.
  • Ph.D. Mechanical Engineering (obtained 27 November 2001 “cum laude”), Advisor: Prof. Jan C. Cool, Delft University of Technology, Dept. of Design, Engineering and Production, Section of Human-Machine Systems, 1998-2007.
  • Civil service (1992-1993).
  • M.Sc. Mechanical Engineering (obtained 24 February 1992 “cum laude”), Advisor: Prof. Jan C. Cool, TU Delft, Department of Mechanical Engineering and Marine Technology, Lab. for Measurement and Control, Wilmer Group (1985-1992).
Selected Awards
  • ASME Fellow, awarded by the ASME Committee of Past Presidents, nominated by Prof. L.L. Howell.
  • Best Paper Award, ASME IDETC Mechanisms and Robotics Conference, Aug 17-20, 2014, Buffalo, USA (co-authored).
  • Design of Medical Devices Conference Award, DMD Conference, April 7-10, 2014, Minneapolis, MN, USA.
  • Fulbright Visiting Scholarship grant, Compliant Instrument Design, MIT, USA, Aug 2013-Feb 2014.
  • Best Paper on Compliant Mechanism Applications Award, ASME IDETC Mechanisms and Robotics Conference, Aug 12-15, 2012, Chicago, USA (co-authored).
  • Best Student Paper Award, EUCOMES 2010, Sept 14-18, 2010, Cluj-Napoca, Romania (co-authored).
  • Best Paper Award, ASME IDETC Mechanisms and Robotics Conference, Aug 31 – Sep 3, 2009, San Diego (co-authored).
  • VIDI, NWO/STW Innovational Research Incentives Scheme (IRIS) for the project “Statically balanced compliant mechanisms” (2006).
  • Ph.D. Mechanical Engineering Cum Laude, Nov 27, 2001, Delft University of Technology.
  • ASME GM/Freudenstein Young Investigator Award, issued by the ASME Mechanisms Committee, received at the Mechanisms and Robotics Conference, Sept 10-13, 2000, Baltimore, Maryland.
  • M.Sc. Mechanical Engineering Cum Laude, Feb 24, 1992, Delft University of Technology.
Selected Professional Activities

International Organizations

  • Founding member of IEEE RAS Technical Committee on Mechanisms and Design, 2013-present.
  • Executive Council elected member and Treasurer, IFToMM, International Federation for the Promotion of Mechanism and Machine Science, 2012-present.
  • Elected Member, ASME DED Mechanisms and Robotics Committee, 2002-2008. 


  • Chair, Editorial Board, Mikroniek, ISSN: 0026-3699, 2014-present.
  • Associate Editor, Mechanism and Machine Theory, ISSN: 0094-114X, 2011-present.
  • Editor-in-Chief, co-founder, Mechanical Sciences, ISSN: 2191-9151, eISSN: 2191-916X (ISI indexed 2014), 2010-present.  
  • Associate Editor, IEEE Transactions on Neural Systems and Rehabilitation Engineering, ISSN: 1534-4320, 2009-2012.
  • Associate Editor, ASME Journal of Medical Devices, ISSN 1932-6181, 2006-2013. 


  • General Chair, Design of Medical Devices Conference Europe (DMD-E), Delft, The Netherlands, Oct 8-10, 2013, and Oct 22-24, 2014.
  • General Chair, ASME/IFToMM Second International Symposium on Compliant Mechanisms, CoMe2011, Delft, May 19-20, 2011.
  • Scientific Program Co-Chair, 12th IEEE International Conference on Rehabilitation Robotics, IEEE ICORR2011, Zurich, Switzerland, June 29 – July 1, 2011.
  • Contributed Papers Chair, Design of Medical Devices Conference (DMD), Minneapolis, MN, USA, 2010-2012.
  • Initiator and Program Chair, International Workshop on Underactuated Grasping (UG2010), Aug 19, 2010, Montreal.
  • Publicity Chair, IEEE/ASME International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2009), London, UK, June 22-24, 2009, and Tianjin, PRC, July 8-11, 2012.
  • General Co-Chair and Scientific Program Chair, 10th IEEE International Conference on Rehabilitation Robotics, IEEE ICORR2007, June 12-15, 2007, Noordwijk, The Netherlands.
  • International Steering Committee member for several conferences, including IEEE ICORR, IFToMM-WC, DMD-Europe, 2007-present.
  • Scientific Program Committee member of over a dozen international conferences and workshops, including CK, ReMAR, CMSM, ParMech, IDETC, ICORR, a handful awards committees, jury memberships, tutorial organizer, etc. 2000-2014. 

