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Warning: Undefined array key "media" in /is/htdocs/wp1019470_OPI92FFHXV/www/_lauflabor_v3/feed.php on line 397 Lauflabor Wiki projects
http://lauflabor.ifs-tud.de/
2025-04-04T03:58:07+00:00Lauflabor Wiki
http://lauflabor.ifs-tud.de/
http://lauflabor.ifs-tud.de/lib/tpl/django_v3/images/favicon.icotext/html2022-05-25T16:56:09+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects&rev=1653490569&do=diff
Research projects of the Lauflabor Locomotion Laboratory
[Research Areas]
WhiteBox: Erklärbare Modelle für menschliche und künstliche Intelligenz (Explainable models for human and artificial intelligence) (2021 - 2025)
Funding: LOEWE-Schwerpunktantrag, granted by the Hessisches Ministerium für Wissenschaft und Kunst from 1. 2021 to 12.2024text/html2019-09-27T14:57:28+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_ayi
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_ayi&rev=1569589048&do=diff
Improving walking assistance techniques for lower limb exoskeletons (2019 - 2023)
Many people suffer from limited mobility due to aging or diseases. Lower limb exoskeletons seem to be solution to overcome part of these limitations. With the help of the Athene Young Investigator funding an existing exoskeleton simulator, which is used to manipulate human movement, should be improved and used to investigate hardware and control solutions to assist walking gait. Each actuation unit of the simula…text/html2021-05-20T11:13:13+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_balance
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_balance&rev=1621501993&do=diff
BALANCE
[A wearable exoskeleton, thats supports walking.]
The goal of BALANCE is to realize a robotic exoskeleton that improves the balance performance of humans while standing and walking. Such a robot could help in situations where keeping balance is difficult, such as in specific work conditions, or help people that have difficulty maintaining their balance, such as people with neurological injury, for example during rehabilitation sessions.text/html2014-03-28T15:55:06+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_biobiped
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_biobiped&rev=1396018506&do=diff
BioBiped
[BioBiped]
The BioBiped1 is the first iteration of a series of bipedal humanoid robots within the joint project “BioBiped”, which is a collaboration with AG SIM of TU Darmstadt. Using serial elastic actuation mimicking the main muscle groups in human legs, we aim at reproducing dynamical human gaits, namely running (jogging) and walking as well as stable standing. While the first iterations are restricted in the motion dimensions (hopping, motion in a plane), we ultimately aim at free…text/html2014-03-28T14:54:14+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_biped_robots
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_biped_robots&rev=1396014854&do=diff
Biped Robots
[Neural control of biologically inspired biped robots]
Physical models raise questions that computer-models do not pose. In this project experimental biomechanical findings, neural control concepts and computational model predictions are biomimetically translated into robots to proof concepts, raise new questions and to better understand human leg function.text/html2022-05-30T10:07:24+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_epa&rev=1653898044&do=diff
Hybrid Electric-Pneumatic Actuator (EPA) for legged locomotion
[image1]
A better understanding of how actuator design supports locomotor function may help design and develop novel and more functional powered assistive or robotic legged systems. Legged locomotion can be described as a composition of locomotor sub-functions, namely axial leg function, leg swinging and balancing.text/html2021-06-21T16:51:40+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa2
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_epa2&rev=1624287100&do=diff
EPA-2: Integrating Locomotor Subfunctions with Electric-Pneumatic Actuation (2021 - 2024)
Summary of the project: Compared to biological muscles, current technical actuators are limited in their performance and versatility to realize human-like locomotion. For resolving this problem we need to better understand biological legged locomotion which can be described in a three-level structure: 1) generation of the different locomotor subfunctions (LSF), namely stance, swing and balance, 2) compos…text/html2018-06-05T16:54:17+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa_workshop
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_epa_workshop&rev=1528210457&do=diff
BioRob 2018 Workshop: Novel bioinspired actuator designs for robotics (BioAct)
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…text/html2020-09-02T14:12:01+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa_workshop2
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_epa_workshop2&rev=1599048721&do=diff
WeRob/WearRaCon 2020: What should we expect from passive exoskeletons?
