Prof. Dr. Philipp Beckerle

2025

• Lamberti, P., Esper, K., Spieck, J., Velasco-Guillen, R.J., Beckerle, P., & Teich, J. (2025). Enforcing Safety Requirements of a Knee Orthosis Using Finite State Machines. In 2024 2nd International Conference on Integrated Systems in Medical Technologies (ISMT) (pp. 1-6). Erlangen, DE: IEEE.
• Schafer, N., Seiler, J., Latsch, B., Kupnik, M., & Beckerle, P. (2025). Vibrotactile Phantom Sensations in Haptic Wrist Rotation Guidance. IEEE Transactions on Haptics, 18(2), 437-443. https://doi.org/10.1109/TOH.2025.3542604

2024

• Andreas, D., Hou, Z., Tabak, M.O., Dwivedi, A., & Beckerle, P. (2024). A Multimodal Bracelet to Acquire Muscular Activity and Gyroscopic Data to Study Sensor Fusion for Intent Detection. Sensors, 24(19). https://doi.org/10.3390/s24196214
• Bliek, A., Andreas, D., Beckerle, P., & Rohe, T. (2024). Measuring, modeling and fostering embodiment of robotic prosthesis. Frontiers in Neuroergonomics, 5. https://doi.org/10.3389/fnrgo.2024.1400868
• Cansev, M., Miller, A.J., Brown, J.D., & Beckerle, P. (2024). Implementing social and affective touch to enhance user experience in human-robot interaction. Frontiers in Robotics and AI, 11. https://doi.org/10.3389/frobt.2024.1403679
• Castañeda, T.S., Connan, M., Capsi-Morales, P., Beckerle, P., Castellini, C., & Piazza, C. (2024). Experimental evaluation of the impact of sEMG interfaces in enhancing embodiment of virtual myoelectric prostheses. Journal of neuroEngineering and rehabilitation, 21(1). https://doi.org/10.1186/s12984-024-01352-7
• Dwivedi, A., Yu, S., Hao, C., Salvietti, G., Prattichizzo, D., & Beckerle, P. (2024). How Positioning Wearable Haptic Interfaces on Limbs Influences Virtual Embodiment. IEEE Transactions on Haptics, 17(2), 292-301. https://doi.org/10.1109/TOH.2023.3347351
• Díaz, M.A., De Bock, S., Beckerle, P., Babič, J., Verstraten, T., & De Pauw, K. (2024). Human-in-the-loop optimization of wearable device parameters using an EMG-based objective function. Wearable Technologies, 5. https://doi.org/10.1017/wtc.2024.9
• Fischer, J., Andreas, D., Beckerle, P., Mathis-Ullrich, F., & Marzi, C. (2024). Vibrational Feedback for a Teleoperated Continuum Robot with Non-contact Endoscope Localization. Current Directions in Biomedical Engineering, 10(1), 17-20. https://doi.org/10.1515/cdbme-2024-0105
• Kindel, J., Andreas, D., Hou, Z., Dwivedi, A., & Beckerle, P. (2024). A Wearable Bidirectional Human–Machine Interface: Merging Motion Capture and Vibrotactile Feedback in a Wireless Bracelet. Multimodal Technologies and Interaction, 8(6). https://doi.org/10.3390/mti8060044
• Latsch, B., Schafer, N., Grimmer, M., Dali, O.B., Mohseni, O., Bleichner, N.,... Kupnik, M. (2024). 3D-Printed Piezoelectric PLA-Based Insole for Event Detection in Gait Analysis. IEEE Sensors Journal, 1-1. https://doi.org/10.1109/JSEN.2024.3416847
