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Logo: Institute of Automatic Control
Logo Leibniz Universität Hannover
Logo: Institute of Automatic Control
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Human Motor Control

  • Modeling of the musculoskeletal system
  • Human motion generation and neuromotor control
  • Prostheses and neural controlled assistant systems

Neurally controlled prosthesis and assistance systems

The application of mechatronics, robotics and control theory for problems such as novel intelligent assistant systems, especially neurally controlled prostheses and assistance robots is a major research focus at IRT. For example, the first experiments with a paraplegic person who continuously controlled a robot via neural signals only were successfully conducted during Prof. Haddadin's time at DLR. Following an initial simulation test phase of approximately 4 years neural control, a context sensitive task planner, and a safety concept were designed and implemented for the experimental phase of the project. Thereafter, the participant was able to guide a torque-controlled DLR lightweight robot equipped with a five-finger hand for fine manipulation.

 

 

Publications


Books

Haddadin, S. (2014): Towards Safe Robots: Approaching Asimov's 1st Law, Springer Publishing Company, Incorporated.
DOI: 10.1007/978-3-642-40308-8

BibTeX

Probol, T. (2000): Zur Synthese Nichtlinearer Regelgesetze mit Neuronalen Reglern, VDI-Fortschrittberichte, no. 819 der Reihe 8, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

BibTeX

Wendt, K. (1996): Modellierung des menschlichen Atmungssystems, VDI-Fortschrittberichte, no. 133 der Reihe 17, Düsseldorf, VDI-Verlag. Dissertation, Universität Hannover.

BibTeX

Book Chapter

Vogel, J., Haddadin, S., Simeral, J., Stavisky, S., Bacher, D., Hochberg, L., Donoghue, J. & Smagt, P. (2014): Continuous Control of the DLR Light-Weight Robot III by a Human with Tetraplegia Using the BrainGate2 Neural Interface System, In Khatib, O., Kumar, V. & Sukhatme, G. (Ed.): Experimental Robotics, Springer Tracts in Advanced Robotics, vol. 79, Springer Berlin Heidelberg, pp. 125-136.
DOI: 10.1007/978-3-642-28572-1_9

BibTeX

Journals

Povse, B.; Haddadin, S.; Belder, R.; Koritnik, D. & Bajd, T. (2015): A Tool for Evaluation of Human Lower Arm Injury: Approach, Experimental Validation and Application to Safe Robotics, Robotica
DOI: 10.1017/S0263574715000156

Vogel, J., Haddadin, S., Jarosiewicz, B., Simeral, J.D., Bacher, D., Hochberg, L.R., Donoghue, J.P., van der Smagt, P. (2015): An Assistive Decision and Control Architecture for Force-Sensitive Hand-Arm Systems driven via Human-Machine Interfaces, The International Journal of Robotics Research, vol. 34 no. 6, 763-780
DOI: 10.1177/0278364914561535

BibTeX

Haddadin, S. & Haddadin, S. (2013): Human-centered robotics-Biomechanics & Safety Laboratory of the Robotics and Mechatronics Center, Biomechanica Hungarica, vol. 5, no. 1, pp. 7-9.
DOI: 10.17489/biohun/2012/1/01

BibTeX

Hochberg, L. R., Bacher, D., Jarosiewicz, B., Masse, N. Y., Simeral, J. D., Vogel, J., Haddadin, S., Liu, J., Cash, S. S., van der Smagt, P. & Donoghue, John P. (2012): Reach and grasp by people with tetraplegia using a neurally controlled robotic arm, Nature, vol. 485, no. 7398, Nature Publishing Group, pp. 372-375.
DOI: 10.1038/nature11076

BibTeX

Conference Papers

Hu, Tingli; and Kühn, Johannes; and Ma'touq, Jumana & Haddadin, Sami (2018): Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders, OTWorld Congress, Leipzig, Germany, 15.-18. May, more

Ganesh, G., Jarrasse, N., Haddadin, S., Albu-Schäffer, A. & Burdet, E. (2012): A versatile biomimetic controller for contact tooling and haptic exploration, Robotics and Automation (ICRA), 2012 IEEE International Conference on, May, pp. 3329-3334.
DOI: 10.1109/ICRA.2012.6225057

BibTeX

Haddadin, S., Huber, F. & Albu-Schäffer, A. (2012): Optimal control for exploiting the natural dynamics of variable stiffness robots, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp. 3347-3354.
DOI: 10.1109/ICRA.2012.6225190

BibTeX

Liu, J., Simeral, J., Stavisky, S., Bacher, D. & Vogel, J. (2010): Control of a robotic arm using intracortical motor signal by an individual with tetraplegia in the BrainGate2 trial, 40th Annual Meeting in Neuroscience (SFN2010).

BibTeX

Vogel, J., Haddadin, S., Simeral, J., Stavisky, S., Bacher, D., Hochberg, L., Donoghue, J. & van der Smag, P. (2010): Continuous Control of the DLR Light-WeightRobot III by a human with tetraplegia using theBrainGate2 Neural Interface System, International Symposium on Experimental Robotics (ISER 2010).

BibTeX

Video Publications

Huber, F., Krieger, K., Weitschat, R., Albu-Schaffer, A., Wolf, S., Friedl, W., Grebenstein, M., Petit, F., Reinecke, J. & Lampariello, R. (2012): Intrinsically elastic robots: The key to human like performance (Video), International Conference on Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ, pp. 4270-4271.
DOI: 10.1109/IROS.2012.6386289

BibTeX, Video

Vanderborght, B., Albu-Schäffer, A., Bicchi, A., Burdet, E., Caldwell, D., Carloni, R., Catalano, M., Eiberger, O., Friedl, W., Ganesh, G., M. Garabini, Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N., Van Damme, M., Van Ham, R., Visser, L.C.& Wolf, S. (2012): Variable impedance actuators: moving the robots of tomorrow (Video), International Conference on Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ, pp. 5454-5455.
DOI: 10.1109/IROS.2012.6385433

BibTeX, Video