Johannes Moll, Louisa Fay, Asfandyar Azhar, Sophie Ostmeier, Sergios Gatidis, Tim C. Lueth, Curtis Langlotz, Jean-Benoit Delbrouck. Proceedings of the 2025 Conference on Empirical Methods in Natural Language Processing. 2025.

In an aging society, the need for rehabilitation treatment is expected to rise. As current healthcare systems have limited capacity and personnel, access to rehabilitation devices usable in households can help address the demand. A lower-limb rehabilitation robot designed for home use must be adaptable to accommodate acute and chronic rehabilitation phases. Existing devices are mechanically complex and require intricate, patient-specific adjustments. To address this, we propose a single degree of freedom (DoF) mechanism based on a chain drive that can be used in multiple configurations, inside and outside a patient bed. We model the gait pattern and construct a custom cost function that captures key features of natural human walking. This cost function is then used to optimize the design parameters of the robot via a direct-search solver to accommodate patients of varying sizes and achieve effective rehabilitation with a fixed trajectory. The outcome is validated experimentally by comparing two robot configurations with five healthy subjects.

Wireless Electromagnetic Tracking (WEMT) enables non-line-of-sight (NLoS) pose estimation in robotics but faces accuracy limitations from restricted operational range and environmental interference. This paper proposes a WEMT-inertial fusion system enhanced by a learning-based Interacting Multiple Model (IMMNN) to address these challenges. The framework integrates a multi-transmitter array with a WEMT-IMU fusion tracker, leveraging IMMNN to mitigate performance degradation caused by nonlinear spatial noise and motion uncertainty in dynamic, array-based environments. IMMNN employs a graph attention network to dynamically model spatial correlations among array units, adaptively optimizing state transition probabilities across motion models. A gated recurrent framework further enhances robustness by analyzing residual sequences to suppress transient noise and outliers. Experimental results demonstrate that the proposed system achieves a root-mean-square error (RMSE) of 30.4 mm over an expanded 1.9×1.9 m2operational area. The graph attention mechanism enables adaptive spatial noise suppression and ensures stable tracking under rapid motion and electromagnetic disturbances. By synergizing model-driven filtering with data-driven learning, IMMNN effectively improves accuracy and robustness, advancing high-precision WEMT solutions for complex robotic applications.

The ability to follow people can benefit the human-robot interaction of mobile robots. This work proposes a hybrid human tracking system for human following robots, integrating sensor fusion of Ultra-Wideband (UWB) and monocular visual positioning to enhance tracking accuracy and precision. At the same time, UWB and the visual positioning system can operate independently, thereby creating a redundancy in the system. Based on our previous study of UWB-positioning, this article elaborates on a visual positioning system that employs human detection using a pre-trained Convolutional Neural Network (CNN), coupled with data fusion process based on experimental assessments. The hybrid human tracking system achieves a 2D Euclidean accuracy RMS of 7.4 cm, demonstrating sufficient accuracy for human following and improving the following performance in real-world experiments compared to our previous study.

In this paper, we propose a concept for AI and machine vision for the observation and assessment of induced pluripotent stem (iPS) cell culture based on a differentiation of the two major monitoring aspects of cell expansion-cell health and cell density. The proposed concept is part of a more holistic approach to automating cell cultures in smaller laboratories. The concept embedded the broader automation of basic cell culture procedures using iPS cells and expansion protocols, as well as implementing mechanisms and a multipurpose gripper for discarding old and refilling fresh culture media and handling individual vessels.Based on phase contrast microscopy imaging our approach involves utilizing machine vision algorithms to calculate cell density and decide whether to split the culture or not. We implemented an image algorithm to achieve this and used threshold values derived from the working experiences with iPS cells. We concluded that our approach’s achieved accuracy is sufficient to automate this task of cell assessment. The process is modular so that the proposed algorithms can be implemented with manually taken images or fully automated imaging.A trained image-based AI can be used to obtain a decision if the shown phase contrast image only shows healthy cells. If there are any not trained formations, the cells will be discarded. Future work includes completing the set of images for training the AI to recognize any deviation i.e. contamination, premature differentiation, or cell death for the health aspect of cell expansion monitoring. We aim to streamline and automate basic iPS cell culture procedures and make them more accessible to smaller laboratories. The proposed algorithms for cell health and available growing space assessment seem promising and may help with decision-making and ensure the health and growth of the iPS cells.

