Simon Haddadin

Autonomous Swab Robot for Naso- and Oropharyngeal COVID-19 Screening

The COVID-19 outbreak triggered a global health and economic crisis. With widespread cases and fa... more The COVID-19 outbreak triggered a global health and economic crisis. With widespread cases and fatalities, testing is crucial to control viral spread. A recommended method, the combined naso-and oropharyngeal swab, poses risks and requires limited protective gear. In response to the COVID-19 pandemic, we developed and tested the first autonomous Swab Robot for Naso-and Oropharyngeal Coronavirus Screening (SR-NOCS). This groundbreaking device underwent two clinical studies—one conducted during the initial pandemic lockdown in Europe and the other after the pandemic had subsided early this year in a public place. In total, 52 patients suspected of COVID-19 infection were included in these clinical studies. The results showed a complete positive correlation between autonomous and manual sampling. The subject acceptance rate was very high; all test subjects stated they would repeat a test by SR-NOCS in the future. Based on these results, such systems could augment testing capabilities w...

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roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands

Springer eBooks, Sep 2, 2018

In this paper we introduce a novel robotics education concept entitled roboterfabrik. This approa... more In this paper we introduce a novel robotics education concept entitled roboterfabrik. This approach is already implemented as a pilot project in the German educational system. Overall, we promote establishing the first generation of robotic natives. For this we need to provide both practical and theoretical experience in robotics to young people and give them access to state-of-the art, high performance yet affordable industrial robotic technology. Specifically, our approach systematically connects different existing school types, universities as well as companies. It comprises specialized lectures at the university, certified workshops and Robothons which are derived from the hackathon concept, and modified to the demand of roboticists.

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Roboterfabrik

In this video we introduce a unifying concept for robotics education that is already partially im... more In this video we introduce a unifying concept for robotics education that is already partially implemented as a pilot project in the German education system. We propose a network that connects various types of schools, universities and companies and introduces them to and trains them in state-of-the-art robotic platforms. Students, apprentices, technicians and engineers can profit from lectures covering the broad theory of robotics while being supported by a strong practical component. In the video we outline our goals as well as first results that underline the validity of the proposed approach.

$Research paper thumbnail of The prognostic value of radiologic parameters for long-term outcome assessment after an isolated unilateral calcaneus fracture$

The prognostic value of radiologic parameters for long-term outcome assessment after an isolated unilateral calcaneus fracture

Technology and Health Care, Jun 10, 2015

The current retrospective case-control study examines the prognostic value of radiologic paramete... more The current retrospective case-control study examines the prognostic value of radiologic parameters for long-term clinical outcome assessment after a calcaneus fracture. In the authors&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39; trauma department 262 adult patients with an isolated calcaneus fracture were treated from 1995 to 2005. Using conventional x-ray and computed tomography imaging. the calcaneal fractures were classified according to Sanders system. In addition, Boehler&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s and Gissane&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s angles were measured before and after therapy and the Larsen stage of subtalar arthrosis was determined. After a mean follow-up interval of 9.5 years, 44 patients were available for clinical and radiological assessment. At the time of trauma the average age of the study group was 52 (range, 29-79) years. Thirty-seven patients were treated operatively and seven conservatively. Patients with a negative Boehler&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s angle, upon admission, exhibited significantly worse results using four of the five clinical scoring systems than patients with a preserved or slight reduced Boehler&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s angle. Operative treatment in patients whose Boehler&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s angle was elevated to normal range or beyond exhibited worse results than patients with a moderately elevated Boehler&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s angle. In 11 cases, two primary and nine secondary subtalar arthrodeses were performed. The degree of subtalar arthrosis as per Larsen was increased 2.54 ± 1.14 in the course of hospital admission, arthrodesis and/or follow up examination. The results show no significant difference between operative and conservative treatment. Boehler&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s angle at time of admission appears to be a valuable prognosticator for functional long-term results after calcaneus fracture. An operative over-correction of a reduced Boehler&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;#39;s angle should be avoided.

Human-centered robotics - Biomechanics & Safety Laboratory of the Robotics and Mechatronics Center

Biomechanica Hungarica, Dec 1, 2012

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Roboterfabrik

Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction

In this video we introduce a unifying concept for robotics education that is already partially im... more In this video we introduce a unifying concept for robotics education that is already partially implemented as a pilot project in the German education system. We propose a network that connects various types of schools, universities and companies and introduces them to and trains them in state-of-the-art robotic platforms. Students, apprentices, technicians and engineers can profit from lectures covering the broad theory of robotics while being supported by a strong practical component. In the video we outline our goals as well as first results that underline the validity of the proposed approach.

