IIDEA at the BIH Working Committee of the Technical Advisory Services in Dortmund

May 8th, 2024 | by

An exciting day at the BIH Working Committee of the Technical Advisory Services in Dortmund!

We had the great opportunity to present our project to the integration and inclusion offices from all of Germany’s federal states.

Prof. Hüsing gave an exciting presentation on the opportunities offered by collaborative robotics in the context of inclusion.

He also presented the IIDEA project, which now provides technical advisory services with the support they need to educate companies about collaborative robotics. We support this with the IIDEA Infomobile and hands-on procedures).

In addition, Carlo was able to offer the participants an insight into the programming of collaborative robots in order to give them a deeper understanding of the possible applications and their implementation.

It was interesting to meet the department heads of the technical advisory services from 16 federal states in person. Almost all federal states were represented – proof of the interest and relevance of the topic. A big thank you to all participants for their commitment and enthusiasm for the future of inclusive robotics!

contact person:
Mathias Hüsing
Carlo Weidemann
Elodie Hüsing
Sophie-Charlotte Keunecke
Christina Jansen

Semi-Automated Tile-Laying Aid

May 7th, 2024 | by

As part of the ErgoFli project, an innovative system is being developed in collaboration with project partners to help tile layers make their work more ergonomic and efficient.

In the video you can see how the system works in the Gazebo simulation environment. The robot automatically removes tiles from a magazine and matches them perfectly to the tiles already laid. With automatic processes, several tiles can be laid in succession to optimize the work process.

Our aim is to create a tool that not only reduces the workload for tilers, but also improves their working environment. We are excited about the progress and look forward to sharing more insights with you soon!

Find out more about the project here.

Contact person:
Mark Witte
Jan Wiartalla

IMBA training for the IIDEA project team

May 7th, 2024 | by

Our IIDEA-project team took part in a training course on the “Integration of people with disabilities into the world of work” (IMBA).

IMBA is positioned at the interface of medical and occupational rehabilitation and enables a precise description and comparison of work requirements and human abilities. The training covered the basics of IMBA, with a particular focus on the defined characteristics that serve as the basis for the assessment of work requirements and abilities. A highlight of the training was the introduction to the “Marie Plus” software, which is closely linked to the IMBA concept. The training was conducted by Torsten Alles, Ph.D., Managing Director of iqpr. His extensive knowledge and experience helped to emphasize the importance of IMBA in occupational therapy and activity-based medical rehabilitation.

We are convinced that this training will support our previous research and make a valuable contribution to the IIDEA project. We are grateful for the expertise we have gained through this training and look forward to applying the acquired knowledge in our daily work.

Here you can find more information about the IIDEA project.

contact person:
Mathias Hüsing
Carlo Weidemann
Elodie Hüsing
Sophie-Charlotte Keunecke
Christina Jansen

Rapid Prototyping in the development of robot hardware

April 29th, 2024 | by

As part of the RobWeld project, new wrists and gripping mechanisms were developed for the PARAGRIP developed and built at IGMR.Through iterative design processes using rapid prototyping in 3D printing, we have perfected functionalities, ease of assembly and the manufacturability of components. The result? An elaborate design that combines steel and aluminum components.In the next step, the design can now be extensively tested before it is used on the robot.

You can find more information about the RobWeld project here.

Contact person:
Jan Wiartalla

Technology included – exoskeletons & co. – aids for everyday working life

April 22nd, 2024 | by

A successful day for the IIDEA project at the IHK and HWK event “Technology included – exoskeletons & co. – aids for everyday working life”! Prof. Hüsing and our project manager Carlo represented the IIDEA project at the event in Düsseldorf. Prof. Hüsing gave an exciting presentation on “Inclusive working environment through collaborative robotics: opportunities and perspectives for your company.” At the stand in the foyer, we were also able to inspire many organizations and companies for our project. We look forward to visiting them soon and working together on inclusive working environments!

Here you can find more information about the event in Düsseldorf.

