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About

H. J. Sommer is a mechanical engineer and researcher whose work spans robotics, kinematics, structural optimization, and nonlinear systems analysis. With a career bridging theoretical mechanics and practical engineering applications, Sommer has made notable contributions to several interconnected fields over multiple decades. His most recognized work includes the development of closed-form kinematic solutions for spatial closed-chain mechanisms applied to biped stance modeling, demonstrating a rigorous analytical approach to complex biomechanical systems. In the realm of structural robotics, his 1989 research on shape optimization of robotic manipulator links showed that targeted geometric design could yield significantly improved stiffness-to-weight and strength-to-weight ratios — a contribution with lasting relevance to industrial robot design. His earlier work on robotic assembly workcell layout further reflects a broad systems-level thinking applied to manufacturing automation. More recently, Sommer contributed a practical methodology for detecting and quantifying nonlinear friction effects — including Coulomb friction and backlash — using the Hilbert transform, with direct applications in condition-based maintenance programs. Collectively, his publications reflect a career dedicated to advancing precision, efficiency, and analytical rigor in mechanical and robotic systems engineering.