Modellierung der Bewegungskontrolle

Die Forschungsgruppe „Multi-Level Modeling in Motor Control and Rehabilitation Robotics“ untersucht die Erzeugung und Kontrolle aktiver biologischer Bewegungen. Wir entwickeln Modelle und Computersimulationen des neuro-muskulo-skelettalen Systems. In einem Mehrskalen-Ansatz können wir die unterschiedlichen hierarchischen Ebenen berücksichtigen, die zur Bewegungserzeugung beitragen. Unser interdisziplinärer Ansatz integriert Konzepte der Biophysik, Biomechanik und Motorik.

Mit diesem Ansatz leisten wir einen Beitrag zur  Aufklärung der grundlegenden sensomotorischen Mechanismen in der Kontrolle von Bewegungen. Außerdem untersuchen wir die Zusammenhänge und Auswirkungen bei deren Dysfunktion durch neurologische Erkrankungen. Mit einem tieferen Verständnis der kausalen Zusammenhänge der Bewegungsdynamik, der beeinträchtigten Kontrolle und der neuro-muskulären Interaktion legen wir die Grundlagen für funktionale Assistenzsysteme im Bereich Rehabilitationsrobotik.

Die Gruppe, die am Hertie-Institut im Bereich der Sektion Theoretische Sensomotorik arbeitet, ist Teil der neuen Regionalen Forschungsallianz „System Mensch“ zwischen der Universität Tübingen und der Universität Stuttgart. Unser Ziel ist es die neuro-wissenschaftliche Expertise in Tübingen mit der Expertise in Computer Simulation am Stuttgarter Exzellenzcluster SimTech (SC SimTech) zusammenzuführen.

Forschungsprojekte
Mitarbeiter
Publikationen

 

Motorische Kontrolle und deren Beeinträchtigung bei Zielbewegungen im Arm

 

Funktionale Rolle dezentraler Kontrollmechanismen in der Lokomotion

 

Konzepte funktionaler bionischer Antriebe für Assistenzsysteme

 

Informationsentropie als quantitatives Maß für den Kontrollaufwand

 

 


 
Name
Arbeitsgruppe
Telefon
E-Mail
Dr. Daniel Haeufle
Dr. Daniel Haeufle Research Group Leader
Motor Control Modeling
07071 29-88873 
 Christina Pley
Christina Pley PhD Student
Motor Control Modeling
07071 29-88873 
 Katrin Stollenmaier
Katrin Stollenmaier PhD Student
Motor Control Modeling
07071 29-88873 

Zeitschriftenartikel oder lange Konferenzbeiträge

Bayer, A., Schmitt, S., Günther, M., Haeufle, D.F.B. (2017): The influence of biophysical muscle properties on simulating fast human arm movements. Computer Methods in Biomechanics and Biomedical Engineering, published online [ doi: 10.1080/10255842.2017.1293663]

Haeufle, D.F.B., Bäuerle, T., Steiner, J., Bremicker, L., Schmitt, S., Bechinger, C. (2016): External control strategies for self-propelled particles: optimizing navigational efficiency in the presence of limited resources.  Physical Review E 94(1) [ doi:10.1103/PhysRevE.94.012617]

Ghazi-Zahedi, K., Haeufle, D.F.B., Montufar, G.F., Schmitt, S., Ay, N. (2016): Evaluating Morphological Computation in Muscle and DC-motor Driven Models of Hopping Movements. Front. Robot. AI 3(42) [ doi:10.3389/frobt.2016.00042]

Mörl, F., Siebert, T., Haeufle, D.F.B. (2015): Contraction dynamics and function of the muscle-tendon complex depend on the muscle fibre-tendon length ratio: a simulation study. Biomechanics and Modeling in Mechanobiology [ doi:10.1007/s10237-015-0688-7 ]

Schmitt, S., Haeufle D.F.B. (2015): Mechanics and Thermodynamics of Biological Muscle - A Simple Model Approach. Soft Robotics , 1st ed., 134–144 , Springer [ doi:10.1007/978-3-662-44506-8_12]

Müller, R., Haeufle, D.F.B., Blickhan, R. (2015): Preparing the leg for ground contact in running: the contribution of feed-forward and visual feedback. The Journal of Experimental Biology [ doi:10.1242/jeb.113688]