Society memberships 

  • Fellow, ASME, American Society of Mechanical Engineers, 2014-present.
  • Member, ASPE, American Society for Precision Engineering, 2013-present.
  • Member, IEEE, Institute of Electrical and Electronics Engineers, 2006-present.
  • Member, ASME, American Society of Mechanical Engineers, 1998-present.
  • Member, KIvI, Koninklijk Instituut voor Ingenieurs (Royal Dutch Institute for Engineers), 1992-present.
Research Projects


  • Shaping nonlinear impedance for bipedal locomotion, 3mE Cohesion Project.
  • KITE: Autonomous cable-driven robot for surface treatment, STW 13452, Valorisation Grant Phase II.
  • HIPER: High-Performance Energy Harvester, STW 13450, Valorisation Grant Phase II.
  • Co-adaptive compliant systems, part of STW-“Perspectief” program Symbionics, co-adaptive assistive devices.
  • CNT Micromechanisms and Microstructure Manufacturing, 3mE Cohesion Project.
  • ShellMech: Shell-based mechanisms out of composite materials, STW-HTSM 12814.
  • In-Balance: Inherent dynamic balancing for fast and accurate manipulators, STW-HTSM 12848.
  • Low friction surgical forceps, part of NIMIT Development Centre, ZonMW LSH IMDI 104002007.
  • Mechanical aspects of fiber-optics, STW 12702, part of STW-“Perspectief” program iMIT, Instruments for minimally invasive techniques.
  • Flextension: Natural arm support that meets the growing needs of Duchenne patients, STW 11832 (275/1300 kE).
  • Haptic master: Optimizing tele-operation systems for shared control, STW 12158 (428/683), part of Perspectief program H-Haptics: Human-centered design of haptic interfaces.


  • CIDP: Compliant Intervertebral Disc Prosthesis, STW 12927, Valorisation Grant I (2012).
  • Xarm: Upper body exoskeletons for caretaker support, Point.One PNU09B12, in collaboration with InteSpring BV (2009-2012).
  • SPISTA: Combination of helical springs and torsion bars, SenterNovem Knowledge Worker Program, KWR0916442, in collaboration with HCI BV (2009-2010).
  • ELASTICOM: Compliant mechanisms for gravity equilibration, SenterNovem Knowledge Worker Program, KWR09084, in collaboration with InteSpring BV (2009-2010).
  • HCI Foldable Container: Certification and Testing, STW 10585, Valorisation Grant II (2008).
  • The BalanceBox: Valorisation of ‘energy-free’ adjustability in statically balanced spring mechanisms, STW 8021, Valorisation Grant II (2007).
  • Statically Balanced Compliant Mechanisms (NWO/STW VIDI Innovational Research Incentives Scheme, IRIS, STW 7583 (2007-2012).
  • MYJOINT: Living Bioreactor – Growing a New Joint in a Human Back (EU FP6-2004-NEST-C-1, Proposal No 028861). We participated with the equivalent of one PhD student (2006-2009).
  • FALCON: Flexible Automated Logistics Concepts, SenterNovem BSIK03021, Embedded Systems Institute (2006-2010).
  • BESI: High performance dynamically balanced manipulator, Feasibility study by order of BESI Singulation, BESI Singulation B.V., Drunen, The Netherlands (2).