Conventional electric motors usually provide rotary or linear motions to actuate mechatronic systems. In order to accomplish complex tasks, many research studies have been conducted to develop intelligent actuation mechanisms capable of converting simple input motions into complex target motions. In this paper, we propose a novel type of curvilinear actuator to achieve non-linear output motions, which is based on a scissor mechanism with off-centered link position in each unit. A kinematic modeling framework is also presented to compute the motion trajectories of the proposed scissor-mechanism-based curvilinear actuators (SMCA). Simulation results have demonstrated that, by changing the link position of each scissor unit, the created SMCA can achieve different types of output curves and poses.

This contribution demonstrates the usage of fold-based joints to create a novel 3 DoF 3R(RPaR) parallel robot design. Multiple folding mechanisms are introduced, fulfilling the function of revolute, prismatic, and spherical joints. Folding mechanisms are here tested regarding their applicability in parallel kinematic robots taking advantage of beneficial properties such as increased stiffness, flat-foldability and compressed states, easy cleaning as well as lightweight designs. The designed delta robot structure is then analysed for its motion behaviour, workspace dimensions and validated by a 3D printed model. Further, scalability possibilities are presented.

This work presents the automatic design of additively manufacturable serially linked one degree of freedom manipulators whose end effectors move along individually prescribed 2D trajectories. The kinematic coupling of the links is done by using gear stages consisting of spur gears and toothed belt gears. The basic design parameters of these mechanisms are determined using a Fourier series. The calculated Fourier elements with their respective frequency, amplitude and phase are interpreted as rotating 2D vectors which represent the manipulator links. Based on this, the kinematic coupling of the links is calculated and the corresponding gears are designed. All parts of these mechanisms, including the toothed belts, can be manufactured using a low cost 3D printing process. The software for the automated design of these manipulators from Fourier decomposition to CAD file generation has been implemented in MATLAB. To validate the automated design process, various test mechanisms were manufactured and examined for accuracy and precision.

Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a challenge as unexpected motion decreases the quality of the 3D compounding. Furthermore, attempted adjustment of objects, e.g., adjusting limbs to display the entire limb artery tree, is not allowed for conventional robotic US systems. To address this challenge, we propose a vision-based robotic US system that can monitor the object’s motion and automatically update the sweep trajectory to provide 3D compounded images of the target anatomy seamlessly. To achieve these functions, a depth camera is employed to extract the manually planned sweep trajectory after which the normal direction of the object is estimated using the extracted 3D trajectory. Subsequently, to monitor the movement and further compensate for this motion to accurately follow the trajectory, the position of firmly attached passive markers is tracked in real-time. Finally, a stepwise compounding was performed. The experiments on a gel phantom demonstrate that the system can resume a sweep when the object is not stationary during scanning.

In this article, a novel 3D printed knee model for detecting possible errors in the planning and treatment of total knee replacement surgery is presented. This method is a first step towards automation of prosthesis placement. Thanks to the mathematically computed four-bar mechanism, it is now possible to emulate the implant insertion before the operation. This model allows the surgeon to fit the prosthesis to the patient’s knee and to verify if the mounted position is optimal. This process can be repeated until the ideal position is found. Exact copies of the bones are made from the CT images of the patient. These resin copies of the real bones are placed in the motion model, reproducing the real patient’s knee flexion. The model shows the implantation result with respect to the operation plan and the patient’s kinematics. The experiment carried out on a patient’s model according to the standard implantation shows a lift-off and sliding effect of the femoral component outside the joint area. However, this phenomenon is easily resolved if the femoral component is implanted about half a centimeter lateral to the knee’s coronal axis. Until now, no medical research had questioned the lateral positioning of the prosthesis. This knee model provides an understanding of the important biomechanical parameters for total knee replacement surgery. This model will have a significant contribution to secure the surgery’s success, increase patient satisfaction and reduce the overall number of revisions.

