Mitarbeiter

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Kognitive Robotik
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon:	+49 8153 28-2194
E-Mail:	Dr. Bernhard Weber

Forschungsschwerpunkte

• Human Factors in Telepräsenz- bzw. Telerobotikanwendungen (z.B. Medizin- & Weltraumrobotik, Virtuelle Montageverifikation)
• Evaluation haptischer Mensch-Maschine-Schnittstellen

2024

Weber, B. & Panzirsch, M. (in revision). Sensorimotor control during adaptation to microgravity: A case study. Scientific Reports.

Mühlbauer, M., Hulin, T., Weber, B., Calinon, S., Stulp, F., Albu-Schäffer, A. & Silverio, J. (2024). A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures. Submitted to IEEE Robotics and Automation Letters. doi: 10.1109/LRA.2024.3384759. https://ieeexplore.ieee.org/document/10490107

2023

Weber, B., Schätzle, S. & Stelzer, M. (2023, September). The microgravity mission. Invited contribution to The Ergonomist Magazine.

Proske, U. & Weber, B. (2023). Proprioceptive disturbances in weightlessness revisited. npj Microgravity, 9(1), 64. https://doi.org/10.1038/s41526-023-00318-8.

Bergholz, M., Ferle, M., & Weber, B. (2023). The benefits of haptic feedback in robot assisted surgery and their moderators: A meta-analysis. Scientific Reports 13, 19215. https://doi.org/10.1038/s41598-023-46641-8

Bechtel, N., Weber, B., Severin, P., Sacho, J., van Bogaert, L. & Panzirsch, M. (2023). Towards Physically Realistic Vision in Teleoperation: A User Study with Light-field Head Mounted Display and 6-DoF Head Motion. Journal of the Society for Information Display. https://doi.org/10.1002/jsid.1262.

Weber, B., Stulp, F., Vogel, J., Klodmann, J., Onnasch, L., Schneider, M., Stähle, B., Graef, J., Hassenzahl, M., Dörrenbächer, J., Maasen. S., Mayer, H. & Lipp, B. (2023). Machbarkeitsstudie: Kompetenzzentrum für flexible Autonomie in der Telerobotik. In A. Rönnau, S. Behnke, & P. Becker (Hrsg.): Roboter für Assistenzfunktionen: Konzeptstudien für die Interaktion in der Praxis. KIT Scientific Publishing 2023. https://www.ksp.kit.edu/site/books/e/10.58895/ksp/1000151552/

Banerjee, P., Muschter, E., Singh, H., Weber, B. & Hulin, T. (2023). Towards a VR Evaluation Suite for Tactile Displays in Telerobotic Space Missions, Proceedings of the IEEE Aerospace Conference, 10.0702, Big Sky, MT, USA, 2023.

2022

Weber, B., Schätzle, S. & Stelzer, M. (2022). Aiming performance during spaceflight: Individual adaptation to microgravity and the benefits of haptic support. Applied Ergonomics (103). https://doi.org/10.1016/j.apergo.2022.103791. Best Paper Award of the Year 2022.

Weber, B. & Stelzer, M. (2022). Sensorimotor Impairments during Spaceflight: Trigger Mechanisms and Haptic Assistance. Frontiers in Neuroergonomics. Invited Paper. https://doi.org/10.3389/fnrgo.2022.959894.

Panzirsch, M., Pereira, A., Singh, H., Weber, B. .... & Krüger, T. (2022). Exploring planet geology through force-feedback telemanipulation from orbit. Science Robotics, 65 (7), doi:10.1126/scirobotics.abl6307.

Weber, B. & Proske, U. (2022). Limb position sense and sensorimotor performance under conditions of weightlessness. Life Sciences in Space Research, 32, 63-69. https://doi.org/10.1016/j.lssr.2021.11.003

Weber, B., Hulin, T. & Schiffer, L. (2022). How to really get in touch with robots: Haptic interaction technology for VR and teleoperation. In J. Dörrenbächer, R. Ringfort-Felner, R. Neuhaus & M. Hassenzahl (Eds.), Meaningful Futures with Robots - About the Design of a New Coexistence with Machines. Taylor & Francis.

