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Matthew C. Tresch - Publications

Affiliations: 
Northwestern University, Evanston, IL 
Area:
neural control of movement
Website:
http://www.bme.northwestern.edu/faculty_staff/core/tresch.php
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63/80 high-probability publications. We are testing a new system for linking publications to authors. You can help! If you notice any inaccuracies, please sign in and mark papers as correct or incorrect matches. If you identify any major omissions or other inaccuracies in the publication list, please let us know.

Year Citation  Score
2023 Song D, Tresch M. Prediction of isometric forces from combined epidural spinal cord and neuromuscular electrical stimulation in the rat lower limb. Research Square. PMID 37886495 DOI: 10.21203/rs.3.rs-3377679/v1  0.367
2023 Alessandro C, Prashara A, Tentler DP, Tresch MC. Inhibition of knee joint sensory afferents alters covariation across strides between quadriceps muscles during locomotion. Journal of Applied Physiology (Bethesda, Md. : 1985). PMID 36759157 DOI: 10.1152/japplphysiol.00591.2022  0.354
2022 Wimalasena LN, Braun J, Keshtkaran MR, Hofmann D, Gallego JÁ, Alessandro C, Tresch M, Miller LE, Pandarinath C. Estimating muscle activation from EMG using deep learning-based dynamical systems models. Journal of Neural Engineering. PMID 35366649 DOI: 10.1088/1741-2552/ac6369  0.356
2022 Young FR, Chiel HJ, Tresch MC, Heckman CJ, Hunt AJ, Quinn RD. Analyzing Modeled Torque Profiles to Understand Scale-Dependent Active Muscle Responses in the Hip Joint. Biomimetics (Basel, Switzerland). 7. PMID 35225910 DOI: 10.3390/biomimetics7010017  0.327
2021 Barroso FO, Alessandro C, Tresch MC. Author Correction: Adaptation of muscle activation after patellar loading demonstrates neural control of joint variables. Scientific Reports. 11: 16933. PMID 34400664 DOI: 10.1038/s41598-021-95069-5  0.324
2020 Thaweerattanasinp T, Birch D, Jiang MC, Tresch MC, Bennett DJ, Heckman CJ, Tysseling VM. Bursting interneurons in the deep dorsal horn develop increased excitability and sensitivity to serotonin after chronic spinal injury. Journal of Neurophysiology. PMID 32208883 DOI: 10.1152/Jn.00701.2019  0.38
2020 Alessandro C, Barroso FO, Prashara A, Tentler DP, Yeh HY, Tresch MC. Coordination amongst quadriceps muscles suggests neural regulation of internal joint stresses, not simplification of task performance. Proceedings of the National Academy of Sciences of the United States of America. PMID 32205442 DOI: 10.1073/pnas.1916578117  0.493
2019 Barroso FO, Alessandro C, Tresch MC. Adaptation of muscle activation after patellar loading demonstrates neural control of joint variables. Scientific Reports. 9: 20370. PMID 31889142 DOI: 10.1038/s41598-019-56888-9  0.487
2019 Barroso FO, Yoder B, Tentler D, Wallner J, Kinkhabwala A, Jantz MK, Flint RD, Tostado P, Pei E, Satish A, Brodnick S, Suminski A, Williams JC, Miller LE, Tresch M. Decoding neural activity to predict rat locomotion using intracortical and epidural arrays. Journal of Neural Engineering. PMID 30754031 DOI: 10.1088/1741-2552/Ab0698  0.716
2018 Sandercock TG, Wei Q, Dhaher YY, Pai DK, Tresch MC. Vastus lateralis and vastus medialis produce distinct mediolateral forces on the patella but similar forces on the tibia in the rat. Journal of Biomechanics. PMID 30269930 DOI: 10.1016/J.Jbiomech.2018.09.007  0.38
