To know, whether a tree at a site is vital in the present and viable in the future is of growing relevance. One parameter that can provide information about the constitution of a tree is its increase in trunk perimeter. This contribution to the topic of forest monitoring, more precisely dendrometry,…
The main objective of an engineering degree is to develop the necessary professional, methodological and social skills of engineering students. In this context, university graduates are particularly characterized by the fact that they have a broad range of professional and methodological knowledge and,…
Die vorliegende Arbeit gibt einen fundierten Einblick in die Audiologie und audiologisch-technische Diagnostik mit Cochlea-Implantat (CI). Untersucht werden die akustische Bewertung von Hörprüfkabinen, der Einfluss des Lebensalters auf das monaurale Sprachverstehen mit Hörgeräten und die Effektivität…
Bio-inspired robots with elongated anatomy, like eels, are studied to discover anguilliform swimming principles and improve the robots’ locomotion accordingly. Soft continuum robots replicate animal–environment physics better than noncompliant, rigid, multi-body eel robots. In this study, a slender soft…
Electromyostimulation (EMS) is an up-and-coming training method that demands further fundamental research regarding its safety and efficacy. To investigate the influence of different stimulation parameters, electrode positions and electrode sizes on the resulting voltage in the tissue, a tissue mimicking…
Das parodontale Ligament (PDL) ist ein faseriges Weichgewebe, das sich im Zwischenraum zwischen Zahn und Knochen befindet. Durch seine Nachgiebigkeit ermöglicht es die Beweglichkeit im Zahnfach und trägt somit maßgeblich dazu bei, Spitzenbelastungen auf Zahn und Knochen zu verringern. Es lassen sich…
Arbeiter können zur Prävention muskuloskelettaler Erkrankungen durch industrielle Exoskelette im Berufsalltag unterstützt werden. Dabei können aus dem Oberflächenelektromyogramm (OEMG) gewonnene Informationen verwendet werden, um die Ansteuerung des Exoskeletts zu verbessern. Ziel der vorliegenden Arbeit…
Continuum robots play the role of end effectors in various surgical robots and endoscopic devices. While soft continuum robots (SCRs) have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research…
Continuum robots play the role of end-effector in various surgical robots and endoscopic devices. The robots may be categorized as rigid or soft continuum robots (SCRs). While the SCRs have proven advantages such as safety and compliance, more research and development are required to enhance their capability…
The design of human-machine interfaces of occupational exoskeletons is essential for their successful application, but at the same time demanding. In terms of information gain, biosensoric methods such as surface electromyography (sEMG) can help to achieve intuitive control of the device, for example…
To investigate muscular strain, it is possible to record an electromyogram (EMG) during electromyostimulation (EMS). However, stimulation artifacts make it difficult to examine evoked compound muscle action potentials (M-waves). The aim of this work was to algorithmically remove stimulation artifacts…
Infrared sauna bathing has positive effects on body and mind. Quantifying these effects helps to make sauna use more efficient and safer and to increase the user-observed wellness effects. Currently, there are no practical solutions for a comprehensive and user-friendly monitoring of the physical impact…
Musculoskeletal diseases of the back and upper extremities are one of the main causes of sick leave in Europe. Exoskeletons are one possible approach to preventive measures. The Biomechatronics Group at Technische Universität Ilmenau is developing an antagonistically actuated exoskeleton with non-linear…
Dogs ( Canis familiaris ) prefer the walk at lower speeds and the more economical trot at speeds ranging from 0.5 Fr up to 3 Fr. Important works have helped to understand these gaits at the levels of the center of mass, joint mechanics, and muscular control. However, less is known about the global dynamics…
The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human-robot interaction (e.g., exoskeletons), it can improve user safety and acceptance at the…
For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability of handling and manipulating objects and communicating with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy,…
Biomechatronics is an engineering subject in which biomimetics as a method is one of its two supporting pillars: biology for engineering, or Bio4Eng. This is contrasted with biocompatible design, or Eng4Bio, examples of which are human-serving systems, such as exoskeletons, and biomedical engineering.…
Das Thema der hier vorgestellten Arbeit ist die Entwicklung einer flexiblen mehrschichtigen Sensorstruktur zur Erfassung mechanischer Größen, insbesondere von Kräften oder Drucken. Diese Schichtstruktur soll fähig sein, sich in ihrer Gestalt und Steifigkeit an exogene Einflüsse, die als mechanische Umgebungsbedingungen…
Autonom fliegende Roboter, die von der Biologie der Vögel oder Insekten inspiriert sind, haben ein breites Anwendungsspektrum, zum Beispiel als Wetter- und Umweltmessgerät in der Präzisionslandwirtschaft oder zur Überwachung bei Rettungseinsätzen. Diese Micro-Air-Vehicle-Roboter sind hoch manövrierfähig…