The increasing frequency of robot interactions with humans and complex environments motivates the design and control of soft robotic systems made of compliant structures. Additive manufacturing processes enable the creation of new robotic systems and mechanisms that gain their compliance extrinsically through their design, rather than simply their material. With the ability to rapidly and affordably manufacture such mechanisms, the interest in producing custom task-specific underactuated mechanisms has grown. These mechanisms may be useful for highly repetitive tasks or complex situations where the simplicity of control outweighs the versatility of a more traditional robotic system. In the course of this work, new underactuated monolithic soft robotic mechanisms are presented along with automated design processes. The structures can reach multiple arbitrary end effector poses and are controlled with as few actuators as possible. Two methods for the automated design of such structures via inverse kinematics and two concepts for the mechanical realization are presented. Several functional models were created to illustrate possible application scenarios and validate the mechanical concepts. A novel contact surface was also developed and shown to improve the accuracy performance of these structures. These automated design methods contribute toward the general accessibility and usability of multi-pose underactuated extrinsically soft mechanisms.

Currently, laparoscopic surgery systems are adapted for a large number of indications and patients and are therefore not optimized for one specific case. The challenge to create systems with an optimized kinematic structure for a specific patient regarding reachability and manipulability in the needed workspace is the automated design and construction process. We have developed an automated design and construction process for a patient-specific Single Incision Laparoscopic System that is optimized for a specific indication, procedure, patient, and surgeon. The kinematic structure is adapted to the required workspace, needed instrumentation, and manufacturing parameters. First results show that the patient-specific Single Incision Laparoscopic System is better suited for the specific application regarding the combination of reachability, manipulability, and system size in the required workspace than the standard Single Incision Laparoscopic System in different standard sizes or one simple standard size.

The particularly compliant and adaptable properties of soft robotic systems and structures offer enormous potential for use in unpredictable environments as well as for safe and interactive work in human environments. Therefore, new approaches for the design of soft robotic systems are constantly being introduced in this still emerging field of research. Through the use of additive manufacturing methods, it is possible to design systems specifically for an individual task. In this paper we present an approach for an automated design process for monolithic soft robotic structures that can assume pre-defined end poses. The idea thereby is to design simple individualizable systems that are 3D-printable and require a minimum number of actuators. Using the automated design process, we could already generate soft robotic systems for different applications which show promising properties.

3D printing in medical technology is mainly used to produce customized devices for surgical planning or surgical guides and templates. However, for laparoscopic systems, 3D printing is hardly used. A challenge is the transmission of the necessary forces required in laparoscopic surgery.We designed and manufactured a 3D printed customizable manipulator system for Single Incision Laparoscopic Surgery (SILS), fulfilling the force-related requirements in laparoscopic surgery.The Single Incision Laparoscopic Manipulator System can apply forces at its tip up to 5.6 N with acceptable operating forces not exceeding 30 N. We showed the functionality of the manipulator system in a manipulation experiment in comparison to standard SILS instruments.

Since the minimally invasive surgery has significant benefits for the patient, special equipment and techniques are constantly enhanced in this relatively new surgical field, so that more challenging surgical applications can be achieved. Thereby, the major aim is to enable the surgeon to manipulate instruments inside the human body intuitively, despite restricted access to the operating field and limited workspace. With our spine like overtube system for use with standard endoscopes and standard endoscopic instruments, we provide a system facilitating tissue manipulation with sufficient triangulation. In this paper we describe our 3D-printed manipulator system for minimally invasive applications and its pure mechanical control and actuation concepts. Following our aim of an individualized disposable system, in a first step we demonstrate the feasibility of a 3D-printed surgical robotic system by laboratory experiments and a clinical evaluation on a porcine model.