Assistive devices for metabolic reduction are designed to work in active (powered) or passive manner. Studies on exoskeletons are mostly concentrated on active devices as they can increase the robustness of locomotion, which is crucial for impaired or elderly subjects, and the energy injection from actuators can generate high metabolic cost reduction in unimpaired people locomotion. A significant improvement in metabolic co…text/html2018-06-14T10:07:33+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa_workshop_collins
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_epa_workshop_collins&rev=1528963653&do=diff
Session 2: Variable impedance actuators and parallel compliance and their relation to biology
Heike Vallery, TU Delft
Bio: Heike Vallery received her Dipl.-Ing. degree in Mechanical Engineering (with honors) from RWTH Aachen University in 2004 and her Dr.-Ing. in robotics from the Technische Universität München in 2009, where she had worked on compliant actuation and cooperative control principles for gait rehabilitation robots. As a postdoctoral fellow at the SMS Lab at ETH Zürich, she cont…text/html2018-06-06T10:32:09+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa_workshop_session1
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Session 1: Recent research on biological actuation – what can we learn from biology?
Christian Rode, Friedrich Scheller Universität Jena
Bio: Christian Rode is working at the Department of Zoology of Friedrich-Schiller-University Jena (FSU) on the development of a neuromechanical rat model for testing muscle synergies. After his studies in mathematics and sports (2000-2005) and his PhD on new mechanisms of force production in muscles (2009) at the Department of Motion Science at FSU headed b…text/html2018-06-06T10:33:12+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa_workshop_session3
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_epa_workshop_session3&rev=1528273992&do=diff
Session 3: State of the art of engineered actuators approaching muscle behaviours
Joshua Schultz, University of Tulsa
Bio: Joshua Schultz received the B.S. degree from Tufts University, Medford, MA, USA, in 2002, the
M.S. degree from Vanderbilt University, Nashville, TN, USA, in 2004, and the Ph.D. degree from
the Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA,
in 2012, all in mechanical engineering. From 2004 to 2008, he was a member of the Powe…text/html2018-06-19T16:05:55+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_epa_workshop_session4
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Session 4: Application of bioinspired actuators in robots and assistive devices
Dirk Lefeber, Vrije Universiteit Brussel
Bio: Dirk Lefeber is a professor in Mechanical Engineering and head of the Robotics and Multibody Mechanics research group at VUB and brubotics.eu. He specializes in new actuators with adaptable compliance, dynamically balanced robots, robot assistants, rehabilitation robotics and multibody dynamics. He has been involved in several EU and national projects, including most …text/html2014-03-28T16:27:43+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_foxrobot
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_foxrobot&rev=1396020463&do=diff
Runbot - FoxRobot
Since centuries biological locomotion is a technically unrivaled archetype for many kinds of machines. Still today the biomechanics and control of human and animal legged locomotion is far from being well understood.
