We develop technical systems that functionally support their users and provide them with a positive experience.Our research approach equally considers human factors and technical requirements based on a mixture of methods from engineering and human sciences. We demonstrate our findings on wearable systems such as prostheses or exoskeletons, cognitive systems such as collaborative or humanoid robots, and general applications with tight human-robot interaction.
Research projects
Fault diagnosis and tolerance for elastic actuation systems in robotics: physical human-robot interaction
Active transfer learning with neural networks through human-robot interactions (TRAIN)
EFFENDI – EFficient and Fast text ENtry for persons with motor disabilities of neuromuscular origin
Recent publications
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.
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). 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
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
Related Research Fields
Contact:
We develop technical systems that functionally support their users and provide them with a positive experience.Our research approach equally considers human factors and technical requirements based on a mixture of methods from engineering and human sciences. We demonstrate our findings on wearable systems such as prostheses or exoskeletons, cognitive systems such as collaborative or humanoid robots, and general applications with tight human-robot interaction.
Research projects
Learning Predictive Maintenance of Fleets of Networked Systems
(Third Party Funds Single)
Funding source: Bayerische Forschungsstiftung
The project aims at advancing predictive maintenance for networked device fleets using learning approaches and integrating expert knowledge. To this end, we will combine machine learning with physical models and analyze data flows between systems as well as integrate expertise on system behavior and failure modes. The resulting predictive maintenance approach for networked systems will be transferred to various classes of systems. Besides investigating industrial applications, we will create a fleet of mobile robots to demonstrate the capabilities of the predictive maintenance approach and make it available to academia, industry, and beyond.
2025
2024
2023
2022
2021
2020
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