28 citations · 79 across the 13 of their papers we have counts for
9 papers · 1 filter
A Transparent 3-DoF Assistive Device for Upper-Limb Tremor and Ataxia Compensation: Design and Experimental Validation
Thomas Dobosz, Veronika Hofmann, Ahmed Barhoma +12
Assistive devices for patients with neurodegenerative movement disorders must combine high mechanical transparency with the ability to generate corrective interaction forces. Achie…
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting Bio-Inspired Actuator Morphology
Pierre Schumacher, Lorenz Krause, Jan Schneider +3
Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardw…
Generating Realistic Arm Movements in Reinforcement Learning: A Quantitative Comparison of Reward Terms and Task Requirements
Jhon P. F. Charaja, Isabell Wochner, Pierre Schumacher +7
The mimicking of human-like arm movement characteristics involves the consideration of three factors during control policy synthesis: (a) chosen task requirements, (b) inclusion of…
Natural and Robust Walking using Reinforcement Learning without Demonstrations in High-Dimensional Musculoskeletal Models
Pierre Schumacher, Thomas Geijtenbeek, Vittorio Caggiano +4
Humans excel at robust bipedal walking in complex natural environments. In each step, they adequately tune the interaction of biomechanical muscle dynamics and neuronal signals to…
'Virtual pivot point' in human walking: always experimentally observed but simulations suggest it may not be necessary for stability
L. Schreff, D. F. B. Haeufle, A. Badri-Spröwitz +2
The intersection of ground reaction forces near a point above the center of mass has been observed in computer simulation models and human walking experiments. Observed so ubiquito…
Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion
An Mo, Fabio Izzi, Emre Cemal Gönen +2
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver…
Learning with Muscles: Benefits for Data-Efficiency and Robustness in Anthropomorphic Tasks
Isabell Wochner, Pierre Schumacher, Georg Martius +3
Humans are able to outperform robots in terms of robustness, versatility, and learning of new tasks in a wide variety of movements. We hypothesize that highly nonlinear muscle dyna…
DEP-RL: Embodied Exploration for Reinforcement Learning in Overactuated and Musculoskeletal Systems
Pierre Schumacher, Daniel Häufle, Dieter Büchler +2
Muscle-actuated organisms are capable of learning an unparalleled diversity of dexterous movements despite their vast amount of muscles. Reinforcement learning (RL) on large muscul…
Effective Viscous Damping Enables Morphological Computation in Legged Locomotion
An Mo, Fabio Izzi, Daniel F. B. Haeufle +1
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robo…