• Robots

    To investigate human and animal locomotion, a number of legged robots were developed in our group since 2004. Read about the bipedal robot BioBiped or the research in the Locomorph project focusing on morphology and morphosis strategies in locomotion.

  • Prosthesis

    To investigate models of the muscle-tendon dynamics on humans we developed the research platform PAKO. Using our insights on gait biomechanics, walking and running could be realized with the robotic Walk-Run Ankle prosthesis.

  • Facilities

    Several indoor and outdoor facilities with state-of-the-art measurement equipment helps us to perform experiments on humans, animals and robots. Details can be found here: Facilities.

  • Experiments

    Both in research projects and in teaching courses at the Sports Science Institut at TU Darmstadt experimental studies are performed. Outcomes from student research and educational projects on biomechanics can be found in the awarded Teaching Wiki of our institute.

  • Models

    Models help us to study the fundamental principles of human and animal locomotion. The derived biomechanical concepts can be applied to bipedal robots, exoskeletons or prosthesis. In the European project Balance, we are working on an active orthosis.


Pick of the Month

Workshop in BioRob 2018: Novel bioinspired actuator designs for robotics (BioAct)

Together with colleagues from Vrije Universiteit Brussel and Universität Stuttgart, we have organized a workshop in BioRob 2018 Conference on August 26th. This workshop is arranged through goals of EPA project and PEAR.

Abstract: Through evolution, muscles have been optimized to generate and fine-tune motions. They provide highly versatile force sources, i.e., they have an extremely low impedance (perfectly back-drivable), provide functional damping and low stiction. Although their bandwidth is limited, it is sufficient for even highly dynamic human/animal locomotion. Some biological principles can be applied to robotics, e.g., the addition of compliance to traditional rigid actuators. Elastic actuators can increase safety in human-robot interaction, improve energy efficiency, reduce impacts and augment performance in dynamic tasks. While such actuators have been researched extensively over the past two decades, there are still various open questions. These relate to the fundamental properties mentioned above, but also to their implementation and control as well as the integration of their hard- and software. Elastic actuators have been applied in wearable robotic devices, rehabilitation robots and humanoid robots. In the last years, bio-inspired approaches have brought the capabilities of elastic actuators closer to those of the human muscle, e.g., by introducing redundancy to mimic the muscle fibre recruitment. Another level of redundancy can be achieved by employing mono- and bi-articular actuators to achieve designs with increased robustness and simplified control. We plan to divide the workshop in four sessions comprising three talks of around 20 minutes. At the end of each second session, there will be an extensive discussion (around 45 minutes) between participants and speakers of the two sessions. There will be live demonstrations during the talks and in the subsequent discussion. Besides the invited talks and discussion, the organizers will call for posters to be presented at the workshop.

Click BioAct Workshop for more information.

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