Hartmut Witte

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• Univ.-Prof. Dr.
• Professor (Full) at Technische Universität Ilmenau

Anguilliform locomotion, an efficient aquatic locomotion mode where the whole body is engaged in fluid–body interaction, contains sophisticated physics. We hypothesized that data-driven modeling techniques may extract models or patterns of the swimmers’ dynamics without implicitly measuring the hydrodynamic variables. This work proposes empirical k...

Anguilliform swimming is one of the most complex locomotion modes, involving various interacting phenomena, necessitating multidisciplinary studies. Eel robots are designed to incorporate biological principles and achieve efficient locomotion by replicating natural anguilliform swimming. These robots are simpler to engineer and study compared to th...

Anguilliform swimming is one of the most complex locomotion modes, involving various interacting phenomena, which requires multidisciplinary studies. Eel robots are intended to employ biology principles and exhibit efficient locomotion replicating the natural anguilliform swimming. Such robots are easier to engineer and study than their natural cou...

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 robot was designed and tested in an actual sw...

Objectives: This research investigates designing a continuum soft robot and proposing a kinematic matching control to enable the robot to perform a specified medical task, which in this paper is the transesophageal echocardiography (TEE). Methods: A multi-chamber soft robot was designed and fabricated based on the molding of separate layers. The...

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 phantom is needed. Therefore, this study des...

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 aims at designing a soft robot, considering t...

Fragestellung: Um den Therapieerfolg einer Cochlea-Implantat (CI) – Versorgung zu belegen, wird die Sprachverständlichkeit (SV) regelmäßig mit dem Freiburger Einsilbertest (FBE) ermittelt. Bei einseitig ertaubten Patienten muss dabei gewährleistet werden, dass das noch guthörende Ohr durch ein zusätzliches Störgeräusch vom Mithören ausgeschlossen w...

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 for specific medical scenarios. This res...

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 by reduction of the inherent time latencies of a...

Soft robotics has emerged as a new branch of robotics gaining huge research interest in recent decades. Owning intrinsic advantages such as compliance and safety, soft robots are closely associated with the medical requirements of medical robots. This review is written to overview advances in the medical applications of soft robots, either for read...

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 from the EMG signal when the stimulation intensi...

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 for limbs and if these are gait or breed-s...

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 same time. With this aim, we used antagonistic...

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, as well as complexity, usability and cost...

For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilizing its capability to handle and manipulate objects and to communicate with other humans or machines. The optimal relationship between the number of measurement parameters, measurement accuracy as well as complexity, usability and cost of...

For technical or medical applications, the knowledge of the exact kinematics of the human hand is key to utilize its capability to handle and manipulate objects as well as to communicate with other humans or machines. The optimum between the number of measurement parameters, measuring accuracy as well as complexity, usability and cost of the measur...

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 were carried out to understand these gaits at the levels of center of mass, joint mechanics, and muscular control. However, less is known about the global control goals for limbs and overall locomotion, and...

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. The paper aims to illustrate that the research...

Die Technische Universität Ilmenau versucht auch unter „Corona-Zwängen“ durch Kontakteinschränkungen in Kombination mit begrenzten Lehrkapazitäten Seminare, Übungen und Praktika angemessen durchzuführen und die Lehre nicht zu vorlesungslastig werden zu lassen. Die Seminar- und Praktikumsräume gaben jedoch auch unter intensiver zeitlicher Raumbewirt...

Das Projekt WEITBLICK (Wissensbasierte Technologien und bedarfsgerechte Leistungen für Senioren durch individualisierte Care-Konzepte) beschäftigt sich mit der Entwicklung eines individuellen Assistenzsystems für ältere Menschen. Um eine bedarfsgerechte Vermittlung und Inanspruchnahme von Dienstleistungen und Angeboten zu ermöglichen, steht der Sen...

Titel: Konzept eines modularen Leichtbau-Exoskeletts zur Unterstützung physischer Arbeit Hintergrund/Problemstellung: Eine aktive mechanische Unterstützung des menschlichen Bewegungsapparates findet be-reits eine vielfältige Anwendung, so u.a. in der Medizin bei der Rehabilitation von neurologi-schen und orthopädischen Patienten, im Militärwesen al...

Kurzfassung: Im Umfeld der Gestaltung von Mensch-Maschine-Schnittstellen und-Systemen (i.e.S. also auch und vor allem Interaktions-und Informationsschnittstellen) gilt es als ein weitgehend akzeptiertes Gestaltungsparadigma, dass diese Systeme nicht nur funktional die gestellten Anforderungen erfüllen, sondern auch ein hohes Akzeptanzlevel beim spä...