Bladder cancer constitutes the thirteenth most common cause of cancer death worldwide. Transurethral resection of bladder tumors (TURBT) is the established treatment procedure of non-muscle invasive bladder cancer. However, current techniques for this procedure represent several inadequacies such as inaccurate resection of tumors and high recurrence rates due to the lack of dexterity and limited instrumentation. In this paper we proposed a concept to improve the efficiency of this procedure. Starting from the anatomic challenges, the design and fabrication procedure of a double arm surgical manipulator made of nitinol was presented. A new actuation concept was introduced which enables a surgeon to facilitate ten degrees of freedom simultaneously. Finally, in-vitro experiments regarding workspace and functionality were conducted to evaluate the developed system. The workspace experiments showed that the entire surface of the bladder can be reached by the manipulator. We also demonstrated that with the developed system, basic tasks such as pick-and-place and circular path marking can be performed.

The use of flexure hinges offers significant benefits compared to conventional revolute joints, such as the use for compact monolithic designs of flexural structures, no friction losses and reduced assembly and manufacturing costs. The combination of this design concept with additive manufacturing (AM) techniques provides huge potential for kinematics design, because of the ability to manufacture complex kinematic structures in one part with integrated adjustable functional elements, i.e. flexure hinges. Considering that there is sparse knowledge of thin-walled structures fabricated using additive manufacturing in current literature, it is obvious that the design of flexure hinge mechanisms for soft robotic applications is challenging today. Therefore, this paper describes software for simulation of plane flexure hinge structures based on investigations on the material characteristics of laser sintered polyamide, especially fatigue strength. Furthermore, the software enables automated design of these flexural structures (e.g. manipulator structures) as STL files, representing the standard interface to all additive manufacturing technologies.

With the patented method of Navigated Control active surgical instruments can be stopped before they endanger delicate and sensitive tissue such as nerves and vessels. To this end, a stereo camera tracks the positions of instrument and patient, a computer then measures the distance to the patient structure and calculates the allowed output power for the instrument. This clinically approved principle requires different systems to exchange data with hard timing constraints. The German research project OR.NET aimed at enabling interoperability of medical devices with a real-time capable network architecture. In this contribution we show how the Navigated Control principle can be applied to various different devices and how it can be integrated into a real-time medical device network based on that architecture. Distributed Navigated Control has the potential to facilitate the integration process for further active instruments and to enable a highly modular system-of-systems. We successfully implemented Distributed Navigated Control for a surgical drill and for the first time for an ultrasonic aspirator. The respective output power of both devices can be limited via the network simultaneously and with hard timing constraints.

Dehydration is a common and severe diagnosis especially among the elderly. Monitoring a healthy fluid intake is therefore vital. In this contribution five sensor approaches that detect fluid intake are presented and compared. Four of the sensor system use an indirect method by monitoring filling levels in a cup. The first concept is equipped with a conductivity based sensor which uses distinct electrodes at different heights for localizing the border between liquid and air. The second system exploits gravity to measure weight changes via hydrostatic pressure at the cup's bottom. In another design the beverage's weight is focused on a force sensor by a mechanism with a movable plate which is separated from the liquid by a flexible foil. The fourth concept uses shielded capacitive sensor detects the capacity inside the cup which is influenced by present media. The final approach monitors the actual fluid intake directly by means of flow measurements compactly integrated into a drinking straw. The implemented system uses a turbine flow meter with two Hall sensors in order to detect passing volume and the direction of the flow. Two electrodes distinguish between air and fluid in order to only monitor beverage intake. Finally, all five sensor designs are evaluated and compared with regard to accuracy, specific restrictions and conceptual realization. Although each concept has distinctive disadvantages they are suitable for detecting filling levels or fluid intake, respectively. A combination of direct and indirect methods to monitor drinking behavior is expected to help prevent dehydrations.

