Christian Bauer

2024

1. Bauer, C. J. E., Lechler, A., & Verl, A. (2024). Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern. antriebstechnik. https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40
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   BibTeX

   @article{bauer2024antriebstechnik, abstract = {Im Vergleich zu Werkzeugmaschinen erreichen Industrierobotereine geringe Absolut- und Bahngenauigkeit. Um neue Anwendungsgebiete für die Industrierobotik zu erschließen, forscht das Institut für Steuerungstechnik der Werkzeugmaschinen und Fertigungseinrichtungen (ISW) der Universität Stuttgart daher an regelungstechnischen Lösungen zur Erhöhung der Genauigkeit. Sowohl Prozesse ohne externe Kräfte wie das Laserschneiden als auch Prozesse mit hohen Prozesskräften wie die spanende Bearbeitung sollen so für den Einsatz von Industrierobotern erschlossen werden.}, author = {Bauer, Christian J. E. and Lechler, Armin and Verl, Alexander}, journal = {antriebstechnik}, language = {de}, month = {09}, title = {Höhere Bahngenauigkeit – Kompensation kinematischer Übertragungsfehler in Zykloidgetrieben von Industrierobotern}, url = {https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40}, year = 2024 }

   Link

   https://digital.antriebstechnik.de/antriebstechnik-9-2024/68786300/40
2. Schäfer, M. B., Riepe, S., Parenzan, M., Bauer, C. J. E., Hotz, J., Meiringer, J. G., Weiland, S., & Pott, P. P. (2024). Haptic User Interface for Dynamic Feedback of Gripping Forces in Robot-Assisted Surgery. In Current Directions in Biomedical Engineering (No. 2; Vol. 10, Issue 2). CURAC 2023, Basel. https://doi.org/10.1515/cdbme-2024-1068
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   @proceedings{schafer2023haptic, abstract = {Haptic feedback of gripping forces during robotassisted surgery can benefit the surgical outcome by means of reduced forces applied to the tissue. A custom-designed haptic user interface allows to control four degrees of freedom of the instrument’s endeffector and to display gripping forces. System-centered evaluation is performed to assess its capability of displaying feedback with high mechanical bandwidth. In addition, the perception of gripping forces is evaluated using task-centered methods. Two tasks were performed by ten participants to assess the perceived feedback regarding size and stiffness of grasped objects. Maximum feedback forces of 4.3 N and a mechanical bandwidth of 73.5 Hz are achieved. Tests with participants showed promising results regarding the discrimination of size and stiffness of grasped objects.}, author = {Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Bauer, Christian J. E. and Hotz, Jonas and Meiringer, Johannes G. and Weiland, Sophie and Pott, Peter P.}, booktitle = {Current Directions in Biomedical Engineering}, doi = {10.1515/cdbme-2024-1068}, eventdate = {24.-26.08.2023}, eventtitle = {CURAC 2023}, month = {09}, number = 2, title = {Haptic User Interface for Dynamic Feedback of Gripping Forces in Robot-Assisted Surgery}, url = {https://doi.org/10.1515/cdbme-2024-1068}, venue = {Basel}, volume = 10, year = 2024 }

   Link

   https://doi.org/10.1515/cdbme-2024-1068

   DOI

   10.1515/cdbme-2024-1068
3. Bauer, C. J. E., Schäfer, M. B., Riepe, S., Parenzan, M., Weiland, S., & Pott, P. P. (2024). Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach. In 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (pp. 502–507). 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Heidelberg. https://doi.org/10.1109/BioRob60516.2024.10719769
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   BibTeX

   @proceedings{bauer2024biorob, abstract = {One of the major disadvantages of robot-assisted surgery is the absence of haptic feedback. A haptic user interface (HUI), which is part of a telemanipulation system addressing this issue, is described. To generate high-quality haptic feedback using the HUI, it is necessary to have a precise understanding of the system's behavior. The capstan drive of the HUI is modeled as a rotational two-mass system. The mechanical parameters are determined by minimizing the error between the mechanical transfer function, defined by motor torque as input and velocity as output, and measured frequency responses. The relationship between motor current and torque is approximated as Fourier series depending on the motor angle. Friction is modeled as Coulomb and viscous friction, Stribeck curve, and continuous approximation of the Stribeck curve. The model is utilized to enhance the precision of the generated feedback force. The described system enables the generation of haptic feedback with a maximum force of 6 N, a force resolution of 0.05 N, and a usable frequency bandwidth of 31 Hz.}, author = {Bauer, Christian J. E. and Schäfer, Max B. and Riepe, Sarah and Parenzan, Matthias and Weiland, Sophie and Pott, Peter P.}, booktitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, doi = {10.1109/BioRob60516.2024.10719769}, eventdate = {02.-04.09.2024}, eventtitle = {2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)}, isbn = {979-8-3503-8652-3}, issn = {2155-1782}, month = {10}, pages = {502-507}, title = {Achieving High-Quality Haptic Feedback in Robot-Assisted Surgery With a Model-Based Approach}, url = {https://doi.org/10.1109/BioRob60516.2024.10719769}, venue = {Heidelberg}, year = 2024 }

   Link

   https://doi.org/10.1109/BioRob60516.2024.10719769

   DOI

   10.1109/BioRob60516.2024.10719769
4. Bauer, C., Neff, T., Day, A., & Krüger, A. (2024). Scalable Fabrication of Flexible Supercapacitor Electrodes Using Sustainable Water-Based Onion-like Carbon Inks. Batteries & Supercaps, 7(10), Article 10. https://doi.org/10.1002/batt.202400203
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   BibTeX

   @article{bauer2024scalable, affiliation = {Krueger, A (Corresponding Author), Julius Maximilian Univ Wurzburg, Inst Organ Chem, D-97074 Wurzburg, Germany. Krueger, A (Corresponding Author), Univ Stuttgart, Inst Organ Chem, Pfaffenwaldring 55, Stuttgart, Germany. Bauer, Christian; Neff, Tobias; Day, Adam; Krueger, Anke, Julius Maximilian Univ Wurzburg, Inst Organ Chem, D-97074 Wurzburg, Germany. Neff, Tobias; Day, Adam; Krueger, Anke, Univ Stuttgart, Inst Organ Chem, Pfaffenwaldring 55, Stuttgart, Germany.}, author = {Bauer, Christian and Neff, Tobias and Day, Adam and Krüger, Anke}, doi = {10.1002/batt.202400203}, issn = {2566-6223}, journal = {Batteries & supercaps}, language = {eng}, number = 10, pages = {e202400203}, publisher = {Wiley-VCH}, research-areas = {Electrochemistry; Materials Science}, title = {Scalable Fabrication of Flexible Supercapacitor Electrodes Using Sustainable Water-Based Onion-like Carbon Inks}, unique-id = {WOS:001239183900001}, volume = 7, year = 2024 }

   DOI

   10.1002/batt.202400203