Kurzfassung: Zur mechanischen Unterstützung des menschlichen Be-wegungsapparates schreitet die Entwicklung von Exoskeletten voran. Be-stehenden Systemen fehlt jedoch die Marktdurchdringung, da diese meist Individuallösungen darstellen. Mit diesem Beitrag stellen wir ein Konzept für ein Exoskelett der aktiven Unterstützung des Hand-Arm-Schulter-Syst...

Sowohl in der klinischen Diagnostik als auch bei der Untersuchung biomechanischer Fragestellungen in der Medizin, der Sportwissenschaft und weiteren Anwendungsgebieten wie der Medizintechnik werden verschiedene Verfahren der Bewegungsanalyse genutzt. Dabei sind die etablierten Verfahren häufig sowohl teuer als auch aufwendig in der Anwendung. Zu de...

Die Schallübertragung zum Trommelfell wird maßgeblich durch die anatomischen Gegebenheiten des Außenohres beeinflusst. Zur Untersuchung des Einflusses ver-schiedener geometrischer, mechanischer und akustischer Rahmenbedingungen auf die Außenohr-Übertragungsfunktion (OTF, outer ear transfer function) wurde am Fachgebiet Biomechatronik sowohl ein Fin...

Physische Arbeit beansprucht die Muskeln und führt zu einer Ermüdung der Muskulatur und damit einhergehend zum Nachlassen der Kraft. Bei andauernder körperlicher Tätigkeit kann es dadurch zu einer Überbeanspruchung und langfristig zu Schäden im Muskel-Skelett-System kommen. Um diesen Erkrankungen bei körperlicher Arbeit im Beruf, wie beispielsweise...

Im Zuge des demographischen Wandels und mit dem Ziel der körperlichen Entlastung von Arbeitnehmern in den unterschiedlichen Tätigkeitsfeldern spielen die sogenannten Exoskelett-Systeme eine immer größere Rolle. Die Unterstützung bei körperlich besonders belastenden Aufgaben, wie der Überkopfarbeit, steht dabei in den letzten Jahren im Fokus. Aufgru...

Current challenge for the realization lab-on-chip devices is to overcome 2-dimensional methods in order to achieve 3-dimensional biological models · Thick film technology and multilayer ceramics (LTCC) allow the realization of complex fluidic systems with integrated electronics. ·Temperature control [1] and flow monitoring [2] can be integrated int...

This paper demonstrates the feasibility of robotic navigation through a force sensor systems with variable stiffness using sinus hairs, vibrissae or whiskers. The main objective of this work is to present the trajectory control of a terrestrial wheeled robot using a variable stiffness sensor system (VSS) in contact with a surface. Results include a...

Magnetic hybrid composites are materials with a promising variety of applications due to their magnetic field tuneable mechanical properties. These special characteristics arouses interest in the study of their novel properties, particularly for the development of actuators, sensor systems and control mechanisms. Magneto-sensitive elastomers consis...

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust, and energy-efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots, able to achieve a certain level of versatility. Serval, a complian...

The design of an adaptable system to analyze the properties of flight dynamics in flapping wings systems helps to identify their characteristics and allow the use of different control techniques to improve their performance. These devices present difficulties in modeling; therefore, the software to identify the system parameters divided into severa...

This paper serves as an introduction to the design of force sensor systems with variable stiffness based on sinus hairs or vibrissae. Vibrissae are a biological role model to detect different mechanical surface characteristics with high adaptive abilities. The main purpose of this work is to present the design and control of a variable stiffness se...

Low temperature cofired ceramics (LTCC) have conquered a niche segment in biological microelectromechanical systems (BioMEMS) during the last two decades. Since 3-dimensional assembly and rapid prototyping capability are outstanding features of the technology, bioreactors with complex geometry can easily be produced. Particularly needed functions a...

Low temperature cofired ceramics (LTCC) have conquered a niche segment in biological microelectromechanical systems (BioMEMS) during the last two decades. Since 3-dimensional assembly and rapid prototyping capability are outstanding features of the technology, bioreactors with complex geometry can easily be produced. Particularly needed functions a...

In this paper we examine the possibility to use the integrated stick figure and their joint positions of Microsoft® Kinect® version 2 for digital measurement of human body dimensions. Manual anthropometric measurement data and the indirect parameter calculation based on Kinect® joints were compared for selected human body dimensions. This paper tak...