Haeufle, D.F.B., Günther, M., Bayer, A., Schmitt, S. (2014): Hill-Type Muscle Model with Serial Damping and Eccentric Force-Velocity Relation. Journal of Biomechanics 47(6), 1531–1536 [ doi:10.1016/j.jbiomech.2014.02.009 ]

Haeufle, D.F.B., Günther, M., Wunner, G., Schmitt, S. (2014): Quantifying Control Effort of Biological and Technical Movements: An Information-Entropy-Based Approach. Physical Review E89(1), Article ID 012716 [ doi:10.1103/PhysRevE.89.012716 ]

Schmitt, S., Günther, M., Bayer, A., Rupp, T.K., Haeufle, D.F.B. (2013): Theoretical Hill-Type Muscle and Stability: Numerical Model and Application, Computational and Mathematical Methods in Medicine, vol. 2013, Article ID 570878, 7 pages [ doi:10.1155/2013/570878 ]

Schmitt, S., Haeufle, D.F.B., Rupp, T.K., Günther, M. (2012): Hill-Type Muscles: From Virtual to Artificial Muscle. Proceedings of the 3rd GAMM Seminar on Continuums Biomechanics 2010, Nov 24-26, Freudenstadt-Lauterbad, Germany, 39-51

Seyfarth, A., Grimmer, S., Haeufle, D.F.B., Kalveram, K.T. (2012): Can Robots Help to Understand Human Locomotion? A t - Automatisierungstechnik 60(11), 653–661 [ doi:10.1524/auto.2012.1040 ]

Haeufle, D.F.B., Worobets, J., Wright, I., Haeufle, J., Stefanyshyn, D. (2012): Golfers do not respond to changes in shaft mass properties in a mechanically predictable way. Sports Engineering [ doi:10.1007/s12283-012-0104-9]

Günther, M., Röhrle, O., Haeufle, D.F.B., Schmitt, S. (2012): Spreading out muscle mass within a Hill-type model: a computer simulation study. Computational and Mathematical Methods in Medicine, Article ID 848630 [ doi:10.1155/2012/848630 ]

Schmitt, S., Haeufle, D.F.B., Blickhan, R., Günther, M. (2012): Nature as an engineer: one simple concept of a bio-inspired functional artificial muscle. Bioinspiration & Biomimetics 7(3), Article ID 036022, 9 pages [ doi:10.1088/1748-3182/7/3/036022 ]

Haeufle, D.F.B., Günther, M., Blickhan, R., Schmitt, S. (2012): Can Quick Release Experiments Reveal the Muscle Structure? A Bionic Approach. Journal of Bionic Engineering 9(2), 211-223 [ doi:10.1016/S1672-6529(11)60115-7 ]

Haeufle, D.F.B., Taylor, M.D., Schmitt, S., Geyer, H. (2012): A clutched parallel elastic actuator concept: towards energy efficient powered legs in prosthetics and robotics. IEEE International Conference on Biomedical Robotics and Biomechatronics

Haeufle, D.F.B., Günther, M., Blickhan, R., Schmitt, S. (2012): Proof-of-concept: model based bionic muscle with hyperbolic force-velocity relation. Applied Bionics and Biomechanics 9(3) [ doi:10.3233/ABB-2011-0052 ]

Haeufle, D.F.B., Grimmer, S., Kalveram, K.T., Seyfarth, A. (2012): Integration of intrinsic muscle properties, feed-forward and feedback signals for generating and stabilizing hopping. Journal of the Royal Society, Interface 9(72), 1458-69 [ doi:10.1098/rsif.2011.0694 ]

Kalveram, K.T., Haeufle, D.F.B., Seyfarth, A., Grimmer, S. (2012): Energy management that generates terrain following versus apex-preserving hopping in man and machine. Biological Cybernetics 106(1), 1-13 [ doi:10.1007/s00422-012-0476-8 ]

Haeufle, D.F.B., Günther, M., Blickhan, R., Schmitt, S. (2011): Proof of concept of an artificial muscle: Theoretical model, numerical model, and hardware experiment. IEEE International Conference on Rehabilitation Robotics (ICORR), 1-6 [ doi:10.1109/ICORR.2011.5975336 ]