Companies, in which I am a permanent technical advisor (unpaid), initiated based in part on my and the founders’ research results:

  • Flexous BV (, Delft, The Netherlands, Est. 2012. Hold one patent, N2007609. STW Valorisation Grant phase 1, 2012 and phase 2, 2013-2014.
  • Kite Robotics BV (, Saasveld, The Netherlands, Est. 2012. Hold one patent, N2009478. STW Valorisation Grant phase 1, 2012, and phase 2, 2013-2014. Finalist New Venture Award (2013). Recipient of a tree at the Innovation Avenue in recognition of innovative and sustainable character (2013). Nominated for Lefgozah Award (2014).
  • Xpozer BV, ( Delft, The Netherlands, Est. 2008. Finalist New Venture Award (2007). Finalist in Philips Innovation Award (2007). Winner of Starter of the Month award, April 2010, issued by ING. Recipient of GIO Design award, 22 Oct 2010. Recipient of Red Dot Design Award 2011. Recipient of IF Product Design Award 2012.
  • Holland Container Innovations BV (, Delft, the Netherlands, Est. 2006. Hold one international patent, EPO 7116312.5-1261. Winner of Ernst & Young Best Business (2006). Winner of Philips Innovation Award (2007). Winner of 1st and 2nd round and top 5 of third round New Venture Award (Incentive Prize, 2006/2007). Finalist in Academic Enterprise Award Europe 2009. Winner of Shell LiveWIRE Young Business Award (2009). Rated 17 in 2010 MKB Innovatie Top 100. Finalist in Postcode Lottery Green Challenge. Awarded 1st and 2nd phase of STW Valorisation Grant (2008). Winner of 2014 Promising Innovation in Transport Award. 
  • Intespring BV (, Delft, the Netherlands, Est. 2005. Hold two international patents, WO2007/035096, EPO 06783958.9. Finalist of Kickstart Start-up Award (2005). Finalist of Herman Wijffels Award (2005). Finalist and winner of the public prize of the Shell LiveWIRE Young Business Award (2008). Awarded 1st and 2nd phase of STW Valorisation Grant (2007).
  • Microgravity Products BV (, Rotterdam, the Netherlands, Est. 2003. Hold two international patents, WO2004047712, WO2002/096240 (US2004/195883). Winner of SEE Innovation Award 2001 (Niels Vrijlandt).
  • Companies where some of my research results are being applied and where I am a permanent technical advisor (unpaid):
  • Penta Robotics BV (, Vreeland, the Netherlands, Est. 2010. Hold two international patents, WO2012/173471 and WO2010/128849 and contribute to the In-Balance project.
  • Anglepoise Ltd, ( Farlington, Hampshire, UK, Est. 1932. Hold one international patent, UK1847771/EP1847771, based on which currently a new product is being developed in collaboration with Intespring BV. 
  • Voss K, Wijk V van der, Herder JL, System for moving a mobile tendon controlled platform robot, N2009478 (2012-09-17), WO2014/042522 A1 (2014-03-20).
  • Tolou N, Pluimers P, Howell LL, Jensen BD, Herder JL, Static balancing system for compliant mechanisms, N2009312 (2012-08-11).
  • Lassooij J, Tolou N, Herder JL, Grasper embodied with bistable element, NL2009200-NL2009202 (2012-07-17).
  • Tolou N, Herder JL, Energy harvester, N2007609 (2011-10-18), Granted (2013-04-22), PCT/NL2012/050723 (2013-12-07), EPO 12780870.7-1508.
  • Dunning AG, Herder JL, Peijster J, Support structure for lithography system, NL2007428 (2011-09-15), US provisional application 61/534962 (2011-09-15).
  • Dunning AG, Tolou N, Herder JL, Device and apparatus to compensate a constant load, such as gravity load, N2007419 (2011-09-15).
  • Wijk V van der, Herder JL, Krut S, Pierrot F, Manipulator comprising a fixed base and a movable platform, with four motor-driven chains of articulated links, N2006960 (2011-06-17), PCT/NL2012/050409 (2012-06-12), WO2012/173471 (2012-12-20).