Panzirsch, M., Weber, B., Bechtel, N., Grabner, N. & Lingenauber, M. (2022). Light-field head mounted displays reduce the visual effort: A user study. Journal of the Society for Information Display, 1-15. https://doi.org/10.1002/jsid.1112. 

Becker, L., Weber, B., & Bechtel, N. (2022). Haptic Guidance for Teleoperation: Optimizing Performance and User Experience. In: Haptics: Science, Technology, Applications. EuroHaptics 2022. Lecture Notes in Computer Science, vol 13235. Springer, Cham. https://doi.org/10.1007/978-3-031-06249-0_15

Eiband, T., Willibald, C., Tannert, I., Weber, B. & Lee, D. (2022). Collaborative Programming of Robotic Task Decisions and Recovery Behaviors. Autonomous Robots. https://doi.org/10.1007/s10514-022-10062-9

Bohlmann, K., Schwartz, T., Horn, H.-P., Feitsch, J. & Weber, B. (2022). Is this a Patient or a Wall? - Adapting Robots from an Industrial Context to a Rehabilitation Clinic. In J. Dörrenbächer, R. Ringfort-Felner, R. Neuhaus & M. Hassenzahl (Eds.), Meaningful Futures with Robots - About the Design of a New Coexistence with Machines. Taylor & Francis.

2021

Weber, B., Riecke, C., & Stulp, F. (2021). Sensorimotor Impairment and Haptic Support in Microgravity. Experimental Brain Research, 239(3), 967–981. https://link.springer.com/content/pdf/10.1007/s00221-020-06024-1.pdf

Hulin, T., Panzirsch, M., Singh, H., Coelho, A., Balachandran, R., Pereira, A., Weber, B., Bechtel, N., Riecke, C., Brunner, B., et al. (2021). Model-Augmented Haptic Telemanipulation: Concept, Retrospective Overview and Current Use-Cases, Frontiers in Robotics and AI, 8, 76.

2020

Weber, B., Panzirsch, M., Stulp, F., & Schneider, S. (2020). Sensorimotor Performance and Haptic Support in Simulated Weightlessness. Experimental Brain Research, 238, 2373–2384. https://link.springer.com/content/pdf/10.1007/s00221-020-05898-5.pdf

Riecke, C., Weber, B., Maier, M., Stelzer, M., Balachandran, R., Kondratiev, A., Sergeev, A., Dubinin, V., et al. (2020). Kontur-3: Human Machine Interfaces for Telenavigation and Manipulation of Robots from ISS, 2020 IEEE Aerospace Conference, Big Sky, MT, USA, 2020, pp. 1-10, doi: 10.1109/AERO47225.2020.9172347.

Sierotowicz, M., Weber, B., Belder, R., Bussmann, K., Singh, H., & Panzirsch, M. (2020, September). Investigating the Influence of Haptic Feedback in Rover Navigation with Communication Delay. In International Conference on Human Haptic Sensing and Touch Enabled Computer Applications (pp. 527-535). Springer, Cham.

Krueger, T., Ferreira, E., Gherghescu, A., Hann, L., den Exter, E., van der Hulst, F. P., Gerdes, L., Pereira, A., Singh, H., Panzirsch, M., Hulin, T., Balachandran, R., Weber, B., & Lii, N. Y. (2020). Designing and Testing a Robotic Avatar for Space-to-Ground Teleoperation: the Developers' Insights. In 71st International Astronautical Congress. International Astronautical Federation. https://elib.dlr.de/139985/1/IAC_2020.pdf

Singh, H., Janetzko, D., Jafari, A.,  Weber, B., Lee, C.-I. & Ryu, J.-H. (2020). Enhancing the Rate-Hardness of Haptic Interaction: Successive Force Augmentation Approach. IEEE Transactions on Industrial Electronics, 67(1), 809-819.

Balachandran, R., Mishra, H., Cappelli, M., Weber, B., Secchi, C., Ott, C. & Albu-Schäffer, A. (2020). Adaptive Authority Allocation in Shared Control of Robots Using Bayesian Filters. IEEE International Conference on Robotics and Automation (ICRA), Paris, France.

