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European Conference on Mobile Robots (ECMR)

作者： Martin Oehler Oskar von Stryk Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In this paper, we present a flexible framework for virtual projections to increase situation awareness based on a novel method to fuse multiple cameras mounted anywhere on the robot. Moreover, we propose a complementary approach to improve scene understanding by fusing camera images and geometric 3D Lidar data to obtain a colorized point cloud. The implementation on a compact omnidirectional camera reduces system complexity considerably and solves multiple use-cases on a much smaller footprint compared to traditional approaches such as actuated pan-tilt units. Finally, we demonstrate the generality of the approach by application to the multi-camera system of the Boston Dynamics Spot. The software implementation is available as open-source ROS packages on the project page https://***/omnidirectional_vision.

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Open-Source Tools for Efficient ROS and ROS2-based 2D Human-Robot Interface Development

Open-Source Tools for Efficient ROS and ROS2-based 2D Human-...

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European Conference on Mobile Robots (ECMR)

作者： Stefan Fabian Oskar von Stryk Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

2D human-robot interfaces (HRI) are a key component of most robotic systems with an (optional) teleoperation component. However, creating such an interface is often cumbersome and time-consuming since most user interface frameworks require recompilation on each change or the writing of extensive boilerplate code even for simple interfaces. In this paper, we introduce five open-source packages, namely, the ros(2)_babel_fish packages, the qml_ros(2)_plugin packages, and the hector_rviz_overlay package. These packages enable the creation of visually appealing end-user or functionality-oriented diagnostic interfaces for ROS- and ROS2-based robots in a simple and quick fashion using the QtWidget or QML user interface framework. Optionally, rendering the interface as an overlay of the 3D scene of the robotics visualization tool RViz enables developers to leverage existing extensive data visualization capabilities.

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The Foundation for Developing an Exoskeleton for the Rehabilitation of Temporomandibular Disorders

arXiv

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arXiv 2025年

作者： Müller, Paul-Otto von Stryk, Oskar Simulations Systems Optimization and Robotics Group Technical University of Darmstadt Darmstadt Germany

Temporomandibular disorders affect a significant portion of the population, often causing pain and restricted jaw movement. Physiotherapy with active jaw exoskeletons seems to be a promising treatment approach. However, there has been limited progress in this area, with only a few studies published. The lack of detailed simulations and biomechanical jaw models in these papers impedes the design and validation of such devices. Thus, this work presents an open-source and extendable jaw model framework to support the development of jaw exoskeletons for TMD rehabilitation. The framework includes three model variants with varying complexity: a rigid body model with point-on-surface constraints, a rigid body model with mesh geometry constraints, and a hybrid model combining rigid dynamics with finite element methods. Model customization is facilitated through JSON configuration files, requiring minimal programming expertise. The framework was evaluated using experimental kinematic data from a single participant, with muscle excitations computed via PID controllers tuned through global optimization. The models successfully reproduced jaw movements without prior individualization, demonstrating their suitability for prototyping and studying exoskeleton behavior. The basic models are ideal for rapid prototyping, while the hybrid model provides insights into the effects of exoskeletons on the masticatory system. This framework establishes a foundation for advancing jaw exoskeleton development, with future work focusing on patient-specific modeling, improved anatomical detail, and tools for exoskeleton control and design. The framework code is publicly available and can be found at https://***/paulotto/exosim. Copyright © 2025, The Authors. All rights reserved.

关键词： Exoskeleton (robotics)

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Industrial Manometer Detection and Reading for Autonomous Inspection Robots

Industrial Manometer Detection and Reading for Autonomous In...

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European Conference on Mobile Robots (ECMR)

作者： Jonas Günther Martin Oehler Stefan Kohlbrecher Oskar von Stryk Simulation Systems Optimization and Robotics Group Technische Universitat Darmstadt Germany Energy Robotics GmbH Germany

Autonomous mobile robots for industrial inspection can reduce cost for digitalization of existing plants by performing autonomous routine inspections. A frequent task is reading of analog gauges to monitor the health of the facility. Automating this process involves capturing image data with a camera sensor and processing the data to read the value. Detection algorithms deployed on a mobile robot have to deal with increased uncertainty regarding localization and environmental influences. This imposes increased requirements regarding robustness to viewing angle, lighting and scale variation on detection and reading. Current approaches based on conventional computer vision require high quality images or prior knowledge. We address these limitations by leveraging the advances of neural networks in the task of object detection and instance segmentation in a two-stage pipeline. Our method robustly detects and reads manometers without prior knowledge of object location or exact object type. In our evaluation we show that our approach can detect and read manometers from a distance of up to 3m and a viewing angle of up to 60° in different lighting conditions with needle angle estimation errors of ±2.2°. We publish the validation split of our training dataset for manometer and needle detection at https://***/handle/tudatalib/2881.