  • Tolou N, Herder JL, Micro-electromechanical system, N2005181 (2010-07-30), Granted (2012-01-31), PCT/NL2011/050539, WO2012/015301 (2011-07-22).
  • Steutel P, Kragten GA, Herder JL, Underactuated grasper, N2005168 (2010-07-29).
  • May E, Herder JL, Mechanical Device for Tissue Regeneration, NL2002742 (2009-09-04), PCT/NL2010/050188 (2010-04-08), WO2010/117275 (WO2012015301, 2010-10-14).
  • Wijk V van der, Herder JL, Dynamically balanced Delta Robot, NL2002839 (2009-05-05), PCT/NL2010/050253 (2010-05-03), Granted (2010-11-08), WO2010/128849 (2010-11-11), US2012103124 (2011-11-07).
  • Wisse B, Barents R, Dorsser W van, Herder JL, Apparatus for exercising a force on a load, WO2009082207 (2009, 02-27), NL1929196, EPO Application No. 06783958.9, PCT/NL050802 (2008-12-16), WO2009082207 (2009-07-02), US12/819.845 (2010-06-21).
  • Herder JL, Kusuma G, Foldable container, EPO Application No. 7116312.5-1261 EP20070116312 (2007-09-13), PCT/EP2008/062089, EP2036835 WO2009/034142/A1 (2009-03-19), Granted (2010-11-04).
  • Herder JL, Balance System, EPO Application No. 06252088.7-1755 (2006-04-18), UK1847771 (2007-10-24), EP1847771 (2007-10-24).
  • Barents R, Dorsser W van, Wisse B, Herder JL, Balancing Device, NL1029989 (2005-09-20), Granted (2007-05-01), PCT/NL2006/050212 (2006-08-31), WO2007/035096 (2007-03-29), US2008/0210842 (2008-09-04).
  • Herder JL, Gosselin CM, System comprising a moving part connected to a stationary part comprises a compensatory weight and compensatory rotor forming a single unit, NL1027102 (2006-03-27).
  • Herder JL, Ariens A, Bakker B, Menschaar H, Five-bar mechanism with dynamic balancing means and method for dynamically balancing a five-bar mechanism, NL1028138 (2005-01-27), PCT/NL2006/000048 (2006-01-26), WO2006/080846 (2006-08-03).
  • Oosterom R, Pijl A van der, Bersee M, Helm FCT van der, Herder JL, Joint prosthesis and method of bone fixation, NL2004/1026925 (2004-08-30), EP2005/0775166 (2005-08-26), WO2006/025729 (2006-03-09), US2008009949 (2008-01-10).
  • Plomp M, Vrijlandt N, Herder JL , Walking device for supporting a body or part of a body, NL2002/1022017 (2002-11-28), WO2004047712 (2004-06-10).       
  • Vrijlandt N, Herder JL, Seating unit for supporting a body or part of a body, NL 1018178 (2002-12-03), PCT/NL02/00344, WO2002/096240 (2002-12-05), US2004/195883 (2004-10-07), US2008/106133.
  • Herder JL, Higler RAP, Oderwald MP, Method for separating rosette plants, NL1021463C (2002-09-16), PCT/NL2003/000610, AU2003/263662, WO2004/023863 (WO2003NL00610, 2003-09-15), US20060112619 (2006-06-01).
  • Herder JL, Tuijthof GJM, Balancing mechanism to hold object in required vertical position involves use of parallelogram or hinged arms and two tensioned springs, NL1009886 C (2000-02-21).
  • Herder JL, Horward MJ, Manipulating pliers, NL1004056 (1996-09-15), PCT/NL97/00521 (1998-03-19), WO1998/011833 (1998-03-26), US6447532 (2002-09-10). 
Selected Talks
  • Keynote address, Towards structurally compliant robotics, Towards the Next Stages of Robotics Symposium, Tokyo Institute of Technology, Tokyo, Japan, Jan 6, 2015.
  • Keynote address, Towards the essence in medical device design, Design of Medical Devices Conference, April 9, Minneapolis, MN, USA, 2014.
  • Keynote address, Focus on Forces, 2nd ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots (REMaR2012), Tianjin, China, July 9, 2012.