2018 Alessandro C, Rellinger BA, Barroso FO, Tresch M. Adaptation after vastus lateralis denervation in rats demonstrates neural regulation of joint stresses and strains. Elife. 7. PMID 30175959 DOI: 10.7554/Elife.38215  0.762
2018 Wei Q, Pai DK, Tresch MC. Uncertainty in Limb Configuration Makes Minimal Contribution to Errors Between Observed and Predicted Forces in a Musculoskeletal Model of the Rat Hindlimb. Ieee Transactions On Bio-Medical Engineering. 65: 469-476. PMID 29346113 DOI: 10.1109/Tbme.2017.2775598  0.407
2018 Alessandro C, Rellinger BA, Barroso FO, Tresch MC. Author response: Adaptation after vastus lateralis denervation in rats demonstrates neural regulation of joint stresses and strains Elife. DOI: 10.7554/Elife.38215.021  0.708
2017 Saltiel P, d'Avella A, Tresch MC, Wyler K, Bizzi E. Critical Points and Traveling Wave in Locomotion: Experimental Evidence and Some Theoretical Considerations. Frontiers in Neural Circuits. 11: 98. PMID 29276476 DOI: 10.3389/fncir.2017.00098  0.727
2017 Tysseling VM, Klein DA, Imhoff-Manuel R, Manuel M, Heckman CJ, Tresch MC. Constitutive activity of 5-HT2c receptors is present following incomplete spinal cord injury but is not modified after chronic SSRI or baclofen treatment. Journal of Neurophysiology. jn.00190.2017. PMID 28877964 DOI: 10.1152/Jn.00190.2017  0.396
2017 Quinlan KA, Kajtaz E, Ciolino JD, Imhoff-Manuel RD, Tresch MC, Heckman CJ, Tysseling VM. Chronic electromyograms in treadmill running SOD1 mice reveal early changes in muscle activation. The Journal of Physiology. PMID 28543166 DOI: 10.1113/Jp274170  0.372
2017 Chowdhury RH, Tresch MC, Miller LE. Musculoskeletal geometry accounts for apparent extrinsic representation of paw position in dorsal spinocerebellar tract. Journal of Neurophysiology. jn.00695.2016. PMID 28381486 DOI: 10.1152/Jn.00695.2016  0.429
2016 Schearer E, Liao YW, Perreault E, Tresch M, Memberg W, Kirsch R, Lynch K. Semiparametric Identification of Human Arm Dynamics for Flexible Control of a Functional Electrical Stimulation Neuroprosthesis. Ieee Transactions On Neural Systems and Rehabilitation Engineering : a Publication of the Ieee Engineering in Medicine and Biology Society. PMID 26955041 DOI: 10.1109/TNSRE.2016.2535348  0.418
2016 Berniker M, Jarc A, Kording K, Tresch M. A Probabilistic Analysis of Muscle Force Uncertainty for Control. Ieee Transactions On Bio-Medical Engineering. PMID 26890530 DOI: 10.1109/Tbme.2016.2531083  0.811
2015 Steele KM, Tresch MC, Perreault EJ. Consequences of biomechanically constrained tasks in the design and interpretation of synergy analyses. Journal of Neurophysiology. 113: 2102-13. PMID 25589591 DOI: 10.1152/jn.00769.2013  0.405
2014 Ritter LK, Tresch MC, Heckman CJ, Manuel M, Tysseling VM. Characterization of motor units in behaving adult mice shows a wide primary range. Journal of Neurophysiology. 112: 543-51. PMID 24805075 DOI: 10.1152/Jn.00108.2014  0.383
2014 Schearer EM, Liao YW, Perreault EJ, Tresch MC, Memberg WD, Kirsch RF, Lynch KM. Multi-muscle FES force control of the human arm for arbitrary goals. Ieee Transactions On Neural Systems and Rehabilitation Engineering : a Publication of the Ieee Engineering in Medicine and Biology Society. 22: 654-63. PMID 24122573 DOI: 10.1109/TNSRE.2013.2282903  0.444
2014 Liao YW, Schearer EM, Perreault EJ, Tresch MC, Lynch KM. Multi-muscle FES control of the human arm for interaction tasks - Stabilizing with muscle co-contraction and postural adjustment: A simulation study Ieee International Conference On Intelligent Robots and Systems. 2134-2139. DOI: 10.1109/IROS.2014.6942849  0.324
