Research Assistant

Foto von Johannes Kühn

Dipl.-Ing. Johannes Kühn

Technische Universität München

Lehrstuhl für Robotik und Systemintelligenz (Prof. Haddadin, Joint Appointment der Fakultät für Elektrotechnik und Informationstechnik und Fakultät für Informatik)


Heßstr. 134
80797 München

About me

Personal background

I'm a PhD student here at RSI and previously was:

  • a researcher at the Institute of Automatic Control, Leibniz Universität Hannover
  • a student at Leibniz University of Hannover with major in electrical engineering 
  • a visiting student at Robert Bosch GmbH (CR/AEG) headquarters in Stuttgart
  • a robotics intern at Bosch Research and Technology Center in Palo Alto, California, USA


Fields of interests

  • Physical Human Robot Interaction
  • Reflex Control in Robotics and Prosthetics
  • Human Motor and Reflex Control
  • Synergy Control
  • Modeling of Human Neuromechanics


  • Kuehn, Johannes; Bagnato, Carlo; Burdet, Etienne; Haddadin, Sami: Arm movement adaptation to concurrent pain constraints. Scientific Reports 11, 2021 more… BibTeX Full text ( DOI )
  • Toedtheide, A.; Kuehn, J.; Pozo Fortunić, E.; Haddadin, S.: An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control. Humanoids 2020, 2021 more… BibTeX
  • Birjandi, Seyed Ali Baradaran; Kühn, Johannes; Haddadin, Sami: Observer-Extended Direct Method for Collision Monitoring in Robot Manipulators Using Proprioception and IMU Sensing. IEEE Robotics and Automation Letters 5 (2), 2020, 954--961 more… BibTeX Full text ( DOI )
  • Hu, T.; Kühn, J.; Haddadin, S.: Forward and Inverse Dynamics Modeling of Human Shoulder-Arm Musculoskeletal System with Scapulothoracic Constraint. Comput. Methods Biomech. Biomed. Engin., 2020 more… BibTeX Full text ( DOI )
  • Birjandi, Seyed Ali Baradaran; Kühn, Johannes; Haddadin, Sami: Joint velocity and acceleration estimation in serial chain rigid body and flexible joint manipulators. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 more… BibTeX
  • Kuehn, Johannes; Ringwald, Johannes; Schappler, Moritz; Johannsmeier, Lars; Haddadin, Sami: Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype. International Conference on Robotics and Automation 2019, 2019 more… BibTeX
  • Kühn, Johannes; Hu, Tingli; Schappler, Moritz; Haddadin, Sami: Dynamics Simulation for an Upper-Limb Human-Exoskeleton Assistance System in a Latent-Space Controlled Tool Manipulation Task. IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), 2018 more… BibTeX
  • Hu, Tingli; Kuehn, Johannes; Haddadin, Sami: Identification of Human Shoulder-Arm Kinematic and Muscular Synergies During Daily-Life Manipulation Tasks. 7th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018, Enschede, The Netherlands, August 26-29, 2018, 2018 more… BibTeX Full text ( DOI )
  • Hu, Tingli; Kuehn, Johannes; Haddadin, Sami: Forward and inverse dynamics modelling of human shoulder-arm musculoskeletal system with scapulothoracic constraint. submitted to Computer Methods in Biomechanics and Biomedical Engineering, 2018 more… BibTeX
  • Hu, T.; Kühn, J.; Ma'touq, J.; Haddadin, S.: Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders. Accepted OTWorld Congress, 2018 more… BibTeX
  • Kuehn, J.; Haddadin, S.: An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts. IEEE Robotics and Automation Letters 2 (1), 2017, 72-79 more… BibTeX Full text ( DOI )
  • Tödtheide, A.; Kühn, J.; Haddadin, S.: Proprio- and Exteroceptive Reflexes for a Pneumatically Actuated Finger based on the artificial Robot Nervous System. ICRA 2017 all-day workshop on ``The robotic sense of touch: from sensing to understanding'', 2017 more… BibTeX
  • Johannsmeier, L.; Ringwald, J.; Kuehn, J.; Haddadin, S.: Teleoperated Semi-Autonomous Control of the LWR and a Humanoid Hand via the Myo Armband. IEEE International Conference on Robotics and Automation (ICRA), Workshop on Human-robot interfaces for enhanced physical interactions, 2016 more… BibTeX
  • Kuehn, J.; Vorndamme, J.; Schappler, M.; Haddadin, S.: Humanoid Collision Reflex Sequences based on an artificial Robot Nervous System including Contact Location and Direction. IEEE International Conference on Robotics and Automation (ICRA), Workshop on Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, 2016 more… BibTeX
  • Kühn, Johannes; Haddadin, Sami: The Robot Nervous System RNS: Teaching Robots to Feel Pain. To be submitted, 2015 more… BibTeX


Theses & research practice

I am always looking for talented and motivated students to become part of my research group. If you are interested in writing a thesis or doing a research practice within my research fields please contact me via email.