• Latsch, B., Schäfer, N., Schaumann, S., Graffe, S., Mahmoudi, A., Grimmer, M.,... Kupnik, M. (2024). Gait Phase Detection Using 3D-Printed Piezoelectric Force Myography Sensors. In IEEE Ultrasonics, Ferroelectrics, and Frequency Control Joint Symposium, UFFC-JS 2024 - Proceedings. Taipei, TWN: Institute of Electrical and Electronics Engineers Inc..
• Latsch, B., Schäfer, N., Schaumann, S., Graffe, S., Mahmoudi, A., Grimmer, M.,... Kupnik, M. (2024). Force Myography Sensors for Gait Phase Detection. In 2024 IEEE SENSORS. Kobe, JP: Institute of Electrical and Electronics Engineers Inc..
• Schaumann, S., Latsch, B., Schafer, N., Dali, O.B., Seiler, J., Raynaud, J.,... Kupnik, M. (2024). Force Myography for Motion Intention Detection Based on 3D-Printed Piezoelectric Sensors. IEEE Sensors Letters, 1-4. https://doi.org/10.1109/LSENS.2024.3417278
• Schieber, H., Li, S., Corell, N., Beckerle, P., Kreimeier, J., & Roth, D. (2024). ASDF: Assembly State Detection Utilizing Late Fusion by Integrating 6D Pose Estimation. In Ulrich Eck, Misha Sra, Jeanine Stefanucci, Maki Sugimoto, Markus Tatzgern, Ian Williams (Eds.), Proceedings - 2024 IEEE International Symposium on Mixed and Augmented Reality, ISMAR 2024 (pp. 190-199). Seattle, WA, US: Institute of Electrical and Electronics Engineers Inc..
• Schäfer, N., Latsch, B., Schaumann, S., Graffe, S., Mohseni, O., Seiler, J.,... Beckerle, P. (2024). Wearable Ferroelectret Sensors for Muscle Activity Measurements. In IEEE Ultrasonics, Ferroelectrics, and Frequency Control Joint Symposium, UFFC-JS 2024 - Proceedings. Taipei, TWN: Institute of Electrical and Electronics Engineers Inc..
• Schäfer, N., Latsch, B., Seiler, J., Hammen, L.H., Stein, L., Herbst, F.,... Kupnik, M. (2024). Modular Wireless Inertial Motion Capture System with Self-Calibration. In Proceedings of IEEE Sensors. Kobe, JP: Institute of Electrical and Electronics Engineers Inc..
• Seiler, J., Schafer, N., Zhao, G., Latsch, B., Grimmer, M., Beckerle, P., & Kupnik, M. (2024). Human-Exoskeleton Interaction Force Estimation Based on Quasi-Direct Drive Actuators. In 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (pp. 1132-1139). Heidelberg, DE: IEEE Computer Society.
• Velasco Guillen, R.J., Bliek, A., Font-Llagunes, J.M., Vanderborght, B., & Beckerle, P. (2024). Compensating elastic faults in a torque-assisted knee exoskeleton: functional evaluation and user perception study. Journal of neuroEngineering and rehabilitation, 21(1). https://doi.org/10.1186/s12984-024-01531-6
• Velasco Guillen, R.J., Furnemont, R., Verstraten, T., Vanderborght, B., Font-Llagunes, J.M., & Beckerle, P. (2024). Stiffness-fault-tolerant control strategy for elastic actuators with interaction impedance adaptation. Mechatronics. https://doi.org/10.1016/j.mechatronics.2024.10326
• Voß, M., Koelewijn, A., & Beckerle, P. (2024). Intuitive and versatile bionic legs: a perspective on volitional control. Frontiers in Neurorobotics, 18. https://doi.org/10.3389/fnbot.2024.1410760

