Johannes Prechtl

Education

• 2019 - Master’s Degree in Systems Engineering, Saarland University, Saarbrücken, Germany
• 2017 - Bachelor’s Degree in Mechatronics, Saarland University, Saarbrücken, Germany

Research

Research Project

• Dielectric Elastomers – Soft Material Actuator/Sensor Concepts for Soft Robotic Systems (DFG SPP 2100 SMRS),
  subproject Modeling, Control, and Self-Sensing

Research Interests

• Energy-Based Modeling
• Control and Self-Sensing Methods for Soft Robots
• Dielectric Elastomers
• Soft Robotics

Teaching

Teaching Assistant

• Winter Semester 2021/22 - Support to the tutorials of ASIM 3
• Winter Semester 2020/21 - Support to the tutorials of ASIM 3
• Winter Semester 2019/20 - Support to the tutorials of ASIM 3

Scientific Publications

Peer-Reviewed Journal Papers

1. J. Prechtl, M. Baltes, K. Flaßkamp, and G. Rizzello, “Sensorless proprioception in multi-DoF dielectric elastomer soft robots via system-level self-sensing,” IEEE/ASME Transactions on Mechatronics, vol. 29, no. 6, pp. 4365-4376, Dec. 2024 (DOI: 10.1109/TMECH.2024.3375923).
2. M. Baltes, J. Kunze, J. Prechtl, S. Seelecke, and G. Rizzello, “A bi-stable soft robotic bendable module driven by silicone dielectric elastomer actuators: design, characterization, and parameter study,” Smart Materials and Structures, vol. 31, no. 11, p. 114002, Nov. 2022 (DOI: 10.1088/1361-665X/ac96df).
3. J. Prechtl, J. Kunze, G. Moretti, D. Bruch, S. Seelecke, and G. Rizzello, “Modeling and experimental validation of thin, tightly rolled dielectric elastomer actuators,” Smart Materials and Structures, vol. 31, no. 1, p. 015008, Nov. 2021 (DOI: 10.1088/1361-665X/ac34be).
4. J. Kunze, J. Prechtl, D. Bruch, B. Fasolt, S. Nalbach, P. Motzki, S. Seelecke, and G. Rizzello, “Design, Manufacturing, and Characterization of Thin, Core-Free, Rolled Dielectric Elastomer Actuators,” Actuators, vol. 10, no. 4, p. 69, Mar. 2021 (DOI: 10.3390/act10040069).

International Conference Proceedings

1. G. Soleti, J. Prechtl, P. R. Massenio, M. Baltes, and G. Rizzello, “Energy based control of a bi-stable and underactuated soft robotic system based on dielectric elastomer actuators," in Proc. of 22th World Congress of the International Federation of Automatic Control, 2023, pp. 7796-7801 (DOI: 10.1016/j.ifacol.2023.10.1153).
2. J. Prechtl, F. Scherf, J. Kunze, K. Flaßkamp, and G. Rizzello, “An energy-based model for both rate-dependent and rate-independent hysteretic effects in uniaxially-loaded dielectric elastomer actuators," in Electroactive Polymer Actuators and Devices (EAPAD) XXV, 2023, p. 124820Q (DOI: 10.1117/12.2657685).
3. J. Prechtl, M. Baltes, J. Kunze, S. Seelecke, and G. Rizzello, “Towards Sensorless Configuration Estimation in Multi-DoF Soft Robotic Structures Driven by Rolled Dielectric Elastomer Actuators," in 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2022, pp. 1152-1158 (DOI: 10.1109/AIM52237.2022.9863250).
4. P. R. Massenio, J. Prechtl, D. Naso, and G. Rizzello, “Nonlinear Optimal Control of a Soft Robotic Structure Actuated by Dielectric Elastomer Artificial Muscles," in 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2022, pp. 644-649 (DOI: 10.1109/AIM52237.2022.9863262).
5. M. Baltes, J. Prechtl, J. Kunze, and G. Rizzello, “Design and Modeling of a Soft Robotic bendable module with Artificial Muscle Fibers," in International Conference and Exhibition on New Actuator Systems and Applications ACTUATOR 22, 2022, pp. 1-4.
6. M. Baltes, J. Kunze, J. Prechtl, P. Motzki, S. Seelecke, and G. Rizzello, “Soft Robotic Tentacle Arm Element Actuated by Rolled Dielctric Elastomer Artificial Muscles," in Electroactive Polymer Actuators and Devices (EAPAD) XXIV, 2022, p. 1204207 (DOI: 10.1117/12.2612516).
7. J. Prechtl, J. Kunze, D. Bruch, S. Seelecke, and G. Rizzello, “Modeling and Parameter Identification of Rolled Dielectric Elastomer Actuators for Soft Robots," in Electroactive Polymer Actuators and Devices (EAPAD) XXIII, 2021, p. 115871H (DOI: 10.1117/12.2581019).
8. J. Prechtl, J. Kunze, D. Bruch, S. Seelecke, and G. Rizzello, “Bistable Actuation in Multi-DoF Soft Robotic Modules Driven by Rolled Dielectric Elastomer Actuators," in 4th IEEE International Conference on Soft Robotics, 2021, pp. 82-89 (DOI: 10.1109/RoboSoft51838.2021.9479246).
9. J. Prechtl, J. Kunze, S. Seelecke, and G. Rizzello, “Soft Robotic Module Actuated by Silicone-Based Rolled Dielectric Elastomer Actuators - Modeling and Simulation," in 17th International Conference on New Actuators, 2021, pp. 1-4.
10. J. Prechtl, S. Seelecke, P. Motzki, and G. Rizzello, “Model-Based, Self-Sensing Actuator System based on antagonistic SMA Wires," in 17th International Conference on New Actuators, 2021, pp. 1-4.
11. J. Kunze, J. Prechtl, D. Bruch, S. Nalbach, P. Motzki, S. Seelecke, and G. Rizzello, “Concept and Fabrication of Silicone-based Rolled Dielectric Elastomer Actuators (RDEAs) for Soft Robots," in 17th International Conference on New Actuators, 2021, pp. 1-4.
12. J. Prechtl, S. Seelecke, P. Motzki, and G. Rizzello, “Self-Sensing Control of Antagonistic SMA Actuators Based on Resistance-Displacement Hysteresis Compensation," in ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, 2020, p. V001T03A001 (DOI: 10.1115/SMASIS2020-2224).
13. J. Kunze, J. Prechtl, G. Rizzello, and S. Seelecke, “Design and Fabrication of Silicone-based Dielectric Elastomer Rolled Actuators for Soft Robotic Applications," in Electroactive Polymer Actuators and Devices (EAPAD) XXII, 2020, p. 113752D (DOI: 10.1117/12.2558444).
14. J. Prechtl, J. Kunze, S. Nalbach, S. Seelecke, and G. Rizzello, “Soft Robotic Module Actuated by Silicone-Based Rolled Dielectric Elastomer Actuators - Modeling and Simulation," in Electroactive Polymer Actuators and Devices (EAPAD) XXII, 2020, p. 113752C (DOI: 10.1117/12.2557736).