I hiked a little bit today, close to Michelstadt. See the link to the map if you don't know where this is but always wanted to know and never dared to ask.
Michelstadt is old, at least 1300 years. The castle on the picture, in the neighbouring village Steinbach, was built around 1300. The Wikipedia entry about the castle is in German only.
Currently only a small part of the buildings is in use, the greater part is derelict.