I did it again. I revised my paper completely and resubmitted it to the journal of my choice. Compared to the original submission, the haptic evaluation part was removed, a structural reorganization took place, and many improvements in argumentation and plausibility were added. So now it is in the editorial pipeline again. This paper describes evaluation experiments for visual and auditory feedback in a virtual obstacle walking scenario. Two studies with healthy subjects were carried out using the actuated gait orthosis Lokomat. Read more →

How to add logos to all your pages with LaTeX

Given the problem that you want to put one or several logos in your document header, I found the following solution. All the lines have to be inserted in the document preamble, meaning before the \begin{document} line. You will need your logos in the appropriate format (in most cases EPS, pdflatex requires PDF, PNG, or JPG) in your document folder. I will assume logo1.eps and logo2.eps are the file names for the two logos. Read more →


A new topic which we recently entered for our virtual rowing project in the M3 lab is the assessment of psychological states (stress, engagement, frustration) with physiological parameters (heart rate, skin conductance, brain activity). The term psychophysiology describes this scientific area best. It is actually very interesting for us from a scientific point of view. We will investigate rowing subjects who are confronted with virtual audience or competitors. Our hypothesis is that they will react as in real life, leading to a change in performance, e. Read more →

Institute Overview

In the past days I’ve spent some hours with Illustrator to create an overview image of our research activities. The result is now on our group homepage, I used opacity masks extensively.

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Greetings from one of the most beautiful cities in the world!

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Virtual Reality and the Lokomat

The system is ready and works now together with the Lokomat. As a first scenario we implemented obstacle walking. You see on our huge screen a tiny figure, walking along a path in an animated landscape. Obstacles are on the path and as soon as they approach the figurine, a different gait trajectory is switched to. We got these trajectories by recording obstacle crossings of six persons. An additional feature is sound, also being activated when the obstacle is crossed. Read more →

Science and Weblogs

In my relentless search for articles in the field of rehabilitation robotics, I will publish some comments on excellent articles. With this I hope to help people who search relevant papers and also to find experts in the field for discussions and exchange. Everybody interested in the articles I found may take a look at my articles at CiteULike.

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Online Database for Bibliographic Information

The common fate of scientists is to read papers. The problem is to maintain the overview over that ever increasing heap of papers and to be able to cite any of them. If you are working mainly on one computer, a program will help to organize and adminsitrate the bibliographical information. But now imagine you are working on multiple systems, always needing to carry your database with you. That really sucks. Read more →

Control Theory

It’s been a long time ago (unfortunately) since I was confronted with the challenges of control theory. Having taken the basics during the base studies I was doing some refinement during my year in the US (Virginia Tech). For the research project I was today struggling with Impedance and Admittnce Control. But actually, these terms don’t mean that much, as Impedence (Z) and Admittance (Y) are defined clearly only in the realms of Electrical Engineering. Read more →