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
    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
    Flexible assembly systems through workplace-sharing and time-sharing human-machine cooperation (PISA)
    ( 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
    Human-centered flexible assembly systems
    ( 2007)
    Bernhardt, R.
    ;
    Surdilovic, D.
    ;
    Katschinski, V.
    ;
    Schröer, K.
  • Publication
    Machines and robots to support motor rehabilitation after stroke
    ( 2007)
    Schmidt, H.
    ;
    Werner, C.
    ;
    Bernhardt, R.
    ;
    Hesse, S.
    ;
    Krüger, J.
  • Publication
    Synthesis of perturbations for gait rehabilitation robots
    ( 2005)
    Schmidt, H.
    ;
    Piorko, F.
    ;
    Bernhardt, R.
    ;
    Krüger, J.
    ;
    Hesse, S.
    Perturbations are an important measure to improve gait training and to investigate the the learning success of stroke patients during rehabilitation. This paper describes the development and implementation of algorithms for the synthesis of perturbations during gait training on a robotic walking simulator. The perturbation algorithm performs an automatic on-line adaptation of the robot motion override. Hence, it is independent from the type of motion interpolation which the robot motion is based on. Perturbations we have implemented so far include stumbling, i.e. hitting an obstacle during swing phase, and slipping, i.e. sliding on an obstacle during stance phase. An additional catch-up control algorithm ensures that both feet will regain synchronous motion again after the event. The algorithms have been implemented in the control software of the HapticWalker, a programmable footplate based human walking simulator for gait rehabilitation, which we have developed. So far a number of healthy subjects have successfully tested the algorithms on the simulator. Clinical trials will follow.
  • Publication
    Novel interactive human-robot-systems
    ( 2005)
    Surdilovic, D.
    ;
    Bernhardt, R.
    This paper presents several novel interactive human-robot systems which were recently developed at IPK. These systems were designed for direct physical interaction between humans and robots. The principal structures and functions of the following robotic systems are briefly presented: ROBOPED, an advanced parallel robot for orthopedic diagnostics and rehabilitation, STRING-MAN, a wire robot for gait rehabilitation, and IPK's Kobot, a collaborative manipulator for advanced material handling and assembly.