2023

• Andreas, D., Cansev, M., Dwivedi, A., & Beckerle, P. (2023). Perspectives on Use of Resistive Force Sensing to Improve the Control and User Experience of Hand Prostheses. In Proceedings of the Sensor and Measurement Science International.
• Bauer, J., Rohrmüller, M., Dwivedi, A., & Beckerle, P. (2023). Fusion of Multiple Fiducial Markers for Continuous Teleoperation of Robot Arms. In Conference Proceedings (pp. 14-18). Erlangen, DE.
• Ferguson, N., Cansev, M., Dwivedi, A., & Beckerle, P. (2023). Design of a Wearable Haptic Device to Mediate Affective Touch with a Matrix of Linear Actuators. In Maurizio Valle, Dirk Lehmhus, Christian Gianoglio, Edoardo Ragusa, Lucia Seminara, Stefan Bosse, Ali Ibrahim, Klaus-Dieter Thoben (Eds.), Lecture Notes in Networks and Systems (pp. 507-517). Genova, ITA: Springer Science and Business Media Deutschland GmbH.
• Fischer, J., Andreas, D., Dwivedi, A., & Beckerle, P. (2023). The Contribution of Sensors for Haptic Feedback in Robotic Hand Control and Teleoperation. In Proceedings of the Sensor and Measurement Science International.
• Hao, C., Dwivedi, A., & Beckerle, P. (2023). A Literature-Based Perspective on Human-Centered Design and Evaluation of Interfaces for Virtual Reality in Robotics. In Pablo Borja, Cosimo Della Santina, Luka Peternel, Elena Torta (Eds.), Springer Proceedings in Advanced Robotics (pp. 1-13). Delft, NLD: Springer Nature.
• Hao, C., Halupczok, C., Ilg, W., Haeufle, D.F.B., Beckerle, P., & Russwinkel, N. (2023). An ACT-R Observer Model for Anticipatory Assistive Robots. In Proceedings of the International Conference on Cognitive Modeling.
• Hao, C., Russwinkel, N., Haeufle, D.F., & Beckerle, P. (2023). A Commentary on Towards autonomous artificial agents with an active self: Modeling sense of control in situated action. Cognitive Systems Research, 79, 1-3. https://doi.org/10.1016/j.cogsys.2022.12.006
• Latsch, B., Dali, O.B., Chadda, R., Schafer, N., Altmann, A.A., Grimmer, M.,... Kupnik, M. (2023). Low Creep 3D-Printed Piezoresistive Force Sensor for Structural Integration. In Proceedings of IEEE Sensors. Vienna, AUT: Institute of Electrical and Electronics Engineers Inc..
• Rohrmüller, M., Beckerle, P., Graichen, K., Malvezzi, M., & Pozzi, M. (2023). In-Hand Manipulation with Synergistic Actuated Robotic Hands: An MPC-Based Approach. In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids). Austin, TX, US: IEEE Computer Society.
• Seminara, L., Dosen, S., Mastrogiovanni, F., Bianchi, M., Watt, S., Beckerle, P.,... Loeb, G.E. (2023). A hierarchical sensorimotor control framework for human-in-the-loop robotic hands. Science Robotics, 8(78), eadd5434-. https://doi.org/10.1126/scirobotics.add5434
• Thakkar, Y., Andreas, D., Dwivedi, A., & Beckerle, P. (2023). Control of Robotic and Prosthetic Hands Using EMG and MMG Sensor Fusion. In Proceedings of the Integrated Systems in Medical Technologies.
• Velasco Guillen, R.J., Schofer, F., Bliek, A., & Beckerle, P. (2023). Exploring the Just Noticeable Interaction Stiffness Differences of an Impedance-Controlled Series Elastic Actuator. Actuators, 12(10). https://doi.org/10.3390/act12100378