2013 Liao YW, Schearer EM, Hu X, Perreault EJ, Tresch MC, Lynch KM. Modeling open-loop stability of a human arm driven by a functional electrical stimulation neuroprosthesis. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 2013: 3598-601. PMID 24110508 DOI: 10.1109/EMBC.2013.6610321  0.317
2013 Steele KM, Tresch MC, Perreault EJ. The number and choice of muscles impact the results of muscle synergy analyses. Frontiers in Computational Neuroscience. 7: 105. PMID 23964232 DOI: 10.3389/fncom.2013.00105  0.48
2013 Tysseling VM, Janes L, Imhoff R, Quinlan KA, Lookabaugh B, Ramalingam S, Heckman CJ, Tresch MC. Design and evaluation of a chronic EMG multichannel detection system for long-term recordings of hindlimb muscles in behaving mice. Journal of Electromyography and Kinesiology : Official Journal of the International Society of Electrophysiological Kinesiology. 23: 531-9. PMID 23369875 DOI: 10.1016/J.Jelekin.2012.11.014  0.439
2013 Jarc AM, Berniker M, Tresch MC. FES control of isometric forces in the rat hindlimb using many muscles. Ieee Transactions On Bio-Medical Engineering. 60: 1422-30. PMID 23303688 DOI: 10.1109/Tbme.2013.2237768  0.789
2012 Wu MM, Pai DK, Tresch MC, Sandercock TG. Passive elastic properties of the rat ankle. Journal of Biomechanics. 45: 1728-32. PMID 22520588 DOI: 10.1016/J.Jbiomech.2012.03.017  0.501
2012 Sandercock TG, Yeo SH, Pai DK, Tresch MC. Transducer and base compliance alter the in situ 6 dof force measured from muscle during an isometric contraction in a multi-joint limb. Journal of Biomechanics. 45: 1017-22. PMID 22304843 DOI: 10.1016/J.Jbiomech.2012.01.005  0.459
2011 Yeo SH, Mullens CH, Sandercock TG, Pai DK, Tresch MC. Estimation of musculoskeletal models from in situ measurements of muscle action in the rat hindlimb. The Journal of Experimental Biology. 214: 735-46. PMID 21307059 DOI: 10.1242/Jeb.049163  0.468
2010 Tresch MC, Klein DA, Yeo SH, Mullens C, Sandercock T, Pai DK. Understanding complex muscles in the rat hindlimb: Activations and actions. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 2010: 4502-5. PMID 21095781 DOI: 10.1109/IEMBS.2010.5626054  0.386
2010 Klein DA, Tresch MC. Specificity of intramuscular activation during rhythms produced by spinal patterning systems in the in vitro neonatal rat with hindlimb attached preparation. Journal of Neurophysiology. 104: 2158-68. PMID 20660414 DOI: 10.1152/jn.00477.2010  0.466
2010 Klein DA, Patino A, Tresch MC. Flexibility of motor pattern generation across stimulation conditions by the neonatal rat spinal cord. Journal of Neurophysiology. 103: 1580-90. PMID 20089814 DOI: 10.1152/jn.00961.2009  0.438
2010 Klein DA, Patino A, Tresch MC. Flexibility of motor pattern generation across stimulation conditions by the neonatal rat spinal cord (Journal of Neurophysiology (2010) 103, (1580-1590) DOI:10.1152/jn.00961.2009) Journal of Neurophysiology. 104: 580. DOI: 10.1152/jn.z9k-0242-corr.2010  0.427
2009 Tresch MC, Jarc A. The case for and against muscle synergies. Current Opinion in Neurobiology. 19: 601-7. PMID 19828310 DOI: 10.1016/J.Conb.2009.09.002  0.774
2009 Berniker M, Jarc A, Bizzi E, Tresch MC. Simplified and effective motor control based on muscle synergies to exploit musculoskeletal dynamics. Proceedings of the National Academy of Sciences of the United States of America. 106: 7601-6. PMID 19380738 DOI: 10.1073/Pnas.0901512106  0.795
2008 Bizzi E, Cheung VC, d'Avella A, Saltiel P, Tresch M. Combining modules for movement. Brain Research Reviews. 57: 125-33. PMID 18029291 DOI: 10.1016/j.brainresrev.2007.08.004  0.787