  • Keynote address, Self-adjustable mechanisms, The Sino-British/EU Academic Symposium on Development of Mechanisms and Robotics (MARS 2010), Beijing University of Aeronautics and Astronautics, China, Aug 25-28, 2010.
  • Keynote address, Force directed design; Same mechanics, different design perspective, Fifth System Architecting Event, Embedded Systems Institute, Eindhoven, November 29, 2006.
  • Close to thirty Guest seminars or invited presentations in The Netherlands, USA, UK, Japan, Taiwan, Germany, France, Canada, Belgium.
Selected Publications
  • Khatait JP, Brouwer DM, Meijaard JP, Aarts RGKM, Herder JL (2013) Flexible Multibody Modeling of a Surgical Instrument Inside an Endoscope, Journal of Computational and Nonlinear Dynamics 9(1)011018 (DOI: 10.1115/1.4026059).
  • Mattheijer J, Herder JL, Tuijthof GJM, Nelissen RGHH, Dankelman J, Valstar ER (2013) Shaping Patient Specific Surgical Guides for Arthroplasty to Obtain High Docking Robustness, ASME J. of Mechanical Design 135(7)071001 (DOI: 10.1115/1.4024231).
  • Wijk V van der, Krut S, Pierrot F, Herder JL (2013), Design and experimental evaluation of a dynamically balanced redundant planar 4-RRR parallel manipulator, Int. J. Robotics Research (IF 2.86) 32(6)743-758.
  • Dunning AG, Tolou N, Herder JL (2013) A Compact Low-Stiffness Six Degrees of Freedom Compliant Precision Stage, Precision Engineering 37(2)380-388 (
  • Dunning AG, Tolou N, Kluit LF, Herder JL (2012) Bi-stable compliant mechanisms: correction for finite element modeling, preloading incorporation and tuning the stiffness, J. Mechanical Design, 134(8)084502 (DOI: 10.1115/1.4006961).
  • Pellegrini S, Tolou N, Schenk M, Herder JL (2012) Bistable Vibration Energy Harvesters: a review, J. Intelligent Material Systems and Structures 24(11)1303-1312 (DOI: 10.1177/1045389X12444940).
  • Wijk V van der, Herder JL, Demeulenaere B, Gosselin C (2012) Comparative analysis and optimization for low-mass and low-inertia dynamic balancing of a 1-dof rotatable link balanced by a counter-rotary counter-mass, ASME Journal of Mechanisms and Robotics, 4(3)031008 (DOI: 10.1115/1.4006744).
  • Wijk V van der, Herder JL (2012) Synthesis method for linkages with center of mass at invariant link point — Pantograph based mechanisms, Mechanism and Machine Theory, 48(2)15-28 (DOI:10.1016/j.mechmachtheory.2011.09.007).
  • Tolou N, Khiat A, Zhang GQ, Herder JL (2012) Analytical Method for Determination of Young’s Modulus of Large Deflection Carbon Nanotube, Int. J. of Nonlinear Sciences and Numerical Simulation, 12(1-8)51-58 (DOI: 10.1515/IJNSNS.2011.300).
  • Kragten GA, Baril M, Gosselin C, Herder JL (2011) Stable Precision Grasps by Underactuated Fingers, IEEE Transactions on Robotics, 27(6)1056-66 (DOI: 10.1109/TRO.2011.2163432).
  • Radaelli G, Gallego JA, Herder JL (2011) An energy approach to static balancing of systems with torsion stiffness, Journal of Mechanical Design, 133(9)091006 (DOI: 10.1115/1.4004704).
  • Kragten GA, Helm FCT van der, Herder JL (2011) A planar geometric design approach for a large grasp range in underactuated hands, Mechanism and Machine Theory, 46(8)1121-1136, (DOI:10.1016/j.mechmachtheory.2011.03.004).
  • Barents R, Schenk M, Dorsser WD van, Wisse BM, Herder JL (2011) Spring-to-spring balancing as energy-free adjustment method in gravity equilibrators, ASME Journal of Mechanical Design, 133(6)061010 (DOI: 10.1115/1.4004101).
  • Kragten GA, Herder JL (2010) The ability of underactuated hands to grasp and hold objects, Mechanism and Machine Theory 45(3)408-425 (DOI:10.1016/j.mechmachtheory.2009.10.002).
