Mario Kupnik — accepted AI-conference papers

2025

Exploring the Virtual Pivot Point in Unilateral Transfemoral Amputee Locomotion: Implications for Prosthetic Development

Omid Mohseni, Serajeddin Ebrahimian, Vahid Firouzi, Morteza Khosrotabar, Mario Kupnik, Maziar Ahmad Sharbafi +1

IROS 2025

The virtual pivot point (VPP), a theoretical convergence point of ground reaction forces during gait, has gained attention for its potential to uncover underlying locomotor control strategies. Here, we present the first investigation of VPP in individuals with unilateral above-knee amputation, using

Cited by 2 Source ↗Scholar ↗

2019

Planning for Flexible Surgical Robots via Bézier Spline Translation

Johannes Fauser, Romol Chadda, Yannik Goergen, Markus Hessinger, Paul Motzki, Igor Stenin +7

RA-L 2019

In a minimally invasive surgery, new flexible instruments enable safer and easier access to difficult-to-reach anatomical regions. However, their introduction into the clinical workflow requires robust replanning because navigation errors during surgery render initially planned trajectories infeasib

Cited by 15 Source ↗Scholar ↗

2017

Hybrid position/force control of an upper-limb exoskeleton for assisted drilling

Markus Hessinger, Markus Pingsmann, Joel C. Perry, Roland Werthschützky, Mario Kupnik

IROS 2017poster

Exoskeletons are wearable robotic systems to assist the human body concerning power and accuracy. In this work, an upper limb exoskeleton with seven degrees of freedom provides haptic guidance to the user enhancing accuracy of the target position and constant thrust force during drilling tasks. Ther…

Cited by 21 Source ↗Scholar ↗

2017

User-interface for teleoperation with mixed-signal haptic feedback

Daniel B. Thiem, Carsten Neupert, Johannes Bilz, Sebastian Matich, Julian Polzin, Roland Werthschützky +5

IROS 2017poster

Haptic feedback for minimally invasive surgery is a widely debated topic, especially force sensors for this kind of application are thoroughly researched. The current state-of-the-art includes several realization options, but none of them are suitable to be integrated in small diameter instruments.…

Cited by 6 Source ↗Scholar ↗