S
Stefan Jörg
Researcher at German Aerospace Center
Publications - 24
Citations - 1051
Stefan Jörg is an academic researcher from German Aerospace Center. The author has contributed to research in topics: MiroSurge & Robot control. The author has an hindex of 9, co-authored 24 publications receiving 953 citations.
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Proceedings ArticleDOI
The DLR hand arm system
Markus Grebenstein,Alin Albu-Schaffer,Thomas Bahls,Maxime Chalon,Oliver Eiberger,Werner Friedl,Robin Gruber,Sami Haddadin,Ulrich Hagn,Robert Haslinger,Hannes Höppner,Stefan Jörg,Mathias Nickl,Alexander Nothhelfer,Florian Petit,Josef Reill,N. Seitz,Thomas Wimbock,Sebastian I. Wolf,Tilo Wüsthoff,Gerd Hirzinger +20 more
TL;DR: An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR and a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out.
Journal ArticleDOI
DLR MiroSurge: a versatile system for research in endoscopic telesurgery.
Ulrich Hagn,Rainer Konietschke,Andreas Tobergte,Mathias Nickl,Stefan Jörg,Bernhard Kübler,Georg Passig,Martin Gröger,Florian Fröhlich,Ulrich Seibold,Luc Le-Tien,Alin Albu-Schaffer,Alexander Nothhelfer,Franz Hacker,Markus Grebenstein,Gerd Hirzinger +15 more
TL;DR: While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.
Proceedings ArticleDOI
Flexible robot-assembly using a multi-sensory approach
TL;DR: A flexible assembly cell that includes a variety of different sensors for mating with moving parts is realized, including special seam tracking sensors support the robot in welding applications.
Proceedings ArticleDOI
MICA - A new generation of versatile instruments in robotic surgery
Sophie Thielmann,Ulrich Seibold,Robert Haslinger,Georg Passig,Thomas Bahls,Stefan Jörg,Mathias Nickl,Alexander Nothhelfer,Ulrich Hagn,Gerd Hirzinger +9 more
TL;DR: The capabilities of a robotic system need to be expandable as new tasks arise to protect the initial investment and to meet demands for lower cost of care.
Proceedings ArticleDOI
The DLR MiroSurge - A robotic system for surgery
Rainer Konietschke,Ulrich Hagn,Mathias Nickl,Stefan Jörg,Andreas Tobergte,Georg Passig,Ulrich Seibold,Luc Le-Tien,Bernhard Kübler,Martin Gröger,Florian Fröhlich,Christian Rink,Alin Albu-Schaffer,Markus Grebenstein,Tobias Ortmaier,Gerd Hirzinger +15 more
TL;DR: DLR MiroSurge robotic system for surgery is suitable for both minimally invasive and open surgery and the soft robotics feature enables intuitive interaction with the robot.