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Prof. Dr.-Ing. Dr. h.c. Heinz Wörn

Professor im Ruhestand
Tel.: +49 721 608-44006
Fax: +49 721 608-47141
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Professor Wörn studierte Elektrotechnik an der Universität Stuttgart und promovierte dort am Institut für Werkzeugmaschinen mit seiner Arbeit zu dem Thema "Mehrprozessorsteuerungssystem für Werkzeugmaschinen mit standartisierten Schnittstellen". Im Anschluss arbeitete er bei KUKA Schweißanlagen und Roboter GmbH, wo er eine leitende Stellung in Forschung und Entwicklung inne hatte. Professor Wörn ist ein international anerkannter Experte für Roboter und Automation. Seine Erfahrung umfasst Roboteranwendungen, Robotersteuerungen und Sensoren für Roboter, sowie deren Programmmierung und Simulation. Seit 1997 leitet er das Institut für Prozessrechentechnik, Automation und Robotik der Universität Karlsruhe als Professor für "Komplexe Systeme in Automation und Robotik".


  • Planung, Programmierung, Steuerung, Diagnose und Sensorsysteme für Industrieroboter
  • Autonome, mobile Roboter, Mikroroboter, Serviceroboter, Teleroboter, Autonome Fahrzeuge
  • Planung und Simulation von Anlagen und Fabriken
  • Roboter- und sensorgestützte Chirurgie
  • Mikromontage
  • Modellierung komplexer Systeme in Produktion und Medizin

Control Software with Supporting Features to Enhance the Quality of Tactile Feedback

AutorJan Hergenhan, Markus Mehrwald, Heinz Wörn
Veröffentlicht inMechatronics, Volume 29, August 2015
KurzfassungTactile Displays are devices for cutaneous stimulation to be integrated in haptic feedback systems e.g. in robot-assisted minimally invasive surgery. In general, there are severely limited in performance due to the necessary small size. In this work, we have developed a control software with the goal to allow simple hardware to present sensible tactile information to the user. For the development and evaluation of the software including various features to improve tactile feedback, a tactile display with twelve servo-driven pins was used. With the pins moving upwards and downwards, height maps can be presented to the user's finger. The feedback system runs at a frequency of 50Hz which generates the sensation of a fluid movement. The supporting features include a simulation of shear forces which give the user information on the movement direction of the sensor. A smoothing algorithm was implemented to prevent jerky pin movements. High effort was put in the generation of well distinguishable vibration patterns. These serve to enhance the presentation of the height maps or even allow a second layer of information. In an evaluation series, the control software and the support functions were extensively tested. The users were capable of distinguishing differences in height as low as 0.05mm or differences in width smaller than the pin spacing. The task to find an invisible object only with the help of different vibration patterns was solved with great success. In a practical test, the users had to pursuit invisible paths standing out from the surroundings for 1mm and less using the mouse relying only on tactile feedback. The users showed very good performance here with each user finishing every part of the test. This leads to the conclusion that our control software is an appropriate mean to create sensible tactile feedback even with limited hardware.
Bibtex@article{ ipr_1170857549, author = "{Jan Hergenhan and Markus Mehrwald and Heinz W{{\"o}}rn}", title = "{Control Software with Supporting Features to Enhance the Quality of Tactile Feedback}", year = "2014", journal = "{Mechatronics, Volume 29, August 2015}", pages = "119--128", }
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