Thomas Bahls

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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)
— 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. To oblige the needs of future(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)
— 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)
Today, an increasing number of customers subscribes for a high bandwidth internet access. But not only communication speed is demanded. Quality-of-service moves more and more into the customers' focus. Both Carriers and Inter-net Service Providers (ISPs) have increasing requirements derived from new services they want to offer to their customers. We present(More)
—During the last years, the Internet has grown into a mass-medium for communication and information exchange. Millions of people are using the Internet for business and in social life. Users can be reached easily and cost-effectively. Unfortunately the Internet's open structure is the reason for its frequent misuse for illegal and criminal actions such as(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)
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)
—During the last decades, the Internet has steadily developed into a mass medium. The target group radically changed compared to, e.g., the 90s. Because virtually everyone has access to the Internet, threats due to insecurity and anonymity reach critical levels and have to be tackled by both carriers and Internet Service Providers. Regaining Trust-by-Wire,(More)