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Dive into the research topics where Mathias Nickl is active.

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Featured researches published by Mathias Nickl.


international conference on robotics and automation | 2011

The DLR hand arm system

Markus Grebenstein; Alin Albu-Schäffer; Thomas Bahls; Maxime Chalon; Oliver Eiberger; Werner Friedl; Robin Gruber; Sami Haddadin; Ulrich Hagn; Robert Haslinger; Hannes Höppner; Stefan Jörg; Mathias Nickl; Alexander Nothhelfer; Florian Petit; Josef Reill; Nikolaus Seitz; Sebastian Wolf; Tilo Wüsthoff; Gerhard Hirzinger

An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR. It is aimed to reach its human archetype regarding size, weight and performance. The main focus of our development is put on robustness, dynamic performance and dexterity. Therefore, a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out.


computer assisted radiology and surgery | 2010

DLR MiroSurge: a versatile system for research in endoscopic telesurgery.

Ulrich Hagn; Rainer Konietschke; Andreas Tobergte; Mathias Nickl; Stefan Jörg; Bernhard Kübler; Georg Passig; Martin Gröger; Florian Alexander Fröhlich; Ulrich Seibold; Luc Le-Tien; Alin Albu-Schäffer; Alexander Nothhelfer; Franz Hacker; Markus Grebenstein; Gerd Hirzinger

PurposeResearch on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task or technique, whereas versatile systems are designed to be expandable and useful in multiple surgical applications. Versatile systems are often based on industrial robots, though, and because of this, are hardly suitable for close contact with humans.MethodTo achieve a high degree of versatility the Miro robotic surgery platform (MRSP) consists of versatile components, dedicated front–ends towards surgery and configurable interfaces for the surgeon.ResultsThis paper presents MiroSurge, a configuration of the MRSP that allows for bimanual endoscopic telesurgery with force feedback.ConclusionsWhile the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.


intelligent robots and systems | 2010

MICA - A new generation of versatile instruments in robotic surgery

Sophie Thielmann; Ulrich Seibold; Robert Haslinger; Georg Passig; Thomas Bahls; Stefan Jörg; Mathias Nickl; Alexander Nothhelfer; Ulrich Hagn; Gerhard Hirzinger

Robotic surgery systems are highly complex and expensive pieces of equipment. Demands for lower cost of care can be met if these systems are employable in a flexible manner for a large variety of procedures. To protect the initial investment the capabilities of a robotic system need to be expandable as new tasks arise.


international conference on robotics and automation | 2009

The DLR MiroSurge - A robotic system for surgery

Rainer Konietschke; Ulrich Hagn; Mathias Nickl; Stefan Jörg; Andreas Tobergte; Georg Passig; Ulrich Seibold; Luc Le-Tien; Bernhard Kübler; Martin Gröger; Florian Alexander Fröhlich; Christian Rink; Alin Albu-Schäffer; Markus Grebenstein; Tobias Ortmaier; Gerd Hirzinger

This video presents the in-house developed DLR MiroSurge robotic system for surgery. As shown, the system is suitable for both minimally invasive and open surgery. Essential part of the system is the MIRO robot: The soft robotics feature enables intuitive interaction with the robot.


international conference on robotics and automation | 2003

DLR hand II: hard- and software architecture for information processing

S. Haidacher; J. Butterfass; M. Fischer; Markus Grebenstein; K. Joehl; K. Kunze; Mathias Nickl; Nikolaus Seitz; Gerd Hirzinger

In the robotic community more and more hands have been developed. These newly designed manipulators greatly outperform their ancestors in terms of available sensor signals, applicable grasping force, mechanical stability, reliability, kinematic design and more. This development extends the possible range and complexity of applications of robotic grippers also to areas outside of well structured laboratories and simple tasks. It also calls for more flexible control structures to provide a framework for implementing and executing these newly arising tasks without having to start from scratch for each new task. During the last few years we developed a control system architecture for DLR hand II that proved to be useful for a great variety of different applications. This paper presents the basic ideas behind DLR hand IIs hard- and software architecture adapted to new needs in data processing.