The research focuses on translating mechanisms found in biomechanical experiments and computer models into technical models to challenge theories on robustness, stability and control of locomotion in nature. As technical models existing robots, i.e. JenaWalker…text/html2014-03-05T15:55:39+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_gait_stability
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_gait_stability&rev=1394031339&do=diff
Gait Stability
[Leg design and control for stable locomotion]
Walking and running are the natural gaits of human. Since human use just two legs for locomotion the moving system is naturally unstable, we could stumble and fall over. To feel free in locomotion, stability is absolutely necessary.text/html2014-03-28T15:09:46+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_hopping
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_hopping&rev=1396015786&do=diff
Marco Hopper
[Hopping and muscle reflexes]
Hopping can be understood as the same as running but without horizontal motion. A robot which aims to run needs to show hopping first. In human hopping a spring-like leg behaviour is found while the legs are not made of springs. Based on the reflex model it was shown that a positive force-feedback strategy, a kind of muscle reflex, generates a spring-like leg behaviour just without elastic components.text/html2014-03-05T15:54:32+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_human_gait
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_human_gait&rev=1394031272&do=diff
Human Gait
[Leg mechanics in human gait]
With this project, we would like to shed more light on how much and in what way the two typical gaits observed in human locomotion, walking and running, are influenced by the segmentation of the leg. For that, we collected biomechanical data on human subjects walking and running on an instrumented treadmill. Gait-specific patterns of joint coordination may indicate different mechanisms based on compliant legs.text/html2016-02-29T11:08:15+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_humvib
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_humvib&rev=1456740495&do=diff
Human-induced vibrations on building structures
Human-induced vibrations on building structures: biomechanical characterisation and structural mechanical modeling
Introduction
In this project, we will investigate and characterize human-structure interaction from two different perspectives — biomechanics and structural mechanics.text/html2021-04-15T10:33:39+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_learnwalk
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_learnwalk&rev=1618475619&do=diff
Generating human walking gait with a neuromuscular model based on deep reinforcement learning (2018 - 2019)
Contact: Dr. Guoping Zhao
A gait model capable of generating human-like walking behavior at both the kinematic and the muscular level can be a very useful framework for developing control schemes for humanoids and wearable robots such as exoskeletons and prostheses. In this work we are aiming at demonstrating the feasibility of using deep reinforcement learning based approach for neuromu…text/html2014-03-28T16:33:23+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_legcontrol
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_legcontrol&rev=1396020803&do=diff
General Leg Control - Generalisierte Beinkontrolle
Involved People: Daniel Maykranz, André Seyfarthtext/html2019-08-06T15:39:10+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_locomorph
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_locomorph&rev=1565098750&do=diff
Locomorph
[Locomorph]
Locomorph is an EU-funded project with research groups in Belgium, Canada, Denmark, Germany and Switzerland, and is a collaboration of biologists, physicists and engineers. Generally, relations between morphology and locomotion in humans and animals will be investigated in order to develop a framework for robust and multifunctional robots.text/html2018-01-15T15:38:14+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_prostheses
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Prostheses
PAKO experimental platform (2009 - 2015)
Investigation of gait specific leg function based on orthoprosthetics
[PAKO]
Human gait was developed and optimized by evolutionary processes. A fascinating inter-joint coordination has been developed which uses the elastic behavior of the segmented leg in an laborate way. Up to now, this natural and efficient biomechanical leg function could be mimicked only to some extent in robotic and prosthetic systems.text/html2021-02-10T15:13:19+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_roa
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_roa&rev=1612966399&do=diff
Robust phase-based control of prosthetic feet and biologically inspired joint coupling (2018 - 2021)
[Ruggedized Odyssey Ankle]
Human locomotion is the outcome of a complex and fascinating interaction between body mechanics, actuator dynamics and the neural control system. In the case of lower limb loss, amputees suffer from reduced functionality and limited power generation of their passive prosthetic limbs. To overcome such limitations, in recent years, researchers have developed powered p…text/html2018-01-15T15:28:11+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_walkrunankle
http://lauflabor.ifs-tud.de/doku.php?id=projects:projects_walkrunankle&rev=1516026491&do=diff
Walk-Run Ankle (2012 - 2016)
[Walk-Run Ankle]
The Walk-Run Ankle is a powered prosthesis for foot replacement designed bySpringactive (US). The design was made to investigate on powered amputee walking and running. During an intership M. Grimmer developed a controller for the powered ankle that is able to change gait independent from speed depending on user intention. In first tests the system was able to mimic human ankle angle and ankle torque patterns for speeds up to 2.6 m/s. In comparison…text/html2022-05-30T18:24:43+00:00Anonymous (anonymous@undisclosed.example.com)projects:projects_whitebox
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WhiteBox: Erklärbare Modelle für menschliche und künstliche Intelligenz (Explainable models for human and artificial intelligence) (2021 - 2025)
Funding: LOEWE-Schwerpunktantrag, granted by the Hessisches Ministerium für Wissenschaft und Kunst from 1. 2021 to 12.2024