2007 Tresch MC. A balanced view of motor control. Nature Neuroscience. 10: 1227-8. PMID 17893714 DOI: 10.1038/nn1007-1227  0.419
2006 Tresch MC, Cheung VC, d'Avella A. Matrix factorization algorithms for the identification of muscle synergies: evaluation on simulated and experimental data sets. Journal of Neurophysiology. 95: 2199-212. PMID 16394079 DOI: 10.1152/jn.00222.2005  0.764
2006 d'Avella A, Tresch M. Muscle Synergies for Motor Control Handbook of Neural Engineering. 449-465. DOI: 10.1002/9780470068298.ch27  0.702
2005 Cheung VC, Tresch MC. Non-negative matrix factorization algorithms modeling noise distributions within the exponential family. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 5: 4990-3. PMID 17281365 DOI: 10.1109/IEMBS.2005.1615595  0.759
2005 Richardson A, Tresch M, Bizzi E, Slotine JJ. Stability analysis of nonlinear muscle dynamics using contraction theory. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 5: 4986-9. PMID 17281364 DOI: 10.1109/IEMBS.2005.1615594  0.712
2005 Cunningham MG, Donalds RA, Scouten CW, Tresch MC. A versatile, low-cost adaptor for stereotaxic and electrophysiologic spinal preparations in juvenile and adult rodents. Brain Research Bulletin. 68: 157-62. PMID 16325015 DOI: 10.1016/j.brainresbull.2005.08.004  0.355
2005 Cheung VC, d'Avella A, Tresch MC, Bizzi E. Central and sensory contributions to the activation and organization of muscle synergies during natural motor behaviors. The Journal of Neuroscience : the Official Journal of the Society For Neuroscience. 25: 6419-34. PMID 16000633 DOI: 10.1523/JNEUROSCI.4904-04.2005  0.805
2005 Richardson AG, Slotine JJ, Bizzi E, Tresch MC. Intrinsic musculoskeletal properties stabilize wiping movements in the spinalized frog. The Journal of Neuroscience : the Official Journal of the Society For Neuroscience. 25: 3181-91. PMID 15788775 DOI: 10.1523/JNEUROSCI.4945-04.2005  0.735
2005 Perrier JF, Tresch MC. Recruitment of motor neuronal persistent inward currents shapes withdrawal reflexes in the frog. The Journal of Physiology. 562: 507-20. PMID 15528248 DOI: 10.1113/jphysiol.2004.072769  0.623
2002 Tresch MC, Saltiel P, d'Avella A, Bizzi E. Coordination and localization in spinal motor systems. Brain Research. Brain Research Reviews. 40: 66-79. PMID 12589907 DOI: 10.1016/S0165-0173(02)00189-3  0.761
2002 Tresch MC, Kiehn O. Synchronization of motor neurons during locomotion in the neonatal rat: predictors and mechanisms. The Journal of Neuroscience : the Official Journal of the Society For Neuroscience. 22: 9997-10008. PMID 12427857 DOI: 10.1523/Jneurosci.22-22-09997.2002  0.402
2002 Bizzi E, D'Avella A, Saltiel P, Tresch M. Modular organization of spinal motor systems. The Neuroscientist : a Review Journal Bringing Neurobiology, Neurology and Psychiatry. 8: 437-42. PMID 12374428 DOI: 10.1177/107385802236969  0.759
2002 Kiehn O, Tresch MC. Gap junctions and motor behavior. Trends in Neurosciences. 25: 108-15. PMID 11814564 DOI: 10.1016/S0166-2236(02)02038-6  0.412
2002 D'Avella A, Tresch MC. Modularity in the motor system: Decomposition of muscle patterns as combinations of time-varying synergies Advances in Neural Information Processing Systems.  0.689
2001 Saltiel P, Wyler-Duda K, D'Avella A, Tresch MC, Bizzi E. Muscle synergies encoded within the spinal cord: evidence from focal intraspinal NMDA iontophoresis in the frog. Journal of Neurophysiology. 85: 605-19. PMID 11160497 DOI: 10.1152/Jn.2001.85.2.605  0.779