2022

• Andreas, D., Six, H., Bliek, A., & Beckerle, P. (2022). Design and Implementation of a Personalizable Alternative Mouse and Keyboard Interface for Individuals with Limited Upper Limb Mobility. Multimodal Technologies and Interaction, 6(12). https://doi.org/10.3390/mti6120104
• Andreas, D., Six, H., Bliek, A., & Beckerle, P. (2022). Personalizable Alternative Mouse and Keyboard Interface for People with Motor Disabilities of Neuromuscular Origin. In ASSETS 2022 - Proceedings of the 24th International ACM SIGACCESS Conference on Computers and Accessibility. Athens, GR: Association for Computing Machinery, Inc.
• Beckerle, P. (2022). Human-Centered Approaches for Patient-Specific Wearable Robots. In (pp. 91-95). Springer Science and Business Media Deutschland GmbH.
• Beckerle, P. (2022). Human-Robot Body Experience: An Artificial Intelligence Perspective. Künstliche Intelligenz. https://doi.org/10.1007/s13218-022-00779-1
• Beckerle, P. (2022). Wearable Robots Benchmarking: Comprehending and Considering User Experience. In Juan C. Moreno, Jawad Masood, Urs Schneider, Christophe Maufroy, Jose L. Pons (Eds.), Wearable Robotics: Challenges and Trends. (pp. 591-595). Cham: Springer Science and Business Media Deutschland GmbH.
• Beckerle, P., Castellini, C., Lenggenhager, B., & Dosen, S. (2022). Embodiment and Co-Adaptation through Human-Machine Interfaces: at the border of Robotics, Neuroscience and Psychology. Frontiers in Neurorobotics, 16. https://doi.org/10.3389/fnbot.2022.871785
• Beckerle, P., Hao, C., Haeufle, D.F.B., & Russwinkel, N. (2022). Four considerations on interdisciplinary learning at the boundaries of human and engineering sciences. Frontiers in Education, 7. https://doi.org/10.3389/feduc.2022.1096111
• Ben Dali, O., Sellami, Y., Zhukov, S., Von Seggern, H., Schaefer, N., Latsch, B.,... Kupnik, M. (2022). Ultrasensitive and low-cost insole for gait analysis using piezoelectrets. In 2022 IEEE SENSORS. Dallas, TX, US: NEW YORK: IEEE.
• Diaz, M.A., Voß, M., Dillen, A., Tassignon, B., Flynn, L., Geeroms, J.,... De Pauw, K. (2022). Human-in-the-Loop Optimization of Wearable Robotic Devices to Improve Human-Robot Interaction: A Systematic Review. IEEE Transactions on Cybernetics. https://doi.org/10.1109/TCYB.2022.3224895
• Dwivedi, A., Groll, H., & Beckerle, P. (2022). A Systematic Review of Sensor Fusion Methods Using Peripheral Bio-Signals for Human Intention Decoding. Sensors, 22(17). https://doi.org/10.3390/s22176319
• Hao, C., Russwinkel, N., Haeufle, D.F.B., & Beckerle, P. (2022). Integrating Models of Cognitive and Physical Human-Robot Interaction. In Proceedings of the Conference of the German Society for Cognitive Science.
• Velasco Guillen, R.J., Furnemont, R., Verstraten, T., & Beckerle, P. (2022). A Stiffness-Fault-Tolerant Control Strategy for a Redundant Elastic Actuator. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 1360-1365). Sapporo, JPN: Institute of Electrical and Electronics Engineers Inc..
• Velasco Guillen, R.J., Grosu, V., Vanderborght, B., Font-Llagunes, J.M., & Beckerle, P. (2022). Experimental Evaluation of a Stiffness-Fault-Tolerant Control Strategy on an Elastic Actuator for Wearable Robotics. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics. Seoul, KR: IEEE Computer Society.
• Zgonnikov, A., Thill, S., Beckerle, P., & Jonker, C.M. (2022). Modeling Human Behavior in Human-Robot Interactions. In ACM/IEEE International Conference on Human-Robot Interaction (pp. 1296-1297). Sapporo, JPN, JP: IEEE Computer Society.