  • Hoetmer K, Woo G, Kim C, Herder JL (2010) Negative stiffness building blocks for statically balanced compliant mechanisms: design and testing, ASME Journal of Mechanisms and Robotics, 2(4)041007 (DOI: 10.1115/1.4002247).
  • Kragten GA, Herder JL (2010) A platform for grasp performance assessment in compliant or underactuated hands, ASME Journal of Mechanical Design, 132(2)024502-1-6 (DOI: 10.1115/1.4000761).
  • Wijk V van der, Herder JL (2009) Synthesis of dynamically balanced mechanisms by using counter-rotary counter-mass balanced double pendula, ASME Journal of Mechanical Design 131(11)111003 (DOI: 10.1115/1.3179150).
  • Wijk V van der, Herder JL, Demeulenaere B (2009) Comparison of various dynamic balancing principles regarding additional mass and additional inertia, ASME J. of Mechanisms and Robotics 1(4)041006 1-9 (DOI: 10.1115/1.3211022).
  • Tolou N, Herder JL (2009) A semi-analytical approach to large deflections in compliant beams under point load, Mathematical Problems in Engineering, Article ID 910896 (DOI: 10.1155/2009/910896).
  • Dorsser WD van, Barents R, Wisse BM, Schenk M, Herder JL (2008) Energy-free adjustment of gravity equilibrators by adjusting the spring stiffness, Proceedings of IMechE, Part C: Journal of Mechanical Engineering Science, 222(9)1839/46 (DOI: 10.1243/09544062JMES832).
  • Schenk M, Guest SD, Herder JL, (2007) Zero stiffness tensegrity structures, International Journal of Solids and Structures, Vol. 44, p6569-83 (DOI: 10.1016/j.ijsolstr.2007.02.041).
  • Dorsser WD van, Barents R, Wisse BM, Herder JL (2007) A gravity-balanced arm support with energy-free adjustment, Journal of Medical Devices, 1(2)151-8 (DOI: 10.1115/1.2736400).
  • Herder JL, Vrijlandt N, Antonides T, Cloosterman M, Mastenbroek PL (2006) Principle and design of a mobile arm support for people with muscular weakness, Journal of Rehabilitation Research and Development, 43(5)591-604 (DOI: 10.1682/JRRD.2006.05.0044).
  • Tuijthof GJM, Herder JL (2000) Design, actuation and control of an anthropomorphic robot arm, Mechanism and Machine Theory 35(7)945-962 (DOI: 10.1016/S0094-114X(99)00051-8).
  • Visser H de, Herder JL (2000) Force directed design of a voluntary closing hand prosthesis, Journal of Rehabilitation Research and Development 37(3)261-271.
  • Herder JL (1998) Design of spring force compensation systems, Mechanism and Machine Theory, 33(1-2)151-161 (DOI: 10.1016/S0094-114X(97)00027-X).
  • Herder JL, Horward MJ, Sjoerdsma W (1997) A laparoscopic grasper with force perception, Minimally Invasive Therapy and Allied Technologies, 6(4)279-286. 


  • ME1160, Compliant Mechanisms (initiator and responsible)
  • ME1631, Precision Mechanism Design (responsible)
  • WB-Mi-121, D:Dream Minor  (responsible)
  • 113136, Design Principles for Precision Mechanisms (UTwente, co-responsible)
  • WB 2436-03, Bio-Inspired Design (contribution)
  • VRA/PAOG, Ergonomics in Arm Orthotics (contribution)


  • 2.75, Precision Machine Design / Design of Medical Devices, MIT (contribution).
  • ME1110, Medical Device Prototyping (contribution)
  • WB3672, Dimensioning in Design (coordinator)
  • WB3101, Design of Mechanical Systems I (co-responsible)
  • WB5414-03, Design of Machines and Mechanisms (co-responsible)
  • WB2432, Biomechatronics (contribution)
  • WB2428-03, Mechanical Design in Mechatronics (co-responsible)
  • WBTP113, Analysis of Mechanical Systems (initiator and co-responsible)
  • WBP202, Haptic System Design (initiator and responsible)
  • WB2308, Biomechanical Engineering Design (co-responsible)
  • WB2100, Mechanical Systems (co-responsible)

Just Herder