2000 Bizzi E, Tresch MC, Saltiel P, d'Avella A. New perspectives on spinal motor systems. Nature Reviews. Neuroscience. 1: 101-8. PMID 11252772 DOI: 10.1038/35039000  0.749
2000 Kiehn O, Kjaerulff O, Tresch MC, Harris-Warrick RM. Contributions of intrinsic motor neuron properties to the production of rhythmic motor output in the mammalian spinal cord. Brain Research Bulletin. 53: 649-59. PMID 11165800 DOI: 10.1016/S0361-9230(00)00398-1  0.407
2000 Tresch MC, Kiehn O. Motor coordination without action potentials in the mammalian spinal cord. Nature Neuroscience. 3: 593-9. PMID 10816316 DOI: 10.1038/75768  0.466
2000 Tresch MC, Kiehn O. Population reconstruction of the locomotor cycle from interneuron activity in the mammalian spinal cord. Journal of Neurophysiology. 83: 1972-8. PMID 10758108 DOI: 10.1152/Jn.2000.83.4.1972  0.355
1999 Tresch MC, Kiehn O. Coding of locomotor phase in populations of neurons in rostral and caudal segments of the neonatal rat lumbar spinal cord. Journal of Neurophysiology. 82: 3563-74. PMID 10601482 DOI: 10.1152/Jn.1999.82.6.3563  0.337
1999 Tresch MC, Bizzi E. Responses to spinal microstimulation in the chronically spinalized rat and their relationship to spinal systems activated by low threshold cutaneous stimulation. Experimental Brain Research. 129: 401-16. PMID 10591912 DOI: 10.1007/S002210050908  0.604
1999 Tresch MC, Saltiel P, Bizzi E. The construction of movement by the spinal cord. Nature Neuroscience. 2: 162-7. PMID 10195201 DOI: 10.1038/5721  0.708
1999 Lee CJ, Reger BD, Tresch MC, Colgate JE, Mussa-Ivaldi FA. Emulation of biological motor primitives in an artificial system: the generation of static force fields American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) Dsc. 67: 897-905.  0.562
1998 Saltiel P, Tresch MC, Bizzi E. Spinal cord modular organization and rhythm generation: an NMDA iontophoretic study in the frog. Journal of Neurophysiology. 80: 2323-39. PMID 9819246 DOI: 10.1152/Jn.1998.80.5.2323  0.617
1998 Bizzi E, Saltiel P, Tresch M. Modular organization of motor behavior. Zeitschrift Fã¼R Naturforschung. C, Journal of Biosciences. 53: 510-7. PMID 9755510  0.68
1997 Schotland JL, Tresch MC. Segmental and propriospinal projection systems of frog lumbar interneurons. Experimental Brain Research. 116: 283-98. PMID 9348127 DOI: 10.1007/PL00005756  0.335
Low-probability matches (unlikely to be authored by this person)
2010 Tresch MC. A neural system for boosting locomotion. Nature Neuroscience. 13: 659-60. PMID 20498686 DOI: 10.1038/nn0610-659  0.261
2019 Sreenivasa M, Valero-Cuevas FJ, Tresch M, Nakamura Y, Schouten AC, Sartori M. Editorial: Neuromechanics and Control of Physical Behavior: From Experimental and Computational Formulations to Bio-inspired Technologies. Frontiers in Computational Neuroscience. 13: 13. PMID 30941027 DOI: 10.3389/Fncom.2019.00013  0.255
1995 Tresch MC, Miller CL, Sinnamon HM. Priming of locomotor initiation by electrical stimulation in the hypothalamus and preoptic region in the anesthetized rat. Physiology & Behavior. 57: 641-8. PMID 7777597 DOI: 10.1016/0031-9384(94)00307-6  0.25
2021 Serrancolí G, Alessandro C, Tresch MC. The Effects of Mechanical Scale on Neural Control and the Regulation of Joint Stability. International Journal of Molecular Sciences. 22. PMID 33670603 DOI: 10.3390/ijms22042018  0.244
