Postdoctoral Fellow

Keaton InkolPostdoctoral Fellow at University of Waterloo. My research focuses on studying the ability of humans to stand and regulate balance when wearing a robotic exoskeleton through the use of computer simulations of integrated human-exoskeleton multibody dynamics.

Research Interests

• Biomechatronics (robotic exoskeletons; primarily for the lower-limb)
• Real-time optimal control and state estimation algorithms
• Biomechanical modelling (e.g. multibody/sensory dynamics of both musculoskeletal and central nervous system)
• Modelling human-exoskeleton interactions
• Predictive dynamic simulations
• Human motor control (balance/postural control)
• Sports engineering


• PhD, Systems Design Engineering, University of Waterloo (2023)
• MSc, Human Health and Nutritional Sciences (Biomechanics), University of Guelph (2018)
• BSc, Human Kinetics, University of Guelph (2016)

Previous Research


• Developed analytical model to resolve the dynamic margin of stability within a non-inertial reference frame (known support-surface accelerations); this measure is often used as a quantitative outcome in human balance experiments.
• Approximated the feasible stability region (centre of mass position-velocity region) for a torque-driven model of frontal plane counterbalance postural strategies via predictive simulations.
• Evaluated fidelity of simplified anthropometric model variants for estimation of whole-body centre of mass kinematics during balance recovery. 


• Investigated the effect of repeated exposure to support-surface perturbations mimicking controlled slipping during walking on the kinematics of balance recovery. 

Selected Publications

Inkol KA, Vallis LA (2019) Modelling the dynamic margins of stability for use in evaluations of balance following a support-surface perturbation. Journal of Biomechanics.

Inkol KA, Huntley AH, Vallis LA (2018a) Do perturbation-evoked responses result in higher reaction time costs depending on the direction and magnitude of perturbation? Exp Brain Res 236:1689–1698.

Inkol KA, Huntley AH, Vallis LA (2018b) Modeling margin of stability with feet in place following a postural perturbation: Effect of altered anthropometric models for estimated extrapolated centre of mass. Gait Posture 62:434–439.

Inkol KA, Huntley AH, Vallis LA (2018c) Repeated Exposure to Forward Support-Surface Perturbation During Overground Walking Alters Upper-Body Kinematics and Step Parameters. Journal of Motor Behavior 1–13.

Huntley AH, Inkol KA, Vallis LA (2017) Slip and Trip Perturbations During an Object Transport Task Requiring a Lateral Change in Support. J Mot Behav 1–9.

University of Waterloo