Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK

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  • Publication
    Flexible assembly systems through human integration
    ( 2008)
    Bernhardt, R.
    ;
    Surdilovic, D.
    ;
    Katschinski, V.
    ;
    Schröer, K.
    In September 2006 an integrated European project was launched entitled Flexible Assembly Systems through Workplace-Sharing and Time-Sharing Human-Machine Cooperation (PISA). The general aim of the project is to develop intelligent assist systems (IAS) in order to support the human worker instead of replace him. Thus, flexibility should not be reached through fully automated assembly systems but should instead support the better integration of human workers.
  • Publication
    Next generation of flexible assembly systems
    ( 2008)
    Bernhardt, R.
    ;
    Surdilovic, D.
    ;
    Katschinski, V.
    ;
    Schreck, G.
    ;
    Schröerer, K.
    In September 2006 an integrated European project was launched entitled "Flexible Assembly Systems through Workplace-Sharing and Time-Sharing Human-Machine Cooperation (PISA)". PISA belongs to the research area "next generation of flexible assembly technology and processes". The general aim of the project is to develop intelligent assist systems (IAS) in order to support the human worker instead of replace him. Thus, flexibility should not be reached through fully automated assembly systems but should instead support the better integration of human workers.
  • Publication
    Gait rehabilitation machines based on programmable footplates
    ( 2007)
    Schmidt, H.
    ;
    Werner, C.
    ;
    Bernhardt, R.
    ;
    Hesse, S.
    ;
    Krüger, J.
    Background: Gait restoration is an integral part of rehabilitation of brain lesioned patients. Modern concepts favour a task-specific repetitive approach, i.e. who wants to regain walking has to walk, while tone-inhibiting and gait preparatory manoeuvres had dominated therapy before. Following the first mobilization out of the bed, the wheelchair-bound patient should have the possibility to practise complex gait cycles as soon as possible. Steps in this direction were treadmill training with partial body weight support and most recently gait machines enabling the repetitive training of even surface gait and even of stair climbing. Results: With treadmill training harness-secured and partially relieved wheelchair-mobilised patients could practise up to 1000 steps per session for the first time. Controlled trials in stroke and SCI patients, however, failed to show a superior result when compared to walking exercise on the floor. Most likely explanation was the effort for the therapists, e. g. manually setting the paretic limbs during the swing phase resulting in a too little gait intensity. The next steps were gait machines, either consisting of a powered exoskeleton and a treadmill (Lokomat, AutoAmbulator) or an electromechanical solution with the harness secured patient placed on movable foot plates (Gait Trainer GT I). For the latter, a large multi-centre trial with 155 non-ambulatory stroke patients (DEGAS) revealed a superior gait ability and competence in basic activities of living in the experimental group. The HapticWalker continued the end effector concept of movable foot plates, now fully programmable and equipped with 6 DOF force sensors. This device for the first time enables training of arbitrary walking situations, hence not only the simulation of floor walking but also for example of stair climbing and perturbations. Conclusion: Locomotor therapy is a fascinating new tool in rehabilitation, which is in line with modern principles of motor relearning promoting a task-specific repetitive approach. Sophisticated technical developments and positive randomized controlled trials form the basis of a growing acceptance worldwide to the benefits or our patients.
  • Publication
    Flexible assembly systems through workplace-sharing and time-sharing human-machine cooperation
    ( 2007)
    Bernhardt, R.
    ;
    Surdilovic, D.
    ;
    Katschinski, V.
    ;
    Schröer, K.
  • Publication
    STRING-MAN: Wire-robot technology for safe, flexible and human-friendly gait rehabilitation
    ( 2007)
    Surdilovic, D.
    ;
    Bernhardt, R.
    ;
    Zhang, J.
    The paper presents a novel concept of lightweight and inherently safe robotic systems for assisting the locomotion recovery therapy and training. This concept, referred to as STRING-MAN, is established on string-puppet idea and utilizes modular wire robot components and advanced artificial muscles drives. An overview of the system's fundamental components, such as mechanical structure, patient-machine interface, sensory systems, control algorithms, etc, is given in the paper. The results of initial experiments clearly demonstrate the benefits and potential of new concept. Finally further development of STRING-MAN idea towards practical and inherently safe robotic rehabilitation assistants has also been presented. Entnommen aus TEMA
  • Publication
    Human-centered flexible assembly systems
    ( 2007)
    Bernhardt, R.
    ;
    Surdilovic, D.
    ;
    Katschinski, V.
    ;
    Schröer, K.
  • Publication
    Gait machines and robots to support motor rehabilitation after stroke
    ( 2007)
    Schmidt, H.
    ;
    Hussein, S.
    ;
    Werner, C.
    ;
    Bernhardt, R.
    ;
    Hesse, S.
    ;
    Krüger, J.
    The group at Klinik Berlin/Charite University Hospital in Berlin, Germany, began studies to promote motor recovery after stroke in the early 1990s. Following the introduction of treadmill training with partial body-weight support, the group designed an electromechanical gait trainer, GT I, based on movable foot plates that relieve therapist effort (e.g., when assisting the movement of the paretic limbs) and intensify patient gait training (GT). Preliminary results of a recent multicenter trial of 155 acute stroke patients showed that the GT I effectively promotes gait ability and competence in activities of daily living. The experimental group received 20 min of GT and 25 min of physiotherapy (PT) and the control group received 45 min of PT every day for 4 weeks. The laboratory's next step was the HapticWalker, a robotic walking simulator with freely programmable foot plates which was designed and built in close collaboration with the Fraunhofer Institute IPK. On this machine patients can, for example, additionally train for stair climbing and perturbations. The foot plates can be operated in full guidance or compliance control modes, thus reducing foot support according to the patient's learning success. Entnommen aus TEMA
  • Publication
    Flexible assembly systems through workplace-sharing and time-sharing human-machine cooperation (PISA)
    ( 2007)
    Bernhardt, R.
    ;
    Surdilovic, D.
    ;
    Katschinski, V.
    ;
    Schröer, K.
  • Publication
    Verbesserung der Leistungsfähigkeit und Flexibilität von Industrierobotern
    ( 2007)
    Bernhardt, R.
    ;
    Surdilovic, D.
    Heutige Industrieroboter stoßen an ihre Grenzen, wenn die Aufgabenausführung eine gewisse Flexibilität, z. B. die Fähigkeit zur Umgebungswahrnehmung oder die Anpassung an eine sich dynamisch verändernde Umgebung erfordert. Eine kostengerechte und robuste Automatisierungslösung für alle möglichen Anwendungen stellt noch immer eine große Herausforderung dar.
  • Publication
    Machines and robots to support motor rehabilitation after stroke
    ( 2007)
    Schmidt, H.
    ;
    Werner, C.
    ;
    Bernhardt, R.
    ;
    Hesse, S.
    ;
    Krüger, J.