Dr. Jan-Matthias Braun

Group(s): Neural Control and Robotics
Email:
jan-matthias.braun@phys.uni-goettingen.de
Phone: +49 551/ 39 10765
Room: E.01.102
Office hour: Mittwochs, 15:00 - 15:45 Uhr

Notice:On Wednesday, 3rd of September I won't be in my office.


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    Author / Editor / Organization
    Year
    Title
    Journal / Proceedings / Book
    Kuhlemann, I. and Braun, J -M. and Wörgötter, F. and Manoonpong, P. (2014).
    Comparing Arc-shaped Feet and Rigid Ankles with Flat Feet and Compliant Ankles for a Dynamic Walker. Mobile Service RoboticsWSPC Proceedings, 353-360, 17. DOI: 10.1142/9789814623353_0041.
    BibTeX:
    @inproceedings{kuhlemannbraunwoergoetter2014,
      author = {Kuhlemann, I. and Braun, J -M. and Wörgötter, F. and Manoonpong, P.},
      title = {Comparing Arc-shaped Feet and Rigid Ankles with Flat Feet and Compliant Ankles for a Dynamic Walker},
      pages = {353-360},
      booktitle = {Mobile Service Robotics},
      journal = {WSPC Proceedings},
      year = {2014},
      number = {17},
      language = {English},
      location = {Poznan, Poland},
      series = {Proceedings of the International Conference on Climbing and Walking Robots},
      url = http://www.bfnt-goettingen.de/Publications/articlereference.2014-10-23.5545515863},
      doi = 10.1142/9789814623353_0041},
      abstract = In this paper we show that exchanging curved feet and rigid ankles by at feet and compliant ankles improves the range of gait parameters for a bipedal dynamic walker. The new lower legs were designed such that they t to the old set-up, allowing for a direct and quantitative comparison. The dynamic walking robot RunBot, controlled by an re exive neural network, uses only few sensors for generating its stable gait. The results show that at feet and compliant ankles extend RunBots parameter range especially to more leaning back postures. They also allow the robot to stably walk over obstacles with low height.}}
    		
    Abstract: In this paper we show that exchanging curved feet and rigid ankles by at feet and compliant ankles improves the range of gait parameters for a bipedal dynamic walker. The new lower legs were designed such that they t to the old set-up, allowing for a direct and quantitative comparison. The dynamic walking robot RunBot, controlled by an re exive neural network, uses only few sensors for generating its stable gait. The results show that at feet and compliant ankles extend RunBots parameter range especially to more leaning back postures. They also allow the robot to stably walk over obstacles with low height.
    Review:
    Braun, J -M. and Wörgötter, F. and Manoonpong, P. (2014).
    Internal Models Support Specific Gaits in Orthotic Devices. Mobile Service Robotics, 539-546, 17. DOI: 10.1142/9789814623353_0063.
    BibTeX:
    @inproceedings{braunwoergoettermanoonpong2014a,
      author = {Braun, J -M. and Wörgötter, F. and Manoonpong, P.},
      title = {Internal Models Support Specific Gaits in Orthotic Devices},
      pages = {539-546},
      booktitle = {Mobile Service Robotics},
      year = {2014},
      number = {17},
      language = {English},
      location = {Poznan, Poland},
      series = {Proceedings of the International Conference on Climbing and Walking Robots},
      url = http://www.worldscientific.com/doi/abs/10.1142/9789814623353_0063},
      doi = 10.1142/9789814623353_0063},
      abstract = Patients use orthoses and prosthesis for the lower limbs to support and enable movements, they can not or only with difficulties perform themselves. Because traditional devices support only a limited set of movements, patients are restricted in their mobility. A possible approach to overcome such limitations is to supply the patient via the orthosis with situation-dependent gait models. To achieve this, we present a method for gait recognition using model invalidation. We show that these models are capable to predict the individual patients movements and supply the correct gait. We investigate the systems accuracy and robustness on a Knee-Ankle-Foot-Orthosis, introducing behaviour changes depending on the patients current walking situation. We conclude that the here presented model-based support of different gaits has the power to enhance the patients mobility.}}
    		
    Abstract: Patients use orthoses and prosthesis for the lower limbs to support and enable movements, they can not or only with difficulties perform themselves. Because traditional devices support only a limited set of movements, patients are restricted in their mobility. A possible approach to overcome such limitations is to supply the patient via the orthosis with situation-dependent gait models. To achieve this, we present a method for gait recognition using model invalidation. We show that these models are capable to predict the individual patients movements and supply the correct gait. We investigate the systems accuracy and robustness on a Knee-Ankle-Foot-Orthosis, introducing behaviour changes depending on the patients current walking situation. We conclude that the here presented model-based support of different gaits has the power to enhance the patients mobility.
    Review:
    Braun, J. and Wörgötter, F. and Manoonpong, P. (2014).
    Orthosis Controller with Internal Models Supports Individual Gaits. Proceedings of the 9th Annual Dynamic Walking Conference, 1 --2, 9.
    BibTeX:
    @inproceedings{braunwoergoettermanoonpong2014,
      author = {Braun, J. and Wörgötter, F. and Manoonpong, P.},
      title = {Orthosis Controller with Internal Models Supports Individual Gaits},
      pages = {1 --2},
      booktitle = {Proceedings of the 9th Annual Dynamic Walking Conference},
      year = {2014},
      number = {9},
      language = {English},
      location = {Zürich, Switzerland},
      month = {06},
      series = {Proceedings of the 9th Annual Dynamic Walking Conference}}
    		
    Abstract:
    Review:

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