Dr. Oliver Rettig
Projektleiter RaHM-Lab
Erzbergerstraße 121, Raum D324
- Telefon:
- +49.721.9735-622
- E-Mail:
- oliver.rettig@dhbw-karlsruhe.de
Ausbildung
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1990 ‑ 1997 |
Studium der Physik an der Universität Karlsruhe. |
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1998 ‑ 2002 |
Fernstudium Medizinische Physik und Technik mit Vertiefungsrichtung medizinische Bildverarbeitung an der Universtität Kaiserslautern. |
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2002 ‑ 2008 |
Promotion zum Dr. rer. nat an der Universität Heidelberg mit dem Thema „Modellierung der oberen Extremität und Armbewegungen beim Gehen“. |
Berufliche Tätigkeit
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1998 ‑ 1999 |
Wissenschaftlicher Mitarbeiter im Institut für Didaktik der Physik der Universität Karlsruhe. |
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Seit 1999 |
Geschäftsführer der Firma ORAT Software-Entwicklung. |
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2003 ‑ 2016 |
Wissenschaftlicher Mitarbeiter im Gang- und Bewegungslabor der Orthopädischen Universitätsklinik Heidelberg. |
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Seit 2017 |
Wissenschaftlicher Mitarbeiter der DHBW-Karlsruhe, Fakultät Technik im Labor RaHM-Lab mit den Schwerpunkten Bewegungsanalyse, Robotik und Maschinelles Lernen. |
Wissenschaftliche Interessen
- Gang- und Bewegungsanalyse (Arm- und Schulterbewegungen, http://upperlimb.orat.de )
- Mensch-Roboter-Kollaboration
- Geometrische Algebra (https://github.com/MobMonRob/DSL4GeometricAlgebra, https://github.com/orat/ConformalGeometricAlgebra )
- Optimal Control mit CasADi (https://web.casadi.org/ )
Veröffentlichungen
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(2024) : RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots In: IEEE: 2024 IEEE International Conference on Robotics and Automation (ICRA): International Conference on Robotics and Automation (ICRA): Yokohama, Japan: 13-17 May 2024, S. 2140-2146
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(2024) : Towards an Integrated Development tool for GA and a symbolic CGA implementation based on CasADi for application in robotics In: Bayro-Corrochano, Eduardo: VISION & ROBOTICS: Applied Geometric Algebras in Computer Science and Engineering 2024: Amsterdam: August 27-29, 2024. University of Amsterdam, University of Cambridge
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(2023) : Artificial Neural Network Guided Compensation of Nonlinear Payload and Wear Effects for Industrial Robots In: Xu, Xun; Vogel-Heuser, Birgit; Lu, Yuqian (Hg.): Editorial Proceedings of 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE): Automation for a Resilient Society: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE): Auckland, New Zealand: 26-30 August 2023. IEEE, S. 1-8. Online verfügbar unter https://ieeexplore.ieee.org/document/10260559
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(2023) : Application of Conformal Geometric Algebra in Robotics: DH-Parameters Extraction from Joint Axes Poses In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence
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(2023) : Autonomous Surface Grinding of wind turbine blades In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence
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(2023) : Autonomous Model-Based Inspection Planning for 3D Visual Coverage In: IAS Society: Proceedings of the 18th International Conference on Intelligent Autonomous Systems IAS-18: 18th International Conference on Intelligent Autonomous Systems IAS-18: Suwon, Korea: July 4 – 7, 2023. Korea Institute of Robotics and Technology Convergence
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(2022) : Kinematic calibration of a collaborative robot by a marker based optical measurement procedure In: IAS Society: Proceedings of the 17th International Conference on Intelligent Autonomous Systems IAS-17: 17th International Conference on Intelligent Autonomous Systems IAS-17: Zagreb, Croatia: June 13-16, 2022. University of Zagreb Faculty of Electrical Engineering and Computing
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(2022) : 46 - Dynamische und ergonomische Adaption von Roboterbewegungen an den Menschen durch Maschinelles Lernen In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Dualen Hochschule
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(2022) : 49 - RoboGrind – Hybride AI für die flexible und hochautomatisierte Oberflächenbearbeitung mit Robotern In: Klärle, Martina; Reichardt, Dirk (Hg.): Book of Abstracts: DHBW AI Transfer Congress 2022: Heilbronn, Germany: Freitag, 23. September 2022. Cooperate State University Baden-Wuertemberg: Stuttgart: Dualen Hochschule, S. 63-64
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(2021) : A marker based optical measurement procedure to analyse robot arm movements and its application to improve accuracy of industrial robots In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore
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(2021) : Determination of posture comfort zones for robot-human handover tasks In: IAS Society: Proceedings of the 16th International Conference on Intelligent Autonomous Systems IAS-16: 16th International Conference on Intelligent Autonomous Systems IAS-16: Singapore: 22-25 June 2021. National University of Singapore
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(2018) : Simulation and Transfer of Reinforcement Learning Algorithms for Autonomous Obstacle Avoidance In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Proceedings of the 15th International Conference IAS-15: 15th International Conference on Intelligent Autonomous Systems IAS-15: Baden-Baden, Germany: Cham: Springer (Advances in Intelligent Systems and Computing)
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(2018) : Unsupervised Hump Detection for Mobile Robots Based on Kinematic Measurements and Deep-Learning Based Autoencoder In: Strand, Marcus; Dillmann, Rüdiger; Menegatti, Emanuele; Ghidoni, Stefano (Hg.): Proceedings of the 15th International Conference IAS-15: 15th International Conference on Intelligent Autonomous Systems IAS-15: Baden-Baden, Germany: Cham: Springer (Advances in Intelligent Systems and Computing)