This contribution presents a smart cup that uses a capacitive sensor to detect its filling level in order to monitor fluid intake over time. Dehydration is frequently diagnosed in hospitals among the elderly and connected to numerous sequelae and deaths. An automated monitoring system that detects daily fluid intake of a patient could reduce the vulnerability to dehydration and therefore the vast expenses that are associated with this condition. The smart cup obtains the current filling level from a capacitive sensor consisting of multiple serially arranged discrete electrodes. It is placed on the outside surface of its wall and shielded against external disturbances. Sensor data is processed applying multiple signal filters and error correction methods. Drinking volume of beverages at room temperature is detected accurately and reliably but error rate rises for very cold or hot liquids. The prototype integrates all components in a compact way, is dishwasher-safe and can be charged inductively. Data is transmitted to a base station via Bluetooth Low Energy. This way, a monitoring device is presented which will help preventing dehydration of elderly people.

The Stapedotomy is a standard ENT (ear, nose and throat) surgery, where the surgeons use surgical micro hooks and forceps to replace the stapes with a small titanium implant. However, there are some challenges with this procedure. Especially, the non-ergonomic posture of the surgeon increases the hand tremor and leads to an inaccurate positioning of the implant. This may cause hearing loss and the patient may need a revision operation. In this paper, we present the first laser sintered disposable manipulator for ENT surgery, which allows the surgeon to move a micro hook in three directions via a joystick console, while his/her hands are located on an armrest. This may increase the surgical outcome by enhancing the ergonomics and therefore may reduce the number of revision operations. We show that the fabrication cost of the single-use robot does not increase the operation expenses drastically. To conclude, our preliminary evaluation with a middle ear phantom indicates that a basic surgical maneuver can be performed via the presented robotic system.

One standard procedure in minimally invasive surgery (MIS) is the endoscopic submucosal dissection (ESD), where neoplastic mucosal tissue is being removed. To execute an ESD the surgeon needs to be well-trained and experienced to operate the flexible instruments precisely under visual monitoring. One of the main drawbacks is the unintuitive control of standard systems and the limited possibility for triangulation. Big motions on the endoscope's handle are transmitted into small movements of the endoscope's distal end inside the stomach and changing the field of view also changes the instrument's orientation and vice versa. We chose the ESD as a starting point to advance to Natural Orifice Transluminal Endoscopic Surgery (NOTES) later on. To improve the ESD, we develop a telemanipulation system, mainly fabricated by selective laser sintering (SLS) of a biocompatible polymer. In this paper we present our spine-inspired kinematic driven via push rods and bowden cables that provides sufficient triangulation with a promising trade-off between flexibility to insert the systems into the patient and adequate stiffness to reliably manipulate the mucosal tissue. To connect the actuators, we use a magnetic coupling to separate sterile and non-sterile parts.

This paper introduces a novel method to generate individualized upper extremity exoskeleton structures. This approach aims to overcome micro-misalignments in wearable design technology caused by inter-subject variability. Geometric dimensions of the patient's forearm are measured using a stereo camera and infrared reflecting markers. Surfaces are generated using Delaunay's Triangulation and converted into an STL -file for 3D printing in order to be a more compatible design and produce a swift development of custom-fit exoskeleton structures. This paper summarizes the design steps of individualized structures that could be implemented in future exoskeleton designs. The fitting accuracy was compared to that of non-individualized shells by applying an 8 kg weight onto the worn shells. Results showed a significantly larger pressure distribution and lower maximum pressure among individualized shells compared to non-individualized shells, which results in a 5% higher tolerance to applied pressure of the exoskeleton.