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Biomechanical models in the lower-limb exoskeletons development: A review

TechRxiv

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TechRxiv 2023年

作者： Firouzi, Vahid Seyfarth, Andre Song, Seungmoon Von Stryk, Oskar Sharbafi, Maziar Ahmad Lauflabor Locomotion Laboratory Institute of Sport Science TU Darmstadt Germany Simulation Systems Optimization and Robotics Group Department of Computer Science TU Darmstadt Germany Mechanical and Industrial Engineering Northeastern University United States

Lower limb exoskeletons serve multiple purposes, like supporting and augmenting movement. Biomechanical models are practical tools to understand human movement, and motor control. This review explores the applications of biomechanical gait models in the development of lower-limb exoskeletons. Biomechanical models can be broadly categorized as conceptual and detailed models. Biomechanical models can be used for the design, control, and assessment of exoskeletons. Also, these models can be used to estimate unmeasurable or hard-to-measure variables, which is also useful within the aforementioned applications. The analysis of applications and research areas aims to inspire further advancements in this field and contribute to the development of more effective exoskeletons. We highlight validating simulation studies, improving the accuracy and fidelity of biomechanical models, and benefiting from exoskeletons to enhance or validate biomechanical models as future research areas related to biomechanical models. We also emphasize the exploration of model-based design and control approaches for exoskeletons targeting pathological gait, and utilizing biomechanical models for diverse design objectives of exoskeletons. Also, increasing the availability of open-source resources accelerates exoskeleton and biomechanical model advancement. Our review reveals existing needs and cracks new perspectives for the development of more usable and human-compatible exoskeletons based on biomechanical models. © 2023, CC BY.

关键词： Exoskeleton (robotics)

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Stores are Liable for Their Robots!? An Empirical Study on Liability in HRI with an Anthropomorphic Frontline Service Robot

Stores are Liable for Their Robots!? An Empirical Study on L...

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IEEE International Workshop on Robot and Human Communication (ROMAN)

作者： Philip Busch Jérôme Kirchhoff Judith S. Heinisch Klaus David Oskar von Stryk Janine Wendt Department of Law and Economics Civil and Company Law Group Technical University of Darmstadt Germany Department of Computer Science Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany Department of Electrical Engineering and Computer Science Chair for Communication Technology University of Kassel Germany

Everyday life scenarios where non-expert users (e.g., customers) are confronted with frontline service robots will become more and more likely. In particular, misunderstandings and incidents may occur during these interactions because of wrong expectations of the robot’s capabilities. Current applicable laws are based on technological assumptions from prior decades unsuitable to modern robotics and AI. The new AI Act as a part of the solution to this is still in development. In addition to the pure legal view, a technological viewpoint may be beneficial for establishing a fitting, trustful, and, thus, acceptable technology liability law. This work contributes to this by empirically evaluating the service robot non-expert user’s liability expectations, the use of robots, and well-being. The results in a DIY store environment significantly show that the store deploying the robot should be liable if an incident happens. Further, we examined that even a minor simulated incident affected the participants’ emotions and moods. Consequently, this influences their perception of liability while not mitigating their acceptance of frontline service robots.

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Emergency Response Person Localization and Vital Sign Estimation Using a Semi-Autonomous Robot Mounted SFCW Radar

arXiv

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arXiv 2023年

作者： Schroth, Christian A. Eckrich, Christian Kakouche, Ibrahim Fabian, Stefan von Stryk, Oskar Zoubir, Abdelhak M. Muma, Michael The Signal Processing Group Technische Universität Darmstadt Germany Laboratoire Systèmes Électroniques et Numériques École Militaire Polytechnique Bordj El-Bahri Algeria The Systems Optimization and Robotics Group Technische Universität Darmstadt Germany The Robust Data Science Group Technische Universität Darmstadt Germany

The large number and scale of natural and man-made disasters have led to an urgent demand for technologies that enhance the safety and efficiency of search and rescue teams. Semi-autonomous rescue robots are beneficial, especially when searching inaccessible terrains, or dangerous environments, such as collapsed infrastructures. For search and rescue missions in degraded visual conditions or non-line of sight scenarios, radar-based approaches may contribute to acquire valuable, and otherwise unavailable information. This article presents a complete signal processing chain for radar-based multi-person detection, 2D-MUSIC localization and breathing frequency estimation. The proposed method shows promising results on a challenging emergency response dataset that we collected using a semi-autonomous robot equipped with a commercially available through-wall radar system. The dataset is composed of 62 scenarios of various difficulty levels with up to five persons captured in different postures, angles and ranges including wooden and stone obstacles that block the radar line of sight. Ground truth data for reference locations, respiration, electrocardiogram, and acceleration signals are included. The full emergency response benchmark data set as well as all codes to reproduce our results, are publicly available at https://doi. org/10.21227/4bzd-jm32. Copyright © 2023, The Authors. All rights reserved.

