The course can only be taken together with the lecture "Practical Course Wearable Robotics: Upper Limb Exoskeletons", which takes place on Fridays 10.30h - 12h in the seminar room 2026, Karlstr. 45, 2nd floor. For more details please check TUMonline.

In this course we introduce students to the fundamentals of robotics and control to develop wearable robotics. The course consists of theoretical lectures, hands-on tutorials, and a final project. The lectures introduce selected topics on robotics, sensors, and actuators by connecting it to neuromechanics and motor control in humans, and their application to upper-limb exoskeletons with a special focus on rehabilitation of patients with neurological disorders. The hands-on tutorials guide the students to program the robotic control of a single joint upper limb exoskeleton using robot skin developed in our laboratory as a sensory interface. Each group of students will receive a hardware setup to work with in the tutorials and project phases. In the final part of the course the students are supported in the development of their final projects through regular colloquium with the lecturers. Students are expected to apply what they learned in the lectures and tutorials to implement exoskeleton control routines used in robotics rehabilitation areas.

Practical Course Wearable Robotics: Upper Limb Exoskeletons

Lecturer (assistant)
TypePractical course
Duration5 SWS
TermWintersemester 2021/22
Language of instructionEnglish
Position within curriculaSee TUMonline
DatesSee TUMonline


* Canceled

Admission information


Lecture 1: Introduction to wearable robotics and human biomechanics - Introduction to wearable robotics, types and applications - Upper-limb exoskeletons for rehabilitation and neurological disorders - Forward kinematics: Homogeneous transformations and Types of Joints - Human Biomechanics: Upper limb kinematics Tutorial 1: Environment setup, ROS basics, and Homogeneous transformations. Lecture 2: Human Kinematics - Upper-limb musculature, joint coupling, range of movement, range of forces and torque in humans. - Forward kinematics: D-H convention, jacobians and trajectory planning Tutorial 2: URDF robot description, D-H Convention, Jacobians, Trajectory Planning Lecture 3: Dynamics of human motion - Activities of daily living and dynamics of human movement - Movement loss after neurological disorders - Robot Dynamics: Euler-Lagrange Method, Human Joint Dynamics parameters Tutorial 3: Robot Dynamics using Euler-Lagrange method, ROS workspace setup Lecture 4: Upper Limb Exoskeleton Control Strategies - Occupational therapy and rehabilitation strategies - State of the art Robot rehabilitation control - Joint Space and Cartesian Space Control - Position and Impedance Control Tutorial 4: Joint and cartesian space control in an upper limb exoskeleton Lecture 5: Upper Limb Exoskeleton Sensors and Actuation - State of the art: Sensors and actuators in exoskeletons - Introduction to Robot Skin and applications in exoskeletons - Using robot skin for impedance control Tutorial 5: Robot Skin setup and impedance control.