Research projects 


This European research project focuses on alternative treatment options in physiotherapeutic rehabilitation after orthopedic surgery in hospitals during a pandemic. Among other things, the aim is to measure the benefit of the world's first mobile robot for autonomous gait training on crutches in pandemic situations.This European research project aims to develop the world's first mobile robot for autonomous gait training on crutches to address pandemic and post-pandemic challenges in orthopedic rehabilitation.

The study will be conducted at four major European acute care and rehabilitation clinics.

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2019 – 2020 ROSMON

In this research project, the commercialization of an innovative robotic solution for monitoring the rehabilitation process of patients was to be outlined. In this context, the recording and evaluation of subjects' movement data took place automatically during and outside treatments as well as at home using a smartwatch.

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2016 – 2019 ROGER

The aim of the project was to develop a personal training robot for personalized gait exercises for patients undergoing orthopedic surgery on the foot, knee or hip in inpatient or outpatient rehabilitation.

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LiDAR-based Indoor Localization with Optimal Particle Filters using Surface Normal Constraints


Heruka Andradi, Sebastian Blumenthal, Erwin Prassler, Paul G. Plöger

2023 IEEE International Conference on Robotics and Automation (ICRA), 1947-1953, IEEE

Analysing the Safety and Security of a UV-C Disinfection Robot


Desiana Nurchalifah; Sebastian Blumenthal; Luigi Lo Iacono; Nico Hochgeschwender

2023 IEEE International Conference on Robotics and Automation, ICRA, 12729-12736, IEEE

Robot-Assisted Gait Self-Training: Assessing the Level Achieved


Andrea Scheidig, Benjamin Schütz, Thanh Quang Trinh, Alexander Vorndran, Anke Mayfarth, Christian Sternitzke, Eric Röhner, Horst-Michael Gross

Sensors 202121(18), 6213; 

Roboterassistiertes Gangtraining: Wertung des erreichten Stands


Andrea Scheidig, Anke Mayfarth, Christian Sternitzke, Alexander Vorndran, Thanh Q Trinh, Benjamin Schuetz, Horst-Michael Gross

German AAL Conference (AAL), Leipzig, VDE

Autonomous Mobile Gait Training Robot for Orthopedic Rehabilitation in a Clinical Environment*


Thanh Q Trinh, Alexander Vorndran, Benjamin Schuetz, Bianca Jaeschke, Anke Mayfarth, Andrea Scheidig, Horst-Michael Gross

2020 29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 580-587, IEEE

Query-based integration of heterogeneous knowledge bases for search and rescue tasks


Fereshta Yazdani, Sebastian Blumenthal, Nico Huebel, Asil Kaan Bozcuoğlu, Michael Beetz, Herman Bruyninckx

Robotics and Autonomous Systems, 117, 80-91

May I Keep an Eye on Your Training? Gait Assessment Assisted by a Mobile Robot


Andrea Scheidig, Bianca Jaeschke, Benjamin Schuetz, Thanh Q Trinh, Alexander Vorndran, Anke Mayfarth, Horst-Michael Gross

IEEE 16th International Conference Rehabilitation Robotics (ICORR), 701-708, IEEE

Semantic mapping extension for OpenStreetMap applied to indoor robot navigation.


Lakshadeep Naik; Sebastian Blumenthal; Nico Huebel; Herman Bruyninckx; Erwin Prassler

2019 International Conference on Robotics and Automation (ICRA) (pp. 3839-3845). IEEE

A Workbench for Quantitative Comparison of Databases in Multi-Robot Applications


Rubanraj Ravichandran; Erwin Prassler; Nico Huebel; Sebastian Blumenthal

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 744-3750, IEEE

Making Gait Training Mobile-A Feasibility Analysis


Bianca Jäschke, Alexander Vorndran, Thanh Quang Trinh, Andrea Scheidig, Horst-Michael Gross, Klaus Sander, Frank Layher

7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 484-490, IEEE

How to Always Keep an Eye on the User with a Mobile Robot?


Alexander Vorndran, Thanh Q Trinh, Steffen Mueller, Andrea Scheidig, Horst-Michael Gross

ISR 2018; 50th International Symposium on Robotics, 219-225, VDE

"Take a seat, please": Approaching and Recognition of Seated Persons by a Mobile Robot


Thanh Q Trinh, Tim Wengefeld, Steffen Mueller, Alexander Vorndran, Michael Volkhardt, Andrea Scheidig, Horst-Michael Gross

ISR 2018; 50th International Symposium on Robotics, 240-247, VDE

Vision-based road boundary tracking system for unstructured roads


David E. Hernandez, Sebastian Blumenthal, Erwin Prassler, Su Bo, Zhang Haojie

2017 IEEE International Conference on Unmanned Systems (ICUS), 66-71, IEEE

Speeding up Deep Neural Networks on the Jetson TX1


Markus Eisenbach, Ronny Stricker, Daniel Seichter, Alexander Vorndran, Tim Wengefeld, Horst-Michael Gross

CAPRI 2017, Band11

Hierarchical Hypergraphs for Knowledge-centric Robot Systems: a Composable Structural Meta Model and its Domain Specific Language NPC4


Enea Scioni, Nico Huebel, Sebastian Blumenthal, Azamat Shakhimardanov, Markus Klotzbuecher, Hugo Garcia, Herman Bruyninckx

Journal of Software Engineering in robotics, JOSER Archive - Archivio della rivista JOSER

An approach for a distributed world model with QoS-based perception algorithm adaptation


Sebastian Blumenthal, Nico Hochgeschwender, Erwin Prassler, Holger Voos, Herman Bruyninckx

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 1806-1811, IEEE

User recognition for guiding and following people with a mobile robot in a clinical environment


Markus Eisenbach, Alexander Vorndran, Sven Sorge, Horst-Michael Gross

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 3600-3607, IEEE

Evaluation of multi feature fusion at score-level for appearance-based person re-identification


Markus Eisenbach, Alexander Kolarow, Alexander Vorndran, Julia Niebling, Horst-Michael Gross

Neural Networks (IJCNN), 2015 International Joint Conference, 469-476, IEEE

Towards a domain specific language for a scene graph based robotic world model


Sebastian Blumenthal, Herman Bruyninckx

DSLRob 2013, arXiv preprint arXiv:1408.0200.

A scene graph based shared 3D world model for robotic applications.


Sebastian Blumenthal, Herman Bruyninckx, Walter Nowak, Erwin Prassler

2013 IEEE International Conference on Robotics and Automation

Towards identification of best practice algorithms in 3D perception and modeling


Sebastian Blumenthal, Erwin Prassler, Jan Fischer, Walter Nowak

2011 IEEE International Conference on Robotics and Automation, 3554-3561, IEEE

Rescue robots at the collapse of the municipal archive of cologne city: A field report


Thorsten Linder,Viatcheslav Tretyakov, Sebastian Blumenthal, Peter Molitor, Dirk Holz, Robin Murphy, Satoshi Tadokoro, Hartmut Surmann

2010 ieee safety security and rescue robotics (pp. 1-6), IEEE