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Dynamic assist functions in haptic telepresence [Elektronische Ressource] / Ulrich Unterhinninghofen


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¨ ¨TECHNISCHE UNIVERSITAT MUNCHENLehrstuhl fu¨r Steuerungs- und RegelungstechnikDynamic Assist Functions inHaptic TelepresenceUlrich UnterhinninghofenVollst¨andiger Abdruck der von der Fakulta¨t fu¨r Elektrotechnik und Informationstechnikder Technischen Universit¨at Mu¨nchen zur Erlangung des akademischen Grades einesDoktor-Ingenieurs (Dr.-Ing.)genehmigten Dissertation.Vorsitzender: Univ.-Prof. Dr.-Ing. Eckehard SteinbachPru¨fer der Dissertation:1. Univ.-Prof. Dr.-Ing./Univ. Tokio Martin Buss2. Univ.-Prof. Dr.-Ing. Michael Z¨ahDie Dissertation wurde am 27.10.2009 bei der Technischen Universit¨at Mu¨nchen einge-reicht und durch die Fakulta¨t fu¨r Elektrotechnik und Informationstechnik am 22.03.2010angenommen.ForewordThe ideas and results presented in this thesis are the outcome of my research at the Insti-tute of Automatic Control Engineering of the Technische Universit¨at Mu¨nchen conductedduring the past four years under the supervision of Prof. Martin Buss. It has been anexciting journey from the first vague idea to a theoretically well-founded and fully workingsystem.I want to express my gratitude to my supervisor and thesis advisor Prof. Martin Buss.I highly appreciate the good balance between the guidance and the freedom he gave meto pursue my research. At his institute, he provided an extraordinarily open workingenvironment, which made working and doing research a pleasure.



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Published 01 January 2010
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