Hulin, T., Rothammer, M., Tannert, I., Giri, S. S., Pleintinger, B., Singh, H., Weber, B., & Ott, C. (2020, July). FingerTac–A Wearable Tactile Thimble for Mobile Haptic Augmented Reality Applications. In International Conference on Human-Computer Interaction (pp. 286-298). Springer, Cham.

2019

Weber, B., Riecke, C. & Stelzer, M. (2019). Disentangling the Enigmatic Slowing Effect of Microgravity on Sensorimotor Performance. In: Proceedings of the HFES Europe Chapter 2019 Annual Conference, Nantes, France. https://www.hfes-europe.org/wp-content/uploads/2019/10/Weber2019.pdf

Weber, B., Balachandran, R., Riecke, C., Stulp, F., & Stelzer, M. (2019, November). Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback. In IEEE International Conference on Intelligent Robots and Systems (pp. 8138-8144). IEEE.

2018

Weber, B., Schätzle, S. & Riecke, C. (2018). Comparing the Effects of Space Flight and Water Immersion on Sensorimotor Performance. In: Proceedings of the HFES Europe Chapter 2017 Annual Conference, Rome, Italy.

Panzirsch, M., Balachandran. R., Weber, B., Ferre, M. & Artigas, J. (2018). Haptic Augmentation for Teleoperation through Virtual Grasping Points. IEEE Transaction on Haptics, 11(3), 400-416.

N.Y. Lii, C. Riecke, D. Leidner, S. Schätzle, P. Birkenkampf, B. Weber, T. Krueger, M. Stelzer, A. Wedler, G. Grunwald: The robot as an avatar or co-worker? An investigation of the different teleoperation modalities through the Kontur-2 and METERON SUPVIS Justin space telerobotic missions. The International Astronautical Congress (IAC), Oct. 2018

2017

Panzirsch, M., Weber, B., Rubio, L., Coloma, S., Ferre, M. & Artigas, J. (2017). Tele-Healthcare with Humanoid Robots: A User Study on the Evaluation of Force Feedback Effects, World Haptics Conference 2017, Fürstenfeldbruck, Germany.

Schätzle, S., Weber, B. & Leichtmann, B. (2017). Hands-free Reading Braille with a Vibrotactile Wristband. In: Proceedings of the IADIS International Conference on Interfaces and Human Computer Interaction, pp. 35-45, Lisbon, Portugal.

2016

Weber, B., Schätzle, S., Riecke, C., Brunner, B., Tarassenko, S., Artigas, J., Balachandran, R., and Albu-Schäffer, A. (2016). Weight and Weightlessness Effects on Sensorimotor Performance During Manual Tracking. In: F. Bello, H. Kajimoto and Y. Visell (Eds.).: Haptics: Perception, Devices, Control, and Applications, LNCS 9774, pp. 111-121. Springer International Publishing.

Riecke, C., Artigas, J. Balachandran, R., Bayer, R., Beyer, A., Brunner, B., Buchner, H., Gumpert, T., Gruber, R., Hacker, F., Landzettel, K., Plank, G., Schätzle, S., Sedlmayr, H.-J., Seitz, N., Steinmetz, B.-M., Stelzer, M., Vogel, J., Weber, B., Willberg, B., Albu-Schäffer, A. (2016). KONTUR-2 Mission: The DLR Force Feedback Joystick for Space Telemanipulation from the ISS. i-SAIRAS 2016, Beijing, China.

Artigas, J., Balachandran, R., Stelzer, M., Riecke, C., Weber, B., Ryu, J.H., Albu-Schaeffer, A. (2016). KONTUR-2: Force-Feedback Teleoperation from the ISS. The International Conference on Robotics and Automation (ICRA), Stockholm, Sweden.

2015

Weber, B. & Eichberger, C. (2015). The Benefits of Haptic Feedback in Telesurgery and other Teleoperation Systems: A Meta-Analysis. In: M. Antona and C. Stephanidis (Eds.): Universal Access in Human-Computer Interaction. Access to Learning, Health and Well-Being. Part III, LNCS 9177, pp. 394-405, 2015, Switzerland: Springer. Invited Paper.