intelligent robots and systems | 2006

Flexible Signal-Oriented Hardware Abstraction for Rapid Prototyping of Robotic Systems

Stefan Jörg; Mathias Nickl; Gerhard Hirzinger

Diffuse and changing specifications for the design of light-weight robots result in high design costs for the desired robotic system, especially the electronic modules and related software drivers. To reduce those costs, we created a flexible robot platform, consisting of FPGA joint modules that are connected by a high speed communication. To fully exploit the hardware flexibility, we introduce a flexible signal-oriented hardware abstraction that is based on a signal flow oriented middleware (SFMiddleware). SFMiddleware enables the transparent integration of changing joint hardware functionality with robot control applications. Utilizing a static system specification approach, we benefit from the abstraction of a middleware without the typical overhead of common middleware implementations. Thus, we achieve a small run-time footprint and control cycles of more than 10 kHz


international conference on pattern recognition | 2004

FPGA based real-time visual servoing

Stefan Jörg; Jörg Langwald; Mathias Nickl

Real-time image processing tasks not only require high computing power but also high data bandwidth. Though current processors excel in computing power, memory throughput is still the bottleneck for stream-oriented applications such as low-level image processing tasks. The alternative of special-purpose systems lacks flexibility at a high design effort and long development time. This effort often becomes void by the rapid advance of mainstream computing technology. FPGA technology promises flexibility and the necessary computing performance at affordable design costs. In this paper, we describe our approach for a prototype image processing system for robot vision applications, based on FPGA technology. We use a commercially available PCl-board to implement a typical application based on the experimental servicing satellite (ESS) scenario.


intelligent robots and systems | 2011

The computing and communication architecture of the DLR Hand Arm System

Stefan Jörg; Mathias Nickl; Alexander Nothhelfer; Thomas Bahls; Gerd Hirzinger

The computing and communication architecture of the DLR Hand Arm System is presented. Its task is to operate the robots 52 motors and 430 sensors. Despite that complexity, the main design goal for it is to create a flexible architecture that enables high-performance feedback control with cycles beyond 1kHz. Flexibility is achieved through a hierarchical net of computing nodes that goes from commercial-of-the-shelf hosts down to the physical interfaces of sensors and actuators. The concept of a Hardware Abstraction Layer (HAL) provides a convenient high-level interface to the entire robotic hardware. First experiments with prototypical control applications, featuring 100 kHz and 3 kHz control loops, demonstrate the performance of the architecture.


IFAC Proceedings Volumes | 2009

The Virtual Path: The Domain Model for the Design of the MIRO Surgical Robotic System

Mathias Nickl; Stefan Jörg; Gerd Hirzinger

Abstract The MIRO Platform, designed at DLR, is a highly integrated and compliant mechatronic robotic system for minimally invasive surgery. This publication presents the “Virtual Path,” a domain model in the sense of Domain Driven Design, which provides a formal guideline for all designers of the MIRO Platform to obtain a deterministic implementation without the necessity of a monolithic framework. Using Hardware-Software Co-Design methods, the roles of the basic component types of a robotic system were formally defined. The result is a set of design idioms that provide a solution for three main issues when mapping those components to a distributed heterogeneous mechatronic architecture: synchronization, scheduling, and error handling.


IEEE Robotics & Automation Magazine | 2008

Telemanipulator for remote minimally invasive surgery

Ulrich Hagn; Tobias Ortmaier; Rainer Konietschke; Bernhard Kübler; Ulrich Seibold; Andreas Tobergte; Mathias Nickl; Stefan Jörg; Gerd Hirzinger

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Stefan Jörg

German Aerospace Center

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Ulrich Hagn

German Aerospace Center

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Thomas Bahls

German Aerospace Center

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Franz Hacker

German Aerospace Center

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