2021

• Bliek, A., Bekrater-Bodmann, R., & Beckerle, P. (2021). Cognitive Models of Limb Embodiment in Structurally Varying Bodies: A Theoretical Perspective. Frontiers in Psychology, 12. https://doi.org/10.3389/fpsyg.2021.716976
• Cansev, M., Nordheimer, D., Kirchner, E.A., & Beckerle, P. (2021). Feel-Good Requirements: Neurophysiological and Psychological Design Criteria of Affective Touch for (Assistive) Robots. Frontiers in Neurorobotics. https://doi.org/10.3389/fnbot.2021.661207
• Cansev, M., Xue, H., Rottmann, N., Bliek, A., Miller, L.E., Rueckert, E., & Beckerle, P. (2021). Interactive Human–Robot Skill Transfer: A Review of Learning Methods and User Experience. Advanced Intelligent Systems. https://doi.org/10.1002/aisy.202000247
• Cansev, M.E., Xue, H., Rottmann, N., Bliek, A., Miller, L.E., Rueckert, E., & Beckerle, P. (2021). Interactive Human–Robot Skill Transfer: A Review of Learning Methods and User Experience. Advanced Intelligent Systems, 2000247. https://doi.org/10.1002/aisy.202000247
• Crea, S., Beckerle, P., De Looze, M., De Pauw, K., Grazi, L., Kermavnar, T.,... Veneman, J. (2021). Occupational exoskeletons: A roadmap toward large-scale adoption. Methodology and challenges of bringing exoskeletons to workplaces. Wearable Technologies, 2. https://doi.org/10.1017/wtc.2021.11
• Currle, E., Hemm, J., Schäfer, A., Beckerle, P., Horsch, J., Stallkamp, J., & Kühne, M. (2021). Towards a companion system for collision avoidance during robot-assisted needle placement. Current Directions in Biomedical Engineering, 7(1). https://doi.org/10.1515/cdbme-2021-1027
• Del Vecchio, A., Beckerle, P., & Castellini, C. (2021). Peripheral Neuroergonomics – An Elegant Way to Improve Human-Robot Interaction? Frontiers in Neurorobotics, 15. https://doi.org/10.3389/fnbot.2021.691508
• Denz, R., Demirci, R., Cansev, M., Bliek, A., Beckerle, P., Rueckert, E., & Rottmann, N. (2021). A high-accuracy, low-budget Sensor Glove for Trajectory Model Learning. In 2021 20TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) (pp. 1109-1115). , ELECTR NETWORK: NEW YORK: IEEE.
• Galljamov, R., Ahmadi, A., Mohseni, O., Seyfarth, A., Beckerle, P., & Sharbafi, M.A. (2021). Adjustable Compliance and Force Feedback as Key Elements for Stable and Efficient Hopping. IEEE Robotics and Automation Letters, 6(4), 6797-6804. https://doi.org/10.1109/LRA.2021.3095024
• Koelewijn, A., Audu, M., del Ama, A.J., Colucci, A., Font-Llagunes, J.M., Gogeascoechea, A.,... Beckerle, P. (2021). Adaptation Strategies for Personalized Gait Neuroprosthetics. Frontiers in Neurorobotics, 15. https://doi.org/10.3389/fnbot.2021.750519
• Kramer, M., Velasco Guillen, R.J., Beckerle, P., & Bertram, T. (2021). Comparing online robot joint space trajectory optimization for task space applications. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 223-230). Delft, NL: Institute of Electrical and Electronics Engineers Inc..
• Pott, P.P., Beckerle, P., & Stewart, K.W. (2021). Design and Hardware Integration of Elastic Actuators for HMI. In Philipp Beckerle, Maziar Ahmad Sharbafi, Tom Verstraten, Peter P. Pott, André Seyfarth (Eds.), Novel Bioinspired Actuator Designs for Robotics. (pp. 29-44). Springer Science and Business Media Deutschland GmbH.