Panzirsch, M., & Weber, B. (2015). A 3DoF-sidestick user interface for four wheel independent steering vehicles. In Intelligent Vehicles Symposium (IV), 2015 IEEE (pp. 1310-1315). IEEE.

Schätzle, S. & Weber, B. (2015). Towards vibrotactile direction and distance information for virtual reality and workstations for blind people. In: M. Antona and C. Stephanidis (Eds.): UAHCI 2015, Part II, LNCS 9176, pp. 148–160, 2015, Switzerland: Springer.

2014

Weber, B., & Schneider, S. (2014). The Effects of Force Feedback on Surgical Task Performance: A Meta-Analytical Integration. In Haptics: Neuroscience, Devices, Modeling, and Applications (pp. 150-157). Springer Berlin Heidelberg.

Weber, B. & Rothkirch, I. (2014). Ergonomic Optimization of a Force Feedback Joystick for Telerobotic Applications. Poster presented on the 5th Applied Human Factors and Ergonomics Conference, Krakow, Poland.

2013

Weber, B., Sagardia, M., Hulin, T. & Preusche, C. (2013). Visual, Vibrotactile and Force Feedback of Collisions in Virtual Environments: Effects on Performance, Mental Workload and Spatial Orientation. In: R. Shumaker (Ed.): Virtual, Augmented and Mixed Reality /HCII 2013, Part I, LNCS 8021, pp. 241-250. Heidelberg: Springer. Best Paper Award.

Weber, B., Oberheid, H. & Papenfuss, A. (2013). Visual Aids for Merging Mixed Arrival Traffic: Effects on Controllers' Performance, Situation Awareness, and Mental Workload.2013 International Annual Meeting of the Human Factors and Ergonomics Society, San Diego, CA, USA.

Weber, B., Hellings, A., Tobergte, A. & Lohmann, M. (2013). Human Performance and Workload Evaluation of Input Modalities for Telesurgery.Proceedings of the German Society of Ergonomics (GfA) Spring Congress (pp. 409-412). Dortmund: GfA-Press.

Weber, B., Hertkorn, K., Döllinger, N. & Kremer, P. (2013). Visuelle Assistenz bei telepräsenten Objektmanipulationen mit einem humanoiden Roboter. In M. Grandt & S. Schmerwitz (Hrsg.): Ausbildung und Training in der Fahrzeug- und Prozessführung(S. 87-101). Bonn: DGLR.

Hertkorn, K., Weber, B., Kremer, P., Roa, M. & Borst, C. (2013). Assistance for Telepresence using Online Grasp Planning.Humanoids Conference 2013, Atlanta, USA.

2012

Weber, B., Schneider, A., Draschkow, D. & Hirzinger, G. (2012). Informationsaustausch in klinischen Teams bei Nutzung eines Robotersystems für minimal-invasive Chirurgie. In M. Grandt & S. Schmerwitz (Hrsg.): Fortschrittliche Anzeigesysteme für die Fahrzeug- und Prozessführung (S. 299-302). Bonn: DGLR.

Sagardia, M., Weber, B., Hulin, T. & Preusche, C. (2012). Evaluation of Visual and Force Feedback Modalities in Virtual Assembly Verifications. Virtual Reality Conference. USA: Orange County, CA. Short Paper Honorable Mention.

Papenfuß, A. & Weber, B. (2012). Just talk - An experimental task for investigation of team situation awareness. In D. de Waard, K. Brookhuis, F. Dehais, C. Weikert, S. Röttger, D. Manzey, S. Biede, F. Reuzeau, and P. Terrier (Eds.). Proceedings HFES Europe Chapter Conference Toulouse. Available from hfes-europe.org.