2016 Alessandro C, Barroso FO, Tresch M. Working hard to make a simple definition of synergies: Comment on: "Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands" by Marco Santello et al. Physics of Life Reviews. 17: 24-26. PMID 27318535 DOI: 10.1016/J.Plrev.2016.05.015  0.243
2008 Yeo SH, Tresch MC, Pai DK. Optimal design of musculoskeletal models using force field data. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 2008: 3710-4. PMID 19163518 DOI: 10.1109/IEMBS.2008.4650015  0.235
2022 Andrada E, Mothes O, Stark H, Tresch MC, Denzler J, Fischer MS, Blickhan R. Limb, joint and pelvic kinematic control in the quail coping with steps upwards and downwards. Scientific Reports. 12: 15901. PMID 36151454 DOI: 10.1038/s41598-022-20247-y  0.229
1993 Tresch MC, Sinnamon HM, Seamon JG. Double dissociation of spatial and object visual memory: evidence from selective interference in intact human subjects. Neuropsychologia. 31: 211-9. PMID 8492874 DOI: 10.1016/0028-3932(93)90085-E  0.213
2012 Schearer EM, Liao YW, Perreault EJ, Tresch MC, Lynch KM. Optimal sampling of recruitment curves for functional electrical stimulation control. Conference Proceedings : ... Annual International Conference of the Ieee Engineering in Medicine and Biology Society. Ieee Engineering in Medicine and Biology Society. Annual Conference. 2012: 329-32. PMID 23365897 DOI: 10.1109/EMBC.2012.6345936  0.206
2023 Burton A, Wang Z, Song D, Tran S, Hanna J, Ahmad D, Bakall J, Clausen D, Anderson J, Peralta R, Sandepudi K, Benedetto A, Yang E, Basrai D, Miller LE, ... Tresch MC, et al. Fully implanted battery-free high power platform for chronic spinal and muscular functional electrical stimulation. Nature Communications. 14: 7887. PMID 38036552 DOI: 10.1038/s41467-023-43669-2  0.205
2021 Bornstein B, Konstantin N, Alessandro C, Tresch MC, Zelzer E. More than movement: the proprioceptive system as a new regulator of musculoskeletal biology Current Opinion in Physiology. 20: 77-89. DOI: 10.1016/J.COPHYS.2021.01.004  0.197
2022 Deng K, Hunt AJ, Szczecinski NS, Tresch MC, Chiel HJ, Heckman CJ, Quinn RD. Biomechanical and Sensory Feedback Regularize the Behavior of Different Locomotor Central Pattern Generators. Biomimetics (Basel, Switzerland). 7. PMID 36546926 DOI: 10.3390/biomimetics7040226  0.186
2012 Schearer EM, Liao YW, Perreault EJ, Tresch MC, Memberg WD, Kirsch RF, Lynch KM. System identification for 3D force control of a human arm neuroprosthesis using functional electrical stimulation Proceedings - Ieee International Conference On Robotics and Automation. 3698-3705. DOI: 10.1109/ICRA.2012.6224981  0.132
2015 Schearer EM, Liao YW, Perreault EJ, Tresch MC, Memberg WD, Kirsch RF, Lynch KM. Evaluation of a semi-parametric model for high-dimensional FES control International Ieee/Embs Conference On Neural Engineering, Ner. 2015: 304-307. DOI: 10.1109/NER.2015.7146620  0.091
2014 Schearer EM, Liao YW, Perreault EJ, Tresch MC, Memberg WD, Kirsch RF, Lynch KM. Identifying inverse human arm dynamics using a robotic testbed Ieee International Conference On Intelligent Robots and Systems. 3585-3591. DOI: 10.1109/IROS.2014.6943064  0.055
2020 Ankeny CJ, Tresch MC. Creation and Deployment of a Virtual, Inquiry-Guided Biomedical Engineering Laboratory Course. Biomedical Engineering Education. 1: 67-71. PMID 35146491 DOI: 10.1007/s43683-020-00017-w  0.01
2020 Ankeny CJ, Tresch MC. Creation and Deployment of a Virtual, Inquiry-Guided Biomedical Engineering Laboratory Course. Biomedical Engineering Education. 1: 67-71. PMID 35146491 DOI: 10.1007/s43683-020-00017-w  0.01
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