Seit dem Paradigmenwechsel bei in vitro Tests von zweidimensionalen zu dreidimensionalen Zellkulturen besteht ein bislang nicht ausreichend bedienter Bedarf an Kultivierungssystemen, die eine stabile und reproduzierbare 3D-Zellkultur mit entsprechender Basissensorik und einem nötigen Grad an Automatisierung, Kompaktheit und Parallelisierung vereine...

Bio-inspired robotic designs introducing and benefiting from morphological aspects present in animals allowed the generation of fast, robust and energy efficient locomotion. We used engineering tools and interdisciplinary knowledge transferred from biology to build low-cost robots able to achieve a certain level of versatility. Serval, a compliant...

Die Schallübertragung zum Trommelfell wird sowohl durch eine Vielzahl an Umwelt- als auch intra- und interindividuell variablen Einflussfaktoren geprägt. Die Gesamtheit der Einflüsse kann durch die kopfbezogene Übertragungsfunktion (HRTF, head-related transfer function) quantifiziert werden. Diese Studie konzentriert sich auf die Außenohr-Übertragu...

Die Schallübertragung zum Trommelfell wird maßgeblich durch die anatomischen Gegebenheiten des Außenohres – speziell des Gehörganges mit seiner individuell stark unterschiedlichen Geometrie – beeinflusst. Zur Untersuchung des Einflusses der Gehörgangsgeometrie als auch verschiedener mechanischer und akustischer Eigenschaften des Außenohres auf die...

The whole‐organ, three‐dimensional microstructure of murine Achilles tendon entheses was visualized with micro‐computed tomography (microCT). Contrast‐enhancement was achieved either by staining with phosphotungstic acid (PTA) or by a combination of cell‐maceration, demineralization and critical‐point drying with low tube voltages and propagation‐b...

Pedot: PSS layer, titanium oxynitride and laminin coatings are deposited on LTCC gold electrodes using different 2D and 3D MEA chip designs. Their impedance characteristics are compared and discussed. Titanium oxynitride layers emerged as suitable functionalization. Small 86-µm-electrodes have a serial resistance Rsof 32 kOhm and serial capacitanc...

The number of hip and knee arthroplasty replacement surgeries is increasing steadily. In combination with demographic aging and the number of periprosthetic complications, this development has lead to the phenomenon where the need for revision surgery is rising. The problem is, that, while implantation procedures of hip arthroplasties are more or l...

This chapter considers locomotion in living machines, focusing particularly on mammals and on the possibility of designing mammal-like quadrupedal robots. Locomotion is the movement of an organism or a machine from one place to the other, covering a defined minimal distance. In organisms, locomotion usually is driven by a central element and/or app...

To make use of gesture detection in HMI, algorithms for their occurrence in working processes should be defined. Since affordable motion capturing devices like Microsoft® Kinect® in science and industry were proved to be simply applicable in working environments, we developed and studied the functionality of two algorithms for the detection of poin...

A miniaturized ceramic atmospheric plasma source for the utilization in life sciences has been developed. It is manufactured in LTCC-technology (low temperature cofired ceramic). The plasma generation is based on buried electrodes which lead to a Dielectric Barrier Discharge (DBD). The employed technology allows small feature sizes as well as preci...

Methods for biological analysis have brought interesting developments in the last decade. There is a great diversity of sensors for the monitoring of crucial parameters in a cell culture system, such as impedance, pH or metabolic products, which have been realized as BioMEMS devices. However, current systems are designed to acquire data 2-dimension...

A miniaturized ceramic atmospheric plasma source for the utilization in life sciences has been developed. It is manufactured in LTCC-technology (low temperature cofired ceramic). The plasma generation is based on buried electrodes which lead to a Dielectric Barrier Discharge (DBD). The employed technology allows small feature sizes (electrode width...

One of the most challenging adaptations within the therians has been to ensure dynamic stability of the trunk during rapid locomotion in highly structured environments. A reorganization of limb mechanics and development of new sensors has taken place within their stem lineage. Rats, which have a similar lifestyle to the first therians, possess sinu...

In the follicle sinus complex of sinus hairs in mammals two blood vessels seem to have a prominent function. Up to date their biological role is unknown. Hypotheses suggest that they are used as a hydraulic bearing for the hair shaft which is able to change the stiffness and compliance of the fixation depending on the application. Thereby different...

Verschiedene Studien konnten einen großen und frequenzspezifischen Einfluss anatomischer Strukturen des Kopfes und des Rumpfes auf die Schallübertragung zum Trommelfell nachweisen. Gerade der menschliche Gehörgang und dessen große geometrische Varianz, sowohl im Querschnitt als auch bei der Ausprägung der in der Literatur beschriebenen zwei Knicke...