2011

Weber, B., Panzirsch, M., Montoya-Zamarron, S., Preusche, C. & Deml, B. (2011) Evaluation zweier Bedienkonzepte zur Steuerung eines Fahrzeugs mit drei Bewegungsfreiheitsgraden. In M. Grandt & S. Schmerwitz (Hrsg.): Ergonomie im interdisziplinären Gestaltungsprozess (S. 175-186). Bonn: DGLR.

Weber, B., Panzirsch, M., Preusche, C., & Deml, B. (2011). Der aktive Sidestick als Bedienelement im Elektromobil. In: Gesellschaft für Arbeitswissenschaft e.V. (Hrsg.): Mensch, Technik, Organisation - Vernetzung im Produktentstehungs- und –herstellungsprozess (S. 281- 284). Dortmund: GfA-Press.

Weber, B., Schätzle, S., Hulin, T., Preusche, C., & Deml, B. (2011). Evaluation of a vibrotactile feedback device for spatial guidance. IEEE- World Haptics Conference 2011, Istanbul, Turkey.

Weber, B., Wittchen, M. & Hertel, G. (2011). Dispositionale Einflüsse auf Motivationsgewinne von schwächeren Gruppenmitgliedern. In: Gesellschaft für Arbeitswissenschaft e.V. (Hrsg.): Mensch, Technik, Organisation - Vernetzung im Produktentstehungs- und –herstellungsprozess (S. 473- 476). Dortmund: GfA-Press.

Weber, B. & Oberheid, H. (2011, Mai). Visual Assistance for Merging Operations: Effects on Controllers’ Performance, Situation Awareness, and Mental Workload. Vortrag auf dem 15. Kongress der European Association of Work and Organizational Psychology (EAWOP), Maastricht, Niederlande.

Friedrich, M., Weber, B., Schätzle, S., Oberheid, H., Preusche C. & Deml, B. (2011). Air traffic controller assistance systems for attention direction: Comparing visual, auditory, and tactile feedback. HFES European Chapter, Leeds, UK.

Jipp, M., Depenbrock, F., Suikat, R., Schaper, M., Papenfuß, A., Kaltenhäuser, S. &Weber, B.(2011). Multi-objective optimization and its application to total airport management. Proceedings of the 8th Asian Control Conference, Kaohsiun, Taiwan, May 15-18, 1060-1066.

 

Invited Talks (2011 - present)

Human Factors in Space Telerobotics. Invited presentation at the Technical University of Munich, Chair of Ergonomics, Garching. 2023 

May the force be with you: The Human Factor in Space Missions.
Invited presentation at the University of Applied Sciences Augsburg, 2022.

Telerobotic Space Missions: The Impact of Microgravity on Sensorimotor Performance of Human Operators. Invited presentation at the Technical University of Chemnitz, 2019.

Human Factors in the Field of Space Robotics. Invited presentation at the Technical University of Munich, Chair of Ergonomics, Garching, 2019.

Force Feedback in Virtual Assembly Scenarios: A Human Factors Evaluation. Oral presentation in the workshop "Haptic Methods and Technologies for Virtual Assembly Simulations", World Haptics Conference 2017, Fürstenfeldbruck, Germany.

Human Factors in Telerobotic Applications. Invited presentation at the10th Congress of the "Verein für Psychologie in Beruf und Praxis e.V." in Munich, 2016.

May the force be with you - Optimizing Human-Robot-Interfaces. Invited presentation at the University of Ulm, 2015

Der Beitrag der Psychologie im interdisziplinären Gestaltungsprozess. Invited presentation at the7th Congress of the "Verein für Psychologie in Beruf und Praxis e.V." in Munich, 2014.

Herausforderungen und Chancen der Ingenieurpsychologie. Invited presentation at the 6th Congress of the "Vereins für Psychologie in Beruf und Praxis e.V." in Munich, 2012.

Haptisches Feedback zur Optimierung der Mensch-Maschine-Schnittstelle. Invited presentation at the Otto-von-Guericke University of Magdeburg, Institute of Psychology, Dep. of Personality and Social Psychology, 2011.

