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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(More)
The paper presents a new torque-controlled lightweight robot for medical procedures developed at the Institute of Robotics and Mechatronics of the German Aerospace Center. Based on the experiences in lightweight robotics and anthropomorphic robotic hands, a small robot arm with 7 axis and torque-controlled joints tailored to surgical procedures has been(More)
Walking is a fascinating way of locomotion that is very robust, especially in unstructured terrain. Many researchers devote their time to understanding its underlying principles and to build robots based on their findings. Using the fingers of DLR-Hand II a six-legged actively compliant walking robot is developed. It is intended to be used as testbed for(More)
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.
Internet service providers (ISPs) have to store session data of their customers for operation, management, and control tasks. Thereby, each access node (AN) of an ISP's access network keeps track of session data (e.g., IP addresses, MAC addresses, and lease times of IP addresses) of all connected customers. Session data is highly volatile due to continuous(More)
Today, an increasing number of customers subscribes for a high bandwidth internet access. But not only speed is demanded. Reliability, availability, and security move more and more into the customers focus. Carriers and Internet Service Providers, too, have increasing requirements derived from new services they want to offer to their customers or use(More)
The P2P-based system for the distributed computing of statistics called DuDE is presented. High scalability and failure resilience features of P2P are exploited to achieve a high-performance distributed system, which avoids the bottlenecks of a centralized computing system. To ensure high data availability, a sophisticated algorithm for distributed data(More)
INTRODUCTION In the context of an increasing number of multi-centric studies providing data from different sites and sources the necessity for central data management (CDM) becomes undeniable. This is exacerbated by a multiplicity of featured data types, formats and interfaces. In relation to methodological medical research the definition of central data(More)
Individualized Medicine aims at providing optimal treatment for an individual patient at a given time based on his specific genetic and molecular characteristics. This requires excellent clinical stratification of patients as well as the availability of genomic data and biomarkers as prerequisites for the development of novel diagnostic tools and(More)
The computing and communication architecture of the DLR Hand Arm System is presented. Its task is to operate the robot's 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(More)