Täglich ist der Mensch Schwingungen ausgesetzt. Die Normen ISO 2631-5 und VDI 2057-1 haben den Anspruch, standardisierte Mess- und Auswertungsmethoden bereitzustellen, um das Gefährdungspotential solcher mechanischen Einwirkungen einschätzen zu können. Jedoch ist ihre Anwendung nicht trivial. Besonders die Signalaufnahme, -umrechnung und -auswertun...

Die Bewegungsanalyse an Menschen basiert wesentlich auf vier Messverfahren: • Kinemetrie: Messung von kinematischen Daten = Bewegungsbeschreibung, • Anthropometrie: Vermessung der geometrischen und mechanischen Eigenschaften des Körpers, • Dynamometrie: Messung der auf den Körper von außen wirkenden Kräfte, zumeist Bodenreaktionskräfte und • Elektr...

Durch den Zusammenschluss mehrerer Fachgebiete an der Technischen Universität Ilmenau im Rahmen eines geplanten Forschungsclusters soll die auditorisch und auditorisch-visuelle Wahrnehmung des Menschen in Alltagsszenen untersucht werden. Ziel des Vorhabens ist es einen lernfähigen, multimodalen Kunstkopf zu entwickeln. In diesem Beitrag wird das Fo...

In the follicle-sinus-complex of sinus hairs in mammals, two blood sinus seem to have a prominent function. Up to date, their biological role is unknown. Hypotheses suggest that they are used as a hydraulic bearing for the hair shaft which is able to change the stiffness and compliance of the support depending on the desired application. Thereby, d...

This paper reports on the development of a wireless system to monitor the thoracic cavity pressure in mammals. This project seeks to open a new field using the radio frequency (RF) technology in the studies of the interaction between breathing and locomotion in mammals. Furthermore, this study embodies the first step to develop a method of telemetr...

While the facial (mystacial) sinus hairs are intensively studied regarding their structure, follicle anatomy and biological role in various mammals, less is known about the tactile hairs found on the palmar side of the rat's forelimbs near the wrist. These carpal sinus hairs are assumed to play an important role during locomotion in dark or narrow...

Das Gehör ist eines der wichtigsten Sinnesorgane des Menschen. Die steigende alltägliche Belastung des Ohres durch einen zu hohen Lärmpegel stellt ein immer größer werdendes Risiko für die Hörwahrnehmung dar. Daher gewinnt die Lärmprävention in der Medizintechnik und -forschung zunehmend an Bedeutung. In der Analyse für das Hören wichtiger physikal...

Abstract This paper introduces a new approach for computing lower extremity muscle forces by incorporating equations that consider “bone structure” and “prevention of bending by load reduction” into existing optimization algorithms. Lower extremity muscle and joint forces, during normal gait, were calculated and compared using two different optim...

The paper deals with the mechanical vibrational motion of vibrissae during natural exploratory behaviour of mammals. The theoretical analysis is based on a mechanical model of a cylindrical beam with circular natural configuration under an applied periodic force at the tip, which corresponds to the surface roughness of an investigated object. The e...

LTCC multilayers offer a wide range of structural options and flexibility of connections not available in standard thin film technology. Therefore they are considered as material base for cell culture reactors. The integration of microfluidic handling systems and features for optical and electrical capturing of indicators for cell culture growth of...

For older people it is often necessary to have additional orientation aids esp. when they have to leave their familiar environment. To find a location for implementing such a supporting and helping information interface into daily used and well-known things shoe soles were identified as a possible usable place. To derive the requirements and applic...

Täglich ist der Mensch Schwingungen ausgesetzt. Ob in Freizeit und Sport, auf dem Weg zur Arbeit oder am Arbeitsplatz, periodische mechanische Erregungen wirken mit wechselnder Frequenz und Stärke. Dies gilt besonders für Berufsgruppen, wie Kraftfahrer, Bauarbeiter oder Maschinenbediener. Die Normen ISO 2631-5 und VDI 2057-1 haben den Anspruch, sta...

Die Anatomie des menschlichen Gehörgangs weist große interindividuelle Unter-schiede auf. Sowohl der Querschnitt als auch die Ausprägung der in der Literatur beschriebenen zwei Knicke des Gehörgangverlaufs variieren stark. Ein Einfluss un-terschiedlicher Gehörganggeometrien auf Stärke und räumliche Verteilung des am Trommelfell einfallenden Schall...