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(2018) : Which deep artificial neural network architecture to use for anomaly detection in Mobile Robots kinematic data? In: ML4CPS – Machine Learning for Cyber Physical Systems and Industry 4.0: Proceedings of the Conference Machine Learning for Cyber Physical Systems and Industry 4.0 ML4CPS Fraunhofer IOSB: 5th Conference on Machine Learning for Cyber Physical Systems: Karlsruhe: 2018. ML4CPS – Machine Learning for Cyber Physical Systems and Industry 4.0
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(2017): Knee-ankle-foot orthosis with powered knee for support in the elderly. In: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine 231 (8), S. 715-727. DOI: 10.1177/0954411917704008
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(2016): Patient-specific bone geometry and segment inertia from MRI images for model-based analysis of pathological gait. In: Journal of biomechanics 49 (9), S. 1918-1925. DOI: 10.1016/j.jbiomech.2016.05.001
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(2015): Proposition of a protocol to evaluate upper-extremity functional deficits and compensation mechanisms: application to elbow contracture. In: Journal of orthopaedic science : official journal of the Japanese Orthopaedic Association 20 (2), S. 321-330. DOI: 10.1007/s00776-014-0679-z
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(2015): Can reverse shoulder arthroplasty in post-traumatic revision surgery restore the ability to perform activities of daily living?. In: Orthopaedics & traumatology, surgery & research : OTSR 101 (2), S. 191-196. DOI: 10.1016/j.otsr.2014.12.007
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(2015): Definition of anatomical zero positions for assessing shoulder pose with 3D motion capture during bilateral abduction of the arms. In: BMC musculoskeletal disorders 16. DOI: 10.1186/s12891-015-0840-7
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(2014): Motion analysis of the upper extremity in children with unilateral cerebral palsy‐an assessment of six daily tasks. In: Research in developmental disabilities 35 (11), S. 2950-2957. DOI: 10.1016/j.ridd.2014.07.021
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(2014): Motion patterns in activities of daily living: 3- year longitudinal follow-up after total shoulder arthroplasty using an optical 3D motion analysis system. In: BMC musculoskeletal disorders 15. DOI: 10.1186/1471-2474-15-244
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(2014): 3D motion capture using the HUX model for monitoring functional changes with arthroplasty in patients with degenerative osteoarthritis. In: Gait & posture 39 (1), S. 7-11. DOI: 10.1016/j.gaitpost.2013.07.111
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(2013): Reverse Shoulder Prosthesis - Markerbased Measurement of the Center of Rotation Localisation. In: Gait & posture (Volume 37, Issue 1; January 2013), S. 29-31. DOI: 10.1016/j.gaitpost.2012.04.019
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(2012) : Is slope walking less stable in frontal plane than level walking? (Poster) In: European Society for Movement Analysis in Adults and Children: ESMAC 2012: ESMAC 21st Annual Meeting in Stockholm: Stockholm, Sweden: 12/09/2012 to 15/09/2012
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(2010): Can shoulder arthroplasty restore the range of motion in activities of daily living? A prospective 3D video motion analysis study. In: Journal of shoulder and elbow surgery 19 (2 Suppl), S. 59-65. DOI: 10.1016/j.jse.2009.10.012
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(2009): Proprioception in total, hemi- and reverse shoulder arthroplasty in 3D motion analyses: a prospective study. In: International orthopaedics 33 (6), S. 1641-1647. DOI: 10.1007/s00264-008-0666-0
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(2009): Three-dimensional motion analysis of compensatory movements in patients with radioulnar synostosis performing activities of daily living. In: Journal of orthopaedic science : official journal of the Japanese Orthopaedic Association 14 (3), S. 307-312. DOI: 10.1007/s00776-009-1332-0
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(2009) : Conjunct and adjunct rotation in the shoulder (Vortrag) In: Shortland, Adam: 18th Annual General Meeting of European Society of Movement Analysis in Adults and Children: ESMAC 2009: London: 17-19 September 2009. University of Heidelberg, Heidelberg, Germany: Volume 30, Supplement 2. Online verfügbar unter https://www.academia.edu/6934948/Conjunct_rotation_of_the_shoulder
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(2009): A new kinematic model of the upper extremity based on functional joint parameter determination for shoulder and elbow. In: Gait & posture 30 (4), S. 469-476. DOI: 10.1016/j.gaitpost.2009.07.111
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(2008) : Functional methods for shoulder joint centre estimation based on a minimized marker set and comparison of three different computation methods for clinical feasibility (Symposiums-Vortrag) In: European Society for Movement Analysis in Adults and Children: ESMAC 2008: Antalya 2008: Antalya, Turkey: 10/09/2008 to 13/09/2008
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(2005) : Rotation in ball joints – a solution for the Codeman paradoxon (Vortarg), Euler is not really what the clinician wants Biomechanics of the lower limb in health desease and rehabilitation (Poster) In: European Society for Movement Analysis in Adults and Children: ESMAC 2005: Barcelona 2005: Barcelona, Spain: 15/09/2005 to 17/09/2005
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(2004) : Upper Extremity – Optical marker based joint center calculation and elbow flexion angle determination (Poster) In: European Society for Movement Analysis in Adults and Children: ESMAC 2004: Warsaw 2004: Warsaw, Poland: 23/09/2004 to 25/09/2004