Best Paper Award (Virtual, Augmented and Mixed Reality, HCI International 2013)

• Weber, B., Sagardia, M., Hulin, T. & Preusche, C. (2013). Visual, Vibrotactile and Force Feedback of Collisions in Virtual Environments: Effects on Performance, Mental Workload and Spatial Orientation. In: R. Shumaker (Ed.): Virtual, Augmented and Mixed Reality /HCII 2013, Part I, LNCS 8021, pp. 241-250. Heidelberg: Springer.

Short Paper Honorable Mention

• Sagardia, M., Weber, B., Hulin, T. & Preusche, C. (2012). Evaluation of Visual and Force Feedback Modalities in Virtual Assembly Verifications. Virtual Reality Conference. USA: Orange County, CA.

Innovation Awards

• DLR MIRO-Surge Team (2017). Manfred-Fuchs-Innovation-Award for successfully implementing the "MiroSurge System"
• Sporer, N., Schätzle, S., Hulin, T., Weber, B., Wüsthoff, T. & Ende, T. (2013). M2M Challenge 2012/2013 - VibroTac is the winner in the category healthcare.
• Sporer, N., Schätzle, S., Hulin, T., Weber, B., Wüsthoff, T. & Ende, T. (2012). VibroTac is WT Innovation Cup finalist.
• Schätzle, S., Hulin, T., Weber, B., Wüsthoff, T., Ende, T. & Preusche, C. (2012).  „VibroTac- Ein universelles Interaktionsgerät zur vibrotaktilen Informationsdarstellung am Handgelenk“. Preis verliehen von der Gesellschaft von Freunden des Deutschen Zentrums für Luft- und Raumfahrt e.V.

Tech Transfer Award

• Schätzle, S., Weber, B., Hulin, T., Sporer, N. (2015). "VibroTac - Tactile Access to the World" EuRobotics Tech Transfer Award finalist.

Lectures

• "Fundamentals of Collaborative Work" (Oberseminar, 2004-2007, University of Wuerzburg, Department of Work, Industrial, and Organizational Psychology)
• "Human-Centered Design of Technical Systems" (Oberseminar, 2012, University of Magdeburg, Department of Personality and Social Psychology)
• Contribution to "Introduction to Surgical Robotics" (Lecture, since 2013, TU Munich, Department for Computer Aided Medical Procedures & Augmented Reality)

Student Supervision

Master's Theses

Kristin Lange (2014). Effects of Mechanical Properties of a Force Feedback Joystick in Human Perception and Sensorimotor Performance. In cooperation with TU Berlin, Prof. Manzey.

Anja Schneider (2015). Evaluation of Haptic Human-Machine Interfaces for Virtual Reality Applications. In cooperation with TU Munich, Prof. Bengler.

Gideon Kloss (2017). Effects of Time Delay, Packet Loss and Quality of Force Feedback on Human Operating Performance in Teleoperation. In cooperation with TU Munich, Prof. Bengler.

Dominik Janetzko (2018). Performance of Human Operators with Multimodal Collision Feedback in Teleoperation. In cooperation with TU Munich.

Leonie Becker (2021): Evaluation of Haptic Collision Feedback and Haptic Guidance for Teleoperation. In cooperation with University of Siegen, Prof. Marc Hassenzahl.

Dialekti Athina Voutyrakou (2023). Development of a Virtual-Reality Simulator for Performance and Usability Assessment in Hybrid Robotic Laparoscopy. In cooperation with TU Munich.

Max Bergholz (2023). Effects of Haptic Feedback on Performance in Surgical Tasks: Results of a Meta-Analysis. In cooperation with TU Munich, Prof. Bengler.

Bachelor Theses

Anja Schneider (2012). Analyse der Kommunikationsmuster in klinischen Teams bei roboterassistierter minimalinvasiver Chirurgie. In cooperation with LMU München, Prof. Stoffer.

Nina Döllinger (2014). Evaluation visueller Assistenz beim Greifen in einer virtuellen Realität. In cooperation with TU München.

Jonas Schäffler (2016). Der Einfluss mechanischer Eigenschaften eines kraftreflektierenden Joysticks auf die sensomotorische Leistung in simulierter Schwerelosigkeit. In cooperation with the University of Ulm. Prof. Dr. Baumann.