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Research Assistant

Technical University of Darmstadt

Working on the development of an exoskeleton for the rehabilitation of temporomandibular disorders (TMDs). Supervising student theses and projects, lectures, and practical courses in the field of robotics.

• Developing an exoskeleton for TMD rehabilitation.
• Supervising student theses and projects.
• Lecturing and conducting practical courses in robotics.

Teaching Assistant

Technical University of Darmstadt

Experiments and preparations for publishing a paper on visuotactile sensors. Worked on the CANFnet project, which involved high-resolution pixelwise contact area and normal force estimation for visuotactile sensors using neural networks.

• Scientific paper writing.
• Experiments with visuotactile sensors and the FRANKA Panda robot.

Teaching Assistant

Technical University of Darmstadt

Tutoring of the lecture Fundamentals of Robotics of the group Simulation, Systems Optimization and Robotics. Consulting hours for students, grading of student exercises, supervising of the forum and working on Turtlebots.

• Tutored the 'Fundamentals of Robotics' lecture.
• Provided consulting hours and graded exercises for students.
• Supervised the course forum and contributed to projects involving Turtlebots.

Elected student member

Joint Commission Mechatronics, TU Darmstadt

The Joint Commission advises and decides on matters concerning the teaching and design of the Mechatronics degree program as such, and consists of various professors, students and scientific staff members.

• Advised on matters concerning teaching and design of the Mechatronics degree program.
• Represented student interests within the commission.

M.Sc.

Technical University of Darmstadt

Mechatronics Engineering

• Robotics
• Machine Learning
• Control Theory
• Computer Vision

B.Sc.

Technical University of Darmstadt

Mechatronics Engineering

• Fundamentals of Electrical Engineering
• Fundamentals of Mechanical Engineering
• Fundamentals of Software Engineering

Abitur

Hanns-Seidel-Gymnasium

General Higher Education Entrance Qualification

Design and Modeling of a Novel Active Hybrid Exoskeleton for Jaw Motion Assistance

2026 IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob), Edmonton, Canada

This work presents the first comprehensive computational framework for hybrid rigid-soft jaw exoskeletons, integrating a 24-muscle biomechanical jaw model with deformable FEM soft-body dynamics in MuJoCo. Simulation-based evaluation under six material and actuation configurations reveals fundamental performance–comfort trade-offs and establishes safety constraints and design prerequisites for physical prototyping of wearable TMD rehabilitation devices.

A Novel Powered Jaw Exoskeleton to Treat Temporomandibular Disorders: Design and Control Challenges

2nd German Robotics Conference (GRC) 2026, Cologne, Germany

This abstract paper introduces our hybrid rigid-soft jaw exoskeleton and its high-fidelity MuJoCo simulation to the German robotics community. It discusses the key control challenges inherent to such a system, including partial observability, unilateral tendon actuation, and safety-critical constraints, and outlines a planned control framework combining learned latent-state dynamics with constrained differentiable MPC tuned via reinforcement learning.

An Optical Measurement System for Open-Source Tracking of Jaw Motions

2025 IEEE Sensors

This research introduces an open-source, low-cost optical motion capture system for precisely tracking jaw movements, which is essential for diagnosing masticatory system disorders and developing jaw exoskeletons for rehabilitation. The system demonstrated high precision (182 ± 47 μm and 0.126 ± 0.034°) in experiments with four participants and provides a complete pipeline from data acquisition to analysis and visualization. By making the system publicly available on GitHub, the researchers aim to advance the underexplored field of jaw exoskeleton development and temporomandibular disorder research with an accessible alternative to expensive commercial systems.

A Jaw Model Framework for the Development of an Exoskeleton to Treat Temporomandibular Disorders

The XXX Congress of the International Society of Biomechanics (ISB), Stockholm, Sweden, 2025

Exoskeletons might provide an intriguing and effective opportunity to enhance and support the rehabilitation of temporomandibular disorders (TMDs) affecting the masticatory system. Three extendable and customizable jaw model variants, including a new approach to modeling the temporomandibular joints (TMJs), are presented to create the research basis and facilitate the design and prototyping of such a device. The code of the framework is publicly available on GitHub.

On the Importance of Muscle Activity for an Exoskeleton to Rehabilitate Temporomandibular Disorders

The 12th International Symposium on Adaptive Motion of Animals and Machines and 2nd LokoAssist Symposium (AMAM / LokoAssist), Darmstadt, Germany, 2025

This work explores the role of muscle activity in jaw exoskeleton rehabilitation for temporomandibular disorders using virtual modeling with finite element analysis and electromyography data. Results indicate that muscle activity strongly correlates with forces and stresses, providing critical insights not captured by position or force measurements alone, proposing electromyography sensors as additional safety measures for adaptive control in jaw exoskeletons.

Exoskeletons for the rehabilitation of temporomandibular disorders: a comprehensive review

Frontiers in Robotics and AI

This comprehensive review examines the potential of exoskeletons for treating temporomandibular disorders, highlighting how they could provide controlled and individualized exercise regimens to improve jaw mobility while identifying requirements, scientific challenges, and research gaps that need addressing for further development in this underexplored application area.

The Foundation for Developing an Exoskeleton for the Rehabilitation of Temporomandibular Disorders

2025 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)

This research presents an open-source jaw model framework with three complexity variants to support jaw exoskeleton development for temporomandibular disorder rehabilitation, demonstrating successful reproduction of jaw movements and establishing a foundation for future patient-specific modeling and exoskeleton design.

CANFnet: High-Resolution Pixelwise Contact Area and Normal Force Estimation for Visuotactile Sensors Using Neural Networks

Embracing Contacts-Workshop at ICRA 2023

This paper presents CANFnet, a neural network architecture that transforms raw visuotactile sensor images into high-resolution pixelwise contact area and normal force estimations, demonstrating effective performance on real-time tasks and generalization across similar sensors while providing a plug-and-play solution that eliminates the need for complex material modeling.

M.Sc. Thesis: Learning Interpretable Representations for Visuotactile Sensors

Master's thesis at TU Darmstadt. Advisors: Prof. Jan Peters, Ph.D., Prof. Dr.-Ing. Rolf Findeisen, Niklas Funk, M.Sc., Boris Belousov, Ph.D. and Dr.-Ing. Anton Savchenko.

• Developed methods for visuotactile sensor data.
• Focused on interpretable machine learning representations.

B.Sc. Thesis: Identification of Driver Parameters in Vehicle Steering

Bachelor's thesis at TU Darmstadt. Advisors: Prof. Dr.-Ing. Ulrich Konigorski and Dr.-Ing. Volker Ewald.

• Investigated methods for identifying driver-specific parameters.
• Applied to vehicle steering models.