Prof. Mathias Hüsing
Carlo Weidemann

Development of an active dynamic balancing unit for pick and place applications

April 18th, 2024 | by

Delta robots are the most common parallel robots for manipulation tasks. In many industrial applications they must be operated at reduced speed or dwell times have to be included in the motion planning, to prevent frame vibrations. As a result, their full potential cannot be realized. To address this problem, this we developed the mechanical and control design of an active dynamic balancing unit for reduction of frame vibrations. In this video you can see the experimental validation of this system in a pick and place scenario. It the proposed active dynamic balancing unit provides a significant vibration reduction of about 85% for translational and 78% for rotational vibrations. The experiments were conducted on a low cost Delta robot called the Suisui Bot designed at the IGMR, in collaboration with the Tokyo Institute of Technology. Two different strategies have been proposed for the control of the balancing unit. In this video you can see the IMSC in combination with a open-loop control based on the robots inverse dynamics. Please refer here for further information on the design and control system.

contact: Christian Mirz

IFToMM D-A-CH in Rostock

April 10th, 2024 | by

The IGMR was represented at this year’s IFToMM DACH in Rostock with a wide range of topics!

We presented exciting insights into the following topics:

– Extension of the PlanSys2 framework
– Digital twins in intelligent manufacturing
– Function-driven multidirectional additive manufacturing
– Energy-efficient non-uniformly translating gerars
– Digital teaching offerings in machine dynamics

Curious? The conference proceedings including our contributions are available here!

Contact person:
Simon Schläger
Sophie Charlotte Keunecke
Mark Witte
Thomas Knobloch
Nils Brückmann

A big thank you to the organizers and all participants for a great conference with inspiring exchange!

The Service Center for Advanced Robotics at IGMR is your pioneer for innovative automation projects

December 18th, 2023 | by

Our expertise extends to the seamless integration of robots into test benches, the optimization of showcases with existing robots and the adaptation of measurements and sensor technology for an automated solution using robots.

Robots are playing an increasingly important role in a wide range of research projects. However, there is often a lack of expertise and time to use them effectively and in a userfriendly way and this is exactly where we come in!

Our services include:
– The
integration of robots into your test benches
The further use of existing robots for showcases
The adaptation of measurements and sensors using robot technology
Troubleshooting for robots
– Planning
and implementation of research projects with the use of robots
Ideas and support for automation in various specialist areas

Dr. Markus Schmitz is your contact for the implementation and planning of automation projects and for technical advice. Please send requests for quotations to

Exploration of Automated Capability Estimation for Human-Robot Teaming

November 24th, 2023 | by
Watch this video on YouTube.
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In our Human-Robot Teaming group, we have a vision that humans and robots will one day be able to work together seamlessly and intuitively in a kind of human-machine symbiosis. Recently, we implemented an exploration application to demonstrate the potential of human-robot teams. The exploration includes a human capability assessment system to evaluate human potential and derive appropriate robot actions.

In the future, robots will be able to use the identified capability deltas to find gaps between human performance and the requirements of the work process. Based on these deltas, actions will be derived that do not take work away from humans, but instead increase human capabilities until the requirements are met. Such systems will enable the human-robot team to reach a state that is similar to what is called “flow”.

Carlo Weidemann


Robot Cooking – Transferring observations into a planning language

October 18th, 2023 | by



Transferring observations into a planning language: An automated approach in the field of cooking

In the Robot Cooking project, an automated method is developed to analyze and identify motion data and convert it into a machine-readable planning language. This is done using a cooking scenario as an example in which the motion data is captured by recording the hand pose of the cook.

The recording is done using a motion capture system consisting of seven cameras and a glove with three markers on the back of the chef’s hand. The position of the markers is determined by triangulation. This provides enough information to derive the hand pose. The recording is done at 120 frames per second. Before the cooking process, all objects in the workspace are identified and their initial positions determined. Motion data is continuously recorded and converted into poses with time stamps. Additional information such as velocity, acceleration and angle in relation to the tabletop are derived from the raw data.

A initial structure of the dataset is created by finding the side actions using classification. Here, pick, move and place are identified as recurrent side actions. A separate training dataset is used to train a classifier that recognizes these actions. This enables an easier analysis of the remaining actions.

Clustering is applied to identify unknown actions. A dynamic approach allows analysis despite high variability in execution. A unique fingerprint for each action is found, based on the orientation of the back of the hand and its speed on the table plane, to assign each frame to a cluster and finally to an action.

The knowledge gained from classification and clustering is translated into a machine-readable Planning Domain Definition Language (PDDL). A schedule is created, with known actions directly assigned. Start and end positions are specified, and virtual object tracking is used to represent the progression of objects during cooking. For unknown actions, preconditions and effects are handled dynamically. The results are translated into a machine-readable PDDL. This formal representation enables efficient automatic scheduling and execution of the previously demonstrated cooking task.

Additional information is available in the video linked above, the poster and the paper.

Markus Schmitz