2020

• Armannsdottir, A.L., Manrique-Sancho, M.-T., Moreno, J.C., Del-Alma, A.J., Beckerle, P., Van Asseldonk, E.H.F.,... Briem, K. (2020). User Involvement, Device Safety, and Outcome Measures During Development of Walking Exoskeletons: Current Practices. In José L. Pons (Eds.), Inclusive Robotics for a Better Society. (pp. 157-163). Springer International Publishing.
• Armannsdottir, A.L., Moreno, J.C., Van Asseldonk, E.H.F., Manrique-Sancho, M.-T., Del-Ama, A.J., Veneman, J.F.,... Beckerle, P. (2020). Assessing the Involvement of Users During Development of Lower Limb Wearable Robotic Exoskeletons: A Survey Study. Human Factors, 62(3), 351-364. https://doi.org/10.1177/0018720819883500
• Beckerle, P., Nostadt, N., Abbink, D.A., & Christ, O. (2020). Embodiment, presence, and their intersections. ACM Transactions on Human-Robot Interaction, 9(4). https://doi.org/10.1145/3389210
• Endo, S., Froehner, J., Music, S., Hirche, S., & Beckerle, P. (2020). Effect of External Force on Agency in Physical Human-Machine Interaction. Frontiers in Human Neuroscience, 14. https://doi.org/10.3389/fnhum.2020.00114
• Grimmer, M., Elshamanhory, A.A., & Beckerle, P. (2020). Human Lower Limb Joint Biomechanics in Daily Life Activities: A Literature Based Requirement Analysis for Anthropomorphic Robot Design. Frontiers in Robotics and AI, 7. https://doi.org/10.3389/frobt.2020.00013
• Guer, D., Schaefer, N., Kupnik, M., & Beckerle, P. (2020). A human–computer interface replacing mouse and keyboard for individuals with limited upper limb mobility. Multimodal Technologies and Interaction, 4(4), 1-16. https://doi.org/10.3390/mti4040084
• Herbst, J., Polanski-Schraeder, L.M.T., Vogt, J., Schuermann, T., & Beckerle, P. (2020). Validation and revision of the questionnaire to explore human factors and their technical potential for lower limb prosthetics. Prosthetics and Orthotics International. https://doi.org/10.1177/0309364620931991
• Schuermann, T., & Beckerle, P. (2020). Personalizing Human-Agent Interaction Through Cognitive Models. Frontiers in Psychology, 11. https://doi.org/10.3389/fpsyg.2020.561510
• Schuy, J., Stech, N., Harris, G., Beckerle, P., Zahedi, S., & Rinderknecht, S. (2020). A Prosthetic Shank With Adaptable Torsion Stiffness and Foot Alignment. Frontiers in Neurorobotics, 14. https://doi.org/10.3389/fnbot.2020.00023
• Seiler, J., Schäfer, N., Latsch, B., Chadda, R., Hessinger, M., Kupnik, M., & Beckerle, P. (2020). Wearable vibrotactile interface using phantom tactile sensation for human-robot interaction. In Ilana Nisky, Jess Hartcher-O’Brien, Michaël Wiertlewski, Jeroen Smeets (Eds.), Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (pp. 380-388). Leiden, NL: Springer Science and Business Media Deutschland GmbH.
• Stuhlenmiller, F., Velasco-Guillen, R.J., Rinderknecht, S., & Beckerle, P. (2020). Fault-Tolerant Physical Human-Robot Interaction via Stiffness Adaptation of Elastic Actuators. In Springer Proceedings in Advanced Robotics (pp. 73-87). Springer Science and Business Media B.V..
• Torricelli, D., Rodriguez-Guerrero, C., Veneman, J.F., Crea, S., Briem, K., Lenggenhager, B., & Beckerle, P. (2020). Benchmarking Wearable Robots: Challenges and Recommendations From Functional, User Experience, and Methodological Perspectives. Frontiers in Robotics and AI, 7. https://doi.org/10.3389/frobt.2020.561774
• Velasco-Guillen, R.J., Grosu, V., Carmona-Ortiz, V.A., Vanderborght, B., Lefeber, D., Font-Llagunes, J.M., & Beckerle, P. (2020). A Stiffness-Fault-Tolerant Control Strategy for an Elastically Actuated Powered Knee Orthosis. In Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 660-665). New York City, NY, US: IEEE Computer Society.
• Verstraten, T., Schumacher, C., Furnemont, R., Seyfarth, A., & Beckerle, P. (2020). Redundancy in Biology and Robotics: Potential of Kinematic Redundancy and its Interplay with Elasticity. Journal of Bionic Engineering, 17(4), 695-707. https://doi.org/10.1007/s42235-020-0062-z