Haeufle, D.F.B., Günther, M., Blickhan, R., Schmitt, S. (2010): Proof-of-concept: model based bionic muscle with hyperbolic force-velocity relation. Proceedings of the 1. International Conference of Applied Biomechanics and Bionics

Haeufle, D.F.B., Grimmer, S., Seyfarth, A. (2010): The role of intrinsic muscle properties for stable hopping - stability is achieved by the force - velocity relation. Bioinspiration & Biomimetics 5(1), Article ID 016004, 11 pages [ doi:10.1088/1748-3182/5/1/016004 ]

Kalveram, K.T., Haeufle, D.F.B., Grimmer, S., Seyfarth, A. (2010): Energy management that generates hopping. Comparison of virtual, robotic and human bouncing. Proceedings of International Conference on Simulation, Modeling and Programming for Autonomous Robots 2010 Workshops, Nov 15-16, Darmstadt, Germany, 147-156

Kalveram, K.T., Haeufle, D.F.B., Seyfarth, A. (2008): From Hopping to Walking - how the Biped Jena-Walker can Learn from the Single-Leg Marco-Hopper. CLAWAR-Advances in Mobile Robotics, 638–645

Federolf, P., von Tscharner, V., Haeufle, D.F.B., Gimpl, M., Müller, E. (2008): Vibration Exposure in Alpine Skiing and Consequences for Muscle Activation Levels. Iv edn. Meyer and Meyer Sport, Maidenhead (UK), 19–25

Buchkapitel

Seyfarth, A., Grimmer, S., Haeufle, D.F.B., Maus, H.M., Peuker, F., Kalveram, K.T. (2012): Biomechanical and neuromechanical concepts for legged locomotion: Computer models and robot validation. Routledge Handbook of Motor Control and Motor Learning, 1st ed., 90–110, Abingdon, Routledge

Kurze Konferenzbeiträge

Haeufle, D.F.B., Günther, M., Schmitt, S. (2015): Musculo-Skeletal Models as Tools to Quantify Embodiment. ECAL 2015, York, UK

Haeufle, D.F.B. (2015): Modelling Motor control - quantifying control effort. Modelling in human movement science, University of Graz, Austria

Haeufle, D.F.B., Günther, M, Wunner, G., Schmitt, S. (2015): Quantifying control effort with information entropy: a new method applied to complex biological movement. DPG Fürhjahrstagung, Berlin, Germany

Haeufle, D.F.B., Günther, M, Wunner, G., Schmitt, S. (2014): Quantifying control effort of biological and technical movements: an information entropy based approach. DPG Frühjahrtagung, Dresden, Germany

Haeufle, D.F.B., Günther, M., Schmitt, S. (2011): Test trilogy applied to muscle models: evaluating design concepts for artificial muscles. ISB Brussels, Belgium

Haeufle, D.F.B., Günther, M., Blickhan, R., Schmitt, S. (2010): Proof-of-concept: model based bionic muscle with hyperbolic force-velocity relation. International Conference of Applied Biomechanics and Bionics

Haeufle, D.F.B., Seyfarth, A. (2009): Technische Imitation von Muskeleigenschaften ermöglicht Stabilisierung des Hüpfens. DGfB Tagung Münster, Germany

Haeufle, D.F.B., Kalveram, K T, Seyfarth, A. (2009): Technical prove that muscle properties can help to stabilize hopping gaits. ISB Cape Town, South Afrika

Haeufle, D.F.B., Seyfarth, A. (2008): How activation pattern resolution affects hopping performance. Dynamic Walking Delft, Netherlands

Haeufle, D.F.B., Seyfarth, A. (2008): How hopping performance is affected by temporal and spatial discretization of muscle activation. Neuro Robotics Symposium Freiburg, Germany

Haeufle, D.F.B., Seyfarth, A. (2008): Vom Hüpfen zum Rennen: Stabilisierung der vertikalen periodischen Bewegung im Modell und im Roboter. Bionik-Kongress Bremen, Germany

Forschungsgruppenleitung
Dr. Daniel Häufle daniel.haeufle(at)uni-tuebingen.de Anschrift

Zentrum für Neurologie
Hertie-Institut für klinische Hirnforschung
Abteilung Kognitive Neurologie

Otfried-Müller-Str. 25
72076 Tübingen

Tel.: +49 (0)7071 29-88873
Fax: +49 (0)7071 29-25011