In this manuscript we propose a robot with a novel kinematics and a novel imaging concept for a transcutaneous ultrasound probe. The underlying goal is to provide a laparoscopic surgeon intraoperative real-time images from within the surgical field without additional man power. The robot is manually controlled by the surgeon through a joystick console. The device is divided into two separate chambers. One is filled with pressurized water and incorporates an transcutaneous ultrasound probe. It is covered with a flexible silicone membrane that is in contact with the patient. The second cavity incorporates the kinematics and is filled with pressurized air. The kinematics has four degrees of freedom (two translational and two rotatory). In this paper, we provide the mathematical description for the direct as well as for the indirect kinematics along with a validation experiment.

The next step in minimally invasive surgery is the further reduction of incisions by surgery through natural orifices (NOTES) or one single artificial incision (Single-Port). However, physicians pointed out, that those procedures are only possible if new technologies will increase the dexterity of the instruments inside of the body. Especially the missing ability to manipulate tissue from two sides (triangulation), needs to be obtained. This article is about the development of different kinematics for a Multi Arm Snake-Like Robot to manipulate flexible endoscopic instruments at the tip of a flexible endoscope. By using Selective Laser Sintering (SLS) it is feasible to create various shapes and designs, custom made for different patients. We are using flexure hinges and compliant mechanisms to create defined movements in serial kinematic structures. In the experiments, the relation between different structures and the influence of the inserted flexible endoscopic instrument are compared. The proposed kinematics are able to manipulate flexible endoscopic instruments. That proves that SLS structures get more advances towards a use for a flexible Single-Port Multi Arm Snake-Like Robot.

Parkinson's disease (PD) is a chronic neurodegenerative movement disorder. The motor status of patients with PD can be characterized by the Unified Parkinson's disease rating scale (UPDRS). However, the UPDRS evaluates the movement disorders on a descriptive level only. Diagnosis and therapy of PD could be augmented if a quantitative assessment could be implemented. Thus, a wireless wearable sensor system for the evaluation of severity of motor dysfunction in PD was developed. The system was integrated into a smart glove. This glove has two touch sensors, two 3D-accelerometers and a force sensor to assess the cardinal motor symptoms of PD (bradykinesia, tremor and rigidity of hand and arm). In this paper we describe the setup of the glove and initial results.

RoboDent was the first stereovision based computer assisted surgery system on the market dedicated completely to dental implantology. The article describes the medical background of dental implants, different methods of instrument guidance, and the state of the art in computer aided dental surgery around the year 2000. The navigation information processing is explained using homogenous transformation matrices and the reason for a lower bound of achievable accuracy. Finally, the major changes of the system in the past 10 years are explained.

This paper presents a new method Navigated Control Functional for protecting a nerve from damage during surgery. This method combines surgical navigation and realtime nerve activity measurement for power control of a surgical drill's motor. The power of a drill's motor is automatically reduced when the nerve activity is identified as critical or the drill reaches a predefined prohibited area. The purpose of this method is to increase the safety of patients (especially nerves) and the ergonomics of surgeons and also to shorten the operation time. Furthermore, a laboratory experiment shows the feasibility of this method in principle.

In this article, a new Micromanipulator System (MMS-II) for middle ear surgery is presented. The purpose of this work was to develop a simple but effective manipulator that would enable the surgeon to move standard surgical instruments in a precise way even under non-ergonomic conditions. The MMS-II is lightweight, small, and easy to use; it requires no PC, besides a small microcontroller-based joystick console. Such features, together with a practicable sterilization concept and the availability of a multiplicity of surgical instruments, allow the system to be used in standard surgical procedures.

In this paper we describe a new system for the navigated viewing of medical image data and the different visualization concepts being realized within the system and discuss the usefulness of the different visualization modes. The system comprises a compact and mobile viewing device that can be tracked by an optical position sensor. It is capable of displaying reasonable parts of a medical image data set (i.e. CT) on its screen in relation to the spatial position regarding a patient. Requirements of simple integration in a clinical environment and various visualization modes, to be applied in maxillofacial surgery are described.