The Franka Emika Robot: A Reference Platform for Robotics Research and Education

IEEE Robotics & Automation Magazine, 2022

Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results

IEEE Robotics and Automation Letters, 2021

This letter introduces GARMI, a service robotics platform conceptualized with a focus on assistin... more This letter introduces GARMI, a service robotics platform conceptualized with a focus on assisting elderly at home. GARMI is designed to provide support with household tasks, as an avatar for tactile-enabled communication and as an interface for telemedicine and emergency assistance. Its unique humanoid design features a sensor-equipped multi-modal head designed for natural human-machine communication as well as a whole-body torque-control interface for safe physical human-machine interaction. GARMI's modular software architecture and distinctive whole-body control scheme allows multimodal dynamic coupling. Additionally, every system component can actively produce as well as sense forces and can thus serve as a haptic feedback interface when interacting with its environment and users. Furthermore, GARMI is the first mobile humanoid designed with specialized use-inspired avatar stations: PARTI for dual-arm-based exoskeleton-like remote-control with force-feedback and MUCKI for transparent remote doctor-patient interaction with both audiovisual and safe haptic feedback. The specialized software architecture allows for rapid prototyping and field-testing of new behaviors for telemedicine, multi-modal interaction and autonomous physical and service assistance. Our first results reveal the potential of our use-driven force-based whole-body control mobile humanoid for daily living and telemedicine scenarios in an elderly care research facility.

roboterfabrik: A Pilot to Link and Unify German Robotics Education to Match Industrial and Societal Demands

Robotics in Education, 2018

In this paper we introduce a novel robotics education concept entitled roboterfabrik. This approa... more In this paper we introduce a novel robotics education concept entitled roboterfabrik. This approach is already implemented as a pilot project in the German educational system. Overall, we promote establishing the first generation of robotic natives. For this we need to provide both practical and theoretical experience in robotics to young people and give them access to state-of-the art, high performance yet affordable industrial robotic technology. Specifically, our approach systematically connects different existing school types, universities as well as companies. It comprises specialized lectures at the university, certified workshops and Robothons which are derived from the hackathon concept, and modified to the demand of roboticists.

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Human-centered robotics - Biomechanics & Safety Laboratory of the Robotics and Mechatronics Center

Biomechanica Hungarica, 2012

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$Research paper thumbnail of The prognostic value of radiologic parameters for long-term outcome assessment after an isolated unilateral calcaneus fracture$

The prognostic value of radiologic parameters for long-term outcome assessment after an isolated unilateral calcaneus fracture

Technology and health care : official journal of the European Society for Engineering and Medicine, Jan 29, 2014

The current retrospective case-control study examines the prognostic value of radiologic paramete... more The current retrospective case-control study examines the prognostic value of radiologic parameters for long-term clinical outcome assessment after a calcaneus fracture. In the authors' trauma department 262 adult patients with an isolated calcaneus fracture were treated from 1995 to 2005. Using conventional x-ray and computed tomography imaging. the calcaneal fractures were classified according to Sanders system. In addition, Boehler's and Gissane's angles were measured before and after therapy and the Larsen stage of subtalar arthrosis was determined. After a mean follow-up interval of 9.5 years, 44 patients were available for clinical and radiological assessment. At the time of trauma the average age of the study group was 52 (range, 29-79) years. Thirty-seven patients were treated operatively and seven conservatively. Patients with a negative Boehler's angle, upon admission, exhibited significantly worse results using four of the five clinical scoring systems tha...

A truly safely moving robot has to know what injury it may cause

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012

ABSTRACT Enabling robots to safely interact with humans is an essential goal of robotics research... more ABSTRACT Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over the last years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. In these terms, safe behavior of the robot even under worst-case situations is crucial and forms also a basis for higher level decisional aspects. In order to quantify what safe behavior really means, the definition of injury, as well as understanding its general dynamics are essential. This insight can then be applied to design and control robots such that injury due to robot-human impacts is explicitly taken into account. In this paper we approach the problem from a medical injury analysis point of view in order to formulate the relation between robot mass, velocity, impact geometry, and resulting injury qualified in medical terms. We transform these insights into processable representations and propose a motion supervisor that utilizes injury knowledge for generating safe robot motions. The algorithm takes into account the reflected inertia, velocity, and geometry at possible impact locations. The proposed framework forms a basis for generating truly safe velocity bounds that explicitely consider the dynamic properties of the manipulator and human injury.

Biomechanisch sichere Geschwindigkeitsregelung für die Mensch-Roboter Interaktion

at – Automatisierungstechnik, 2014

Zusammenfassung In diesem Artikel befassen wir uns mit dem Problem eine für den Menschen sichere ... more Zusammenfassung In diesem Artikel befassen wir uns mit dem Problem eine für den Menschen sichere Robotergeschwindigkeit zu erzeugen. Hierfür untersuchen wir die Relation zwischen Kollisionsmasse, -geschwindigkeit und -geometrie, sowie der damit verbundenen Verletzung im medizinischen Sinne. Diese Einsichten werden derart repräsentiert, dass ein biomechanisch sicherer Geschwindigkeitsregler abgeleitet werden kann. Hierfür wertet der Algorithmus die reflektierte Trägheit, Geschwindigkeit und Oberflächengeometrie an möglichen Kollisionspunkten entlang der Roboterstruktur in Echtzeit aus.

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On making robots understand safety: Embedding injury knowledge into control

The International Journal of Robotics Research, 2012

Enabling robots to safely interact with humans is an essential goal of robotics research. The dev... more Enabling robots to safely interact with humans is an essential goal of robotics research. The developments achieved over recent years in mechanical design and control made it possible to have active cooperation between humans and robots in rather complex situations. For this, safe robot behavior even under worst-case situations is crucial and forms also a basis for higher-level decisional aspects. For quantifying what safe behavior really means, the definition of injury, as well as understanding its general dynamics, are essential. This insight can then be applied to design and control robots such that injury due to robot–human impacts is explicitly taken into account. In this paper we approach the problem from a medical injury analysis point of view in order to formulate the relation between robot mass, velocity, impact geometry and resulting injury qualified in medical terms. We transform these insights into processable representations and propose a motion supervisor that utilizes...

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