Stem cell bioengineering and therapy require different model systems and materials in different stages of development. If a chemically defined biomatrix system can fulfill most tasks, it can minimize the discrepancy among various setups. By screening biomaterials synthesized through a coacervation-mediated self-assembling mechanism, a biomatrix system optimal for 2D human mesenchymal stromal cell (hMSC) culture and osteogenesis is identified. Its utility for hMSC bioengineering is further demonstrated in coating porous bioactive glass scaffolds and nanoparticle synthesis for esiRNA delivery to knock down the SOX-9 gene with high delivery efficiency. The self-assembled injectable system is further utilized for 3D cell culture, segregated co-culture of hMSC with human umbilical vein endothelial cells (HUVEC) as an angiogenesis model, and 3D bioprinting. Most interestingly, the coating of bioactive glass with the self-assembled biomatrix not only supports the proliferation and osteogenesis of hMSC in the 3D scaffold but also induces the amorphous bioactive glass (BG) scaffold surface to form new apatite crystals resembling bone-shaped plate structures. Thus, the self-assembled biomatrix system can be utilized in various dimensions, scales, and geometries for many different bioengineering applications.

This thesis provides a systematic guideline for evaluating, integrating and designing the collaborative end effector system associated with commercially available collaborative robots (cobots). On the basis of ISO/TS 15066:2016, customers’ demands are categorised as a macro demand framework and micro demand variables, which are parameterised and hierarchised. By analysing these parameters, the collaborative degree is determined to correlate the hazards with protection measures, which can demonstrate the collaborative safety level transparently. After that, the safety protection measures are specifically proposed corresponding to the potential risks. Finally, an industrial application is evaluated, a novel adapter utilised on the UR5 cobot is illustrated, and its characteristics for the collaborative operation are described.:1 Introduction 2 Robotic end effector in Assembly and Handling 3 Concept and Definition of Collaboration 4 Statement of the academic purpose and methodology 5 Guideline and Methodology for designing the Active Lightweight End-effector (ALE) for collaborative robots 6 Performance demand d4): multiplicity and versatility of end effector 7 A safety monitoring end effector (Adapter) for collaborative operations 8 A practical study of collaborative integration based on collaborative degree 9 Conclusion Appendix / Diese Arbeit liefert einen systematischen Leitfaden für die Bewertung, Integration und Gestaltung des kollaborierenden Endeffektorsystems in Verbindung mit kommerziell verfügbaren kollaborativen Robotern (Kobots). Auf der Grundlage der ISO/TS 15066:2016 werden die Anforderungen der Kunden in einen Makro-Bedarfsrahmen und Mikro-Bedarfsvariablen kategorisiert, die parametrisiert und hierarchisiert werden. Durch die Analyse dieser Parameter wird der Kollaborationsgrad ermittelt, um die Gefährdungen mit Schutzmaßnahmen zu korrelieren, die die kollaborierende Sicherheitsstufe transparent darstellen können. Danach werden die Schutzmaßnahmen entsprechend den potenziellen Risiken vorgeschlagen. Schließlich wird ein industrieller Anwendungsfall bewertet, ein neuartiger Adapter für den Einsatz an einem Roboter UR5 erläutert und dessen Kenndaten für den kollaborierenden Betrieb beschrieben.:1 Introduction 2 Robotic end effector in Assembly and Handling 3 Concept and Definition of Collaboration 4 Statement of the academic purpose and methodology 5 Guideline and Methodology for designing the Active Lightweight End-effector (ALE) for collaborative robots 6 Performance demand d4): multiplicity and versatility of end effector 7 A safety monitoring end effector (Adapter) for collaborative operations 8 A practical study of collaborative integration based on collaborative degree 9 Conclusion Appendix