关键词： Frequency estimation

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Keynote: RoboTrust: Trustworthy interaction between humans and anthropomorphic service robots

Keynote: RoboTrust: Trustworthy interaction between humans a...

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IEEE Annual Conference on Pervasive Computing and Communications Workshops (PerCom)

作者： Ruth Stock-Homburg Oskar von Stryk Marketing and Human Resources Management Technical University of Darmstadt Germany Simulation Systems Optimization and Robotics Group Technical University of Darmstadt Germany

ISBN: (纸本)9781665447249

The rise of service robots has not only become an integral part of our lives but more relevant and necessary than ever. For example, the current COVID-19 pandemic revealed the necessity for human-centered robotic assistants that can interact with and even treat humans in quarantine. Anthropomorphic service robots with intelligent autonomous behavior arise as a suitable and necessary solution for entering everyday challenging environments, like hospitals and retail, for offering relief to humans in need, and assisting them efficiently and safely. However, the extent to which the service provided by the robot is beneficial to humans depends on the responsible design, use, and subsequently the trustworthy interaction with the service robot. The first part of the presentation will focus on how users respond to anthropomorphic service robots. Specifically, we will present findings on automation bias and privacy paradox during Human-Robot Interaction (HRI) at the service encounter. The findings are based on multiple experimental studies in a laboratory and a real-life setting. In the second part we will address the transparency of autonomous and intelligent robot behavior as a core feature for developing trust. Requirements for transparency, its technological foundations and approaches towards its design and implementation are discussed based on different case studies of collaborative autonomous mobile robots.

关键词： Robots Business Service robots Resource management Mobile robots Psychology

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Learning Control Policies from Optimal Trajectories

Learning Control Policies from Optimal Trajectories

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IEEE International Conference on robotics and Automation (ICRA)

作者： Christoph Zelch Jan Peters Oskar von Stryk Simulation Systems Optimization and Robotics Group TU Darmstadt Darmstadt Germany Intelligent Autonomous Systems Group TU Darmstadt Darmstadt Germany

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

The ability to optimally control robotic systems offers significant advantages for their performance. While time-dependent optimal trajectories can numerically be computed for high dimensional nonlinear system dynamic models, constraints and objectives, finding optimal feedback control policies for such systems is hard. This is unfortunate, as without a policy, the control of real-world systems requires frequent correction or replanning to compensate for disturbances and model *** this paper, a feedback control policy is learned from a set of optimal reference trajectories using Gaussian processes. Information from existing trajectories and the current policy is used to find promising start points for the computation of further optimal trajectories. This aspect is important as it avoids exhaustive sampling of the complete state space, which is impractical due to the high dimensional state space, and to focus on the relevant *** presented method has been applied in simulation to a swing-up problem of an underactuated pendulum and an energy-minimal point-to-point movement of a 3-DOF industrial robot.

关键词： Trajectory Computational modeling Task analysis Numerical models Robots Feedback control Optimal control

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Forecasting intracranial hypertension using multi-scale waveform metrics

arXiv

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arXiv 2019年

作者： Hüser, Matthias Kündig, Adrian Karlen, Walter De Luca, Valeria Jaggi, Martin Biomedical Informatics Group Department of Computer Science ETH Zürich Universitätstrasse 6 Zürich8092 Switzerland Mobile Health Systems Lab Institute of Robotics and Intelligent Systems Department of Health Sciences and Technology ETH Zürich Zürich8008 Switzerland Department of Information Technology and Electrical Engineering ETH Zürich Zürich8092 Switzerland Machine Learning & Optimization Lab EPFL Lausanne1015 Switzerland

Objective: Acute intracranial hypertension is an important risk factor of secondary brain damage after traumatic brain injury. Hypertensive episodes are often diagnosed reactively, leading to late detection and lost time for intervention planning. A pro-active approach that predicts critical events several hours ahead of time could assist in directing attention to patients at risk. Approach: We developed a prediction framework that forecasts onsets of acute intracranial hypertension in the next 8 hours. It jointly uses cerebral auto-regulation indices, spectral energies and morphological pulse metrics to describe the neurological state of the patient. One-minute base windows were compressed by computing signal metrics, and then stored in a multi-scale history, from which physiological features were derived. Main results: Our model predicted events up to 8 hours in advance with alarm recall rates of 90% at a precision of 30.3% in the MIMIC-III waveform database, improving upon two baselines from the literature. We found that features derived from high-frequency waveforms substantially improved the prediction performance over simple statistical summaries of low-frequency time serie1s, and each of the three feature classes contributed to the performance gain. The inclusion of long-term history up to 8 hours was especially important. Significance: Our results highlight the importance of information contained in high-frequency waveforms in the neurological intensive care unit. They could motivate future studies on pre-hypertensive patterns and the design of new alarm algorithms for critical events in the injured brain. Copyright © 2019, The Authors. All rights reserved.

关键词： Morphology

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