Publications
Published papers related to the project


The papers we have presented at different conferences with topics and results from the project.
Some papers have links to their pdf-versions.

  • Christian Fleischer, Konstantin Kondak, Andreas Wege, Ingo Kossyk,
    Research on Exoskeletons at the TU Berlin
    Proceedings of the German Workshop on Robotics 2009, about to appear

  • Christian Fleischer,
    Controlling Exoskeletons with EMG signals and a Biomechanical Body Model
    in Ausgezeichnete Informatikdissertationen 2007, Dorothea Wagner (Hrsg.), Gesellschaft f. Informatik e.V., Bonn, 2008, ISBN 978-3-88579-412-7

  • Christian Fleischer, Günter Hommel,
    A Human-Exoskeleton Interface utilizing Electromyography
    IEEE Transactions on Robotics, Vol. 24, Issue 4, pp. 872-882, August 2008

  • Christian Fleischer, Armin Zimmermann,
    Auswertung von elektromyographischen Signalen zur Steuerung von Exoskeletten
    Informatik - Forschung und Entwicklung, Sonderausgabe "Software Engineering in der Medizin", Vol. 22, Issue 3, pp. 173-183, 03/2008, Springer Berlin / Heidelberg

  • Christian Fleischer,
    Controlling Exoskeletons with EMG signals and a Biomechanical Body Model
    Dissertation TU Berlin, 2007

  • Christian Fleischer, Günter Hommel,
    Calibration of an EMG-based Body Model with six Muscles to control a Leg Exoskeleton
    Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA07), pp. 2514-2519

  • Christian Fleischer, Andreas Wege, Konstantin Kondak, Günter Hommel,
    Application of EMG signals for controlling exoskeleton robots
    Biomed Tech 2006, Vol. 51, Issue 5/6, Special Issue: Biosignal Processing (Part 2), Walter DeGruyter, pp. 314-319

  • Christian Fleischer, Andreas Wege, Günter Hommel:
    Exoskelette: Mit Hand und Fuß
    Forschung AkTUell, Nr. 51, September 2006, pp. 22-24, ISSN 0176-263X
    und orthodoc., Issue 04/2007, pp. 27-29, ISSN 1613-4486

  • Christian Fleischer, Günter Hommel:
    Embedded Control System for a Powered Leg Exoskeleton
    Proceedings of the 7th International Workshop "Embedded Systems - Modeling, Technology and Applications", 2006, Springer,  pp.177-185, ISBN 1-4020-4932-3

  • Andreas Wege, Günter Hommel:
    Position-based and force-based control strategies for a hand exoskeleton developed for rehabilitation
    Proceedings of the Joint Conf. on Robotics: ISR 2006 and Robotik 2006

  • Singla, E.; Dasgupta, B.; Kondak, K.; Fleischer, Ch.; Hommel, G.:
    Optimal Design of an Exoskeleton Hip Using Three- Degrees- of- Freedom Spherical Mechanism
    Proc. ISR/ Robotik 2006, pp. 10, ISBN 3-18-091956-6, VDI Verlag, München

  • Christian Fleischer, Günter Hommel:
    Torque Control of an exoskeletal knee with EMG signals
    Proceedings of the Joint Conf. on Robotics: ISR 2006 and Robotik 2006, 2006

  • Christian Fleischer, Günter Hommel:
    Steuerung einer angetriebenen Beinorthese mit Hilfe von EMG-Signalen
    Orthopädie Technik, ISSN 0340-5591, Ausgabe Mai 2006, Verlag Orthopädie-Technik

  • Christian Reinicke, Christian Fleischer, Günter Hommel:
    Exploiting Motion Symmetry in Control of Exoskeleton Limbs
    Int. Conf. On Human Computer Interaction (IASTED-HCI 2005), Phoenix, Arizona/USA, 2005

  • Andreas Wege, Konstantin Kondak, Günter Hommel:
    Mechanical Design and Motion Control of a Hand Exoskeleton for Rehabilitation
    Proc. IEEE ICMA 2005 (Int. Conf. on Mechatronics and Automation ), 2005, pp. 155-159, ISBN 0-7803-9045-9

  • Andreas Wege, Günter Hommel:
    Development and Control of a Hand Exoskeleton for Rehabilitation of Hand Injuries
    Proc. of the 2005 IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS), 2005, pp. 3461-3466, ISBN 0-7803-8913-1

  • Christian Fleischer and Christian Reinicke and Günter Hommel:
    Predicting the Intended Motion with EMG Signals for an Exoskeleton Orthosis Controller
    Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2005, pp. 3449-3454

  • Christian Fleischer, Günter Hommel:
    EMG-Driven Human Model for Orthosis Control
    Proceedings of the 6th International Workshop "Human Interaction with Machines", 2005, Springer, pp. 69-76

  • Andreas Wege, Günter Hommel:
    Development and Control of a Hand Exoskeleton for Rehabilitation.
    Proc. Intern. Workshop on "Human Interactions with Machines", 2005, Springer, pp. 149-157

  • Konstantin Kondak and Günter Hommel:
    Online Generation of Stable Gait for Biped Robots with Feedback Loop Algorithm
    Proceedings of the IEEE Conf. on Robotics, Automation and Mechatronics, 2004, pp. 710-715

  • Christian Fleischer and Konstantin Kondak and Christian Reinicke and Günter Hommel:
    Motion Calculation based on EMG-Signal-Processing
    Proceedings of the 7th Int. Conf. on Climbing and Walking Robots (CLAWAR), 2004, pp. 153-161

  • Christian Fleischer and Konstantin Kondak and Christian Reinicke and Günter Hommel:
    Online Calibration of the EMG to Force Relationship
    Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2004, pp. 1305-1310

  • Andreas Wege, Konstantin Kondak, Günter Hommel:
    Self-Calibrating Joint Angle Measurements for Human Fingers Using Accelerometer and Gyroscope Sensors.
    Proc. Mechatronics & Robotics´04, 2004, Band 1, pp. 195-200, ISBN 3-938153-30-X, Sascha Eysoldt Verlag, Aachen

  • Konstantin Kondak and Günter Hommel:
    Control Algorithm for Stable Walking of Biped Robots
    Proceedings of the 6th Int. Conf. on Climbing and Walking Robots (CLAWAR), 2003, pp. 119-126

  • Konstantin Kondak and Günter Hommel:
    Control and Online Computation of Stable Movement for Biped Robots
    Proceedings of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2003, pp. 874-879

  • Konstantin Kondak, B. Dasgupta; Günter Hommel; M. Buss:
    Design and optimization of the thigh for an exoskeleton based on parallel mechanism
    Proceedings of the 5th Int. Conf. on Climbing and Walking Robots (CLAWAR), 2002, pp. 571-578