Ruprecht-Karls-Universität Heidelberg
Optimization in Robotics and Biomechanics

Workshop at IEEE IROS 2013 - Physical assistive devices: Model-based simulation and optimization


Time and Place:

  • November 3, 2013, 9:15 am - 5 pm. 
  • Detailed programm see below
  • Tokyo Big Sight, Tokyo, Japan, room 702
  • More information about the conference at

Workshop Program is available for download here 

Objectives of Workshop:

Physical assistive devices such as mobility aids, exoskeletons or orthoses form an important field of robotics and have received a growing attention over the past years. The design and control of such systems is a challenging task since physical assistive devices stay in close contact with humans and have to adapt their behavior to the current user state and user needs. This requires fundamental understanding of human motor control and coordination mechanisms under normal and pathological conditions as well as online observation and identification of the current user state and intention to reliably adjust the assistive device behavior and to provide appropriate support. Model-based simulation and optimization can be very powerful tools in this context and will be the main topic of this workshop. We will focus on computational tools and the underlying mathematical methods as well as modeling approaches with the main aim of giving an overview of the state of the art in this field and of highlighting future directions. The workshop particularly aims at joining experts for different physical assistive devices, i.e. mobility aids, exoskeletons and orthoses to share common problems and approaches between these fields


Topics of interest of this workshop include, but are not limited to

  • Dynamic modeling of physical assistive devices
  • Human biomechanics models and models of human motor control
  • Model parameter identification and optimal experimental design
  • Model-based control of physical assistive devices
  • Design optimization of physical assistive devices
  • Efficient simulation and optimization methods for online use
  • Efficient modeling and optimization tools

Confirmed workshop speakers

  • Jooeun Ahn, MIT, USA
  • Massimo Sartori, University of Göttingen, Germany
  • Kin Huat Low, Nanyang Technological University , Singapore
  • Navid Agasadhegi, University of Illinois, USA
  • Dirk Lefeber, Vrije Universiteit Brussel, Belgium
  • Kazuhiro Kosuge, Tohoku University, Japan
  • Christian Rode, University of Jena, Germany
  • Katja Mombaur, University of Heidelberg, Germany
  • Angelika Peer, TU München, Germany
  • Tamim Asfour, KIT, Germany

Intended Audience:

The intended audience of this workshop are

  • researchers as well as students working in model-based simulation and optimization for physical assistive devices
  • experts in clinical movement analysis, biomechanics and human motor control
  • experts in mechanical design and optimization of physical assistive devices
  • all people having a general interest in this area.

    Supporting projects and IEEE RAS Technical committees:

    This workshop is a joint initiative of



    K. Mombaur,
    Last Update: 28.04.2014 - 17:39

    The photographs in the header of this webpage have been taken at the Musee de l'Automate in Souillac, France