Die chemische und mechanische Stabilität von Niedertemperatur Einbrandkeramik (engl. low temperature cofired ceramics -LTCC) ist der Grund für ihren zunehmenden Einsatz bei der Herstellung von Mikroreaktoren. Die einfache In-tegrierbarkeit von Elektroden, Heizern und sensorischen Funktionsschichten sowie die Verträglichkeit mit verschiede-nen Zellk...

A reliable concept for steering was realized by in- tegrating a spine-like structure with one DoF into a quadruped robot - Cheetah-cub-S. We increased maneuverability dramat- ically compared to a robot with rigid spine, while keeping controlling effort low. The robot weights 1160 g at 0.1 m (height), 0.105 m (width) and 0.205 m (length). Based on q...

Energy harvesting is a feasible method to prolong service life of implanted devices. We present a thermal energy harvesting approach for a ruminal pH-monitoring probe in cattle. Thermoelectric generators utilize the temperature gradient between the probe and the ruminal fluid during water intake. The in vivo experiment yielded a maximum electric po...

Continuously monitoring temperature and pH of the bovine ruminal fluid allows early detection of feed-related diseases. For this purpose a pH-measuring bolus is applied orally to the reticulorumen of indicator animals. The bolus can only be recovered after slaughter. Thus energy harvesting is desirable to ensure the coverage of the animal’s entire...

This paper gives the first results of basic researches to identify parameters and requirements for the development of a vibrational interface in shoe soles. This interface is an integral part of a system to support orientation and navigation of elderly in new and/or unfamiliar environments. To meet the requirements of the later users it is necessar...

To realize a hands-free controlled system by recognition of mid-air gestures still a bundle of serious problems exists. It is not really clarified how commands have to be interpreted by gestures because it is possible to understand the stroke phases as static as well as dynamic. But depending on which meaning will be used the gesture itself has to...

Morphometrische Daten zur Anatomie des menschlichen Gehörganges beschränken sich in der Literatur bisher auf den knorpeligen äußeren Teil, die Basis der Ohrmuschel. Für technische Entwicklungen sind jedoch auch die räumliche Beschreibung des knöchernen Teils des Gehörganges sowie dessen zweier Knicke von zunehmendem Interesse. Derartiges Wissen sol...

Die automatisierte Untersuchung digitaler Modelle des Gehörganges bietet die Möglichkeit, die bei einzelnen Hörgeräteherstellern vorhandene große Datenmenge an Polysiloxan-Ohrabformungen (typisch mehrere 100.000 Datensätze) wissenschaftlich nutzbar zu machen. Zu diesem Zweck wurde ein Verfahren zur Bestimmung der Querschnittsflächen und eines mittl...

We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine configuration. Both spine configurations bend in the sagittal plane. This study aims at characterizing these two, largely different spine concepts, for...

Facial (mystacial) vibrissae, a kind of sinus hairs within the group of tactile hairs, have been intensively studied for muscle activities, neurological patterns, anatomy details and their biological role in different species. The skill to move in a more or less regular pattern (whisking) is known from various species, like rats. In addition to the...

In the stem lineage of therians, a comprehensive reorganization of limb and body mechanics took place to provide dynamic stability for rapid locomotion in a highly structured environment. At what was probably the same time, mammals developed an active sense of touch in the form of movable mystacial vibrissae. The rhythmic movements of the limbs and...

Morphometrische Daten zur Anatomie des menschlichen Gehörganges beschränken sich in der Literatur bisher auf den knorpeligen äußeren Teil, die Basis der Ohrmuschel. Für technische Entwicklungen sind jedoch auch die räumliche Beschreibung des knöchernen Teils des Gehörganges sowie dessen zweier Knicke von zunehmendem Interesse. Derartiges Wissen sol...

Taktile Informationen stellen für Säugetiere eine maßgebliche Verbindung zu ihrer Umwelt dar. Im Rahmen der Evolution haben sich eine Vielzahl verschiedener Tastorgane entwickelt, die spezielle Funktionen erfüllen und die Mechanorezeptoren in der Haut und andere Sinnessysteme unterstützen. Eins dieser taktilen Sinnessysteme sind die Sinushaare von...

Taktile Informationen stellen für Säugetiere eine maßgebliche Verbindung zu ihrer Umwelt dar. Im Rahmen der Evolution haben sich eine Vielzahl verschiedener Tastorgane entwickelt, die spezielle Funktionen erfüllen und die Mechanorezeptoren in der Haut und andere Sinnessysteme unterstützen. Eins dieser taktilen Sinnessysteme sind die Sinushaare von...