In this paper a robotic system for the application in head and spinal surgery is described. The system, developed as the Surgical Robotics Lab (SRL), is distinguished from other systems by the complete interactive control by the surgeon. From the viewpoint of telemanipulation it can be interpreted as a combined master/slave manipulator. This system has already been applied clinically in maxillofacial surgery for the exact placement of implants. In this paper extensions are described for the use in spinal surgery. The advantages and arising problems are described, especially for shaping at vertebrae for the decompression of the nerve channel.

Describes a method to detect the contact position and time/event for force/torque guided robots. The method is of special importance for interactively used robots, because the simple observation of the z-component of the force and its derivative is not sufficient in surgical environments. In these environments an undesired contact of a surgeon with the robot or an excessive change of the guiding force can be misinterpreted by the controller. For surgical applications it is important, that the surgeon can handle the system easily and intuitively. Consequently, in the described approach the system can be controlled by the surgeon by grasping the surgical tool (drilling machine, shaper, or saw) mounted on the manipulator and moving it as usual. In the paper, control schemes are proposed to achieve these features of a robotics system while the surgeon applies at the same time force to the TCP.

Different powerful extensions and improvements of the control architecture of an autonomous robot are presented. They are used to increase the reliability of robot assembly and to reach a sufficient behavior. The decision to use autonomous assembly robots in an industrial manufacturing setting depends mainly on the reliability of such a system and the extension of its manipulation capabilities. The Karlsruhe Autonomous Mobile Robot (KAMRO) is a robot system that is able to take on, and to execute, assembly tasks autonomously. Although the robot was able to work without human intervention within a limited scope, the reliability of the system was unfortunately not adequate for large-scale applications. This paper describes how the reliability has been improved and which experiments were performed to evaluate the concept.>

In this paper a new intelligent control architecture for autonomous multi-robot systems is presented. Furthermore, the paper deals with task description, task distribution, task allocation and coordination of the system components. The main advantage of the new control architecture is the distributed execution of tasks or subtasks by components of the multi-robot system. The components are able to build teams dynamically thereby avoiding the bottle neck problem of the information flow in centralized controlled architectures. The communication and cooperation between components to achieve distributed organized control architectures is studied. The described intelligent control architecture is to replace the former control architecture of the autonomous robot KAMRO.>

Besides the typical use of industrial robots in a manufacturing setting, new application areas for robots have been appearing during the past few years. In these areas, service robots perform general purpose activities without requiring repeated high speed movements or other requirements of industrial robot applications. For the development of service robots, the use and integration of research results obtained in the autonomous robot field is much more necessary than for the development of robots used in manufacturing. Both, high autonomy during service performance and simple system access, which also means flexible programming or user-friendly system control is desired over an easily operated man/machine interface. In this paper, properties of service robots are defined and some similarities and differences between service robots and fully autonomous robots are explained. The enhancement of an existing autonomous assembly robot, which is made to be a flexible service robot for industrial environments, is considered. The paper concludes with a running experiment, which shows how this robot prototype is used for different tasks in a manufacturing line.>

An approach for planning robot workcells fully automatically in three dimensions is presented. The automation is possible by carrying out the entire layout planning process in the configuration space. To obtain a good shop floor layout in a short time, the Cartesian configuration space and fast obstacle transformation routines are used. An optimization algorithm minimizes the length of all collision-free paths required for the performance of the workcell task. A final test of the generated workcell layout, whether it is valid or not, via graphical workcell task simulations is not required. This planning approach enhances the conventional layout planning process and reduces the necessity of user interaction.>

The authors present the automatic system configurator (ASC), a software environment for the design of automated workcells. ASC consists of a number of tools which provide support at various stages of the planning of complex machine tools and workcells. It contains three tools for configuration and one layout planning tool. The tools can be used and stand-alone basis or in an integrated fashion via an information management system. Each ASC tool is a contribution to CIM in its own right. The configuration tools are knowledge based and stress in particular the knowledge acquisition aspects. The layout planning can be fully automatic, taking into account kinematic aspects for the layout planning of robots cells.>