Hybrid Models for the Development of Technical Systems for Direct Interaction with Humans - Units with Power Tools and Upper Body Support Systems as an Example

本研究项目的目的是开发一种方法，用于开发与人类密切互动的可穿戴和手持技术系统。焦点系统既是与人体平行的支持系统(例如，外骨骼系统)，也是与人体串联的系统(例如，电动工具等手持设备)。这种方法融合了用例建模、支持系统、人体生物力学模型和多关键优化算法的方法。通过将常用的模拟方法与人体生物力学模型相结合和扩展，产生了外骨骼和电动工具产品开发的混合模型，一个并行，一个串联。与今天不同的是，这一拟议的研究项目使外骨骼和电动工具能够针对重点用例进行综合开发。目前，支持系统和电动工具的直接组合对开发人员来说是一个挑战。原因是考虑到复杂的人体解剖结构，正确选择将无害的力量引入人体，特别是复杂的人体运动模式。关于用户的边界条件的直观评估的当前方法是熟悉该主题的专家和工程师基于经验的知识。在开发支撑系统和电动工具期间进行评估是不可能的，因为需要最终的和可穿戴的原型。拟议的方法旨在缩小这一差距，方法是在设计期间为完全支撑提供新的混合模型，并对所开发的支撑系统和动力工具进行持续评估。因此，将用例建模方法和人体建模方法结合起来，通过联合仿真来创建这些混合模型。在这项拟议的研究项目中，将为上半身支撑系统(外骨骼)开发和评估方法，该系统带有用于在头部上方螺栓固定的用例的集成扳手。

The aim of the present research project is the development of a methodology for the development of wearable and hand-held technical systems, which are in close interaction with human beings. Systems in focus are both support systems that are parallel to the human body (e.g., exoskeletal systems) as well as systems acting serial to the human body (e.g., hand-held devices such as power tools). This methodology merges methods of use-case modelling, support systems, bio-mechanical models of the human body and multi-critical optimization algorithms. Through the combination and extension of common simulation approaches with bio-mechanical models of the human body arise hybrid models for the product development of exoskeletons and power tool, one parallel and one serial to the human body. This proposed research project enables, in contrast to today, the integrative development of exoskeletons and power tools regarding the focused use-cases. Currently, the direct combination of support-system and power tools happens to be challenging for the developer. Reasons are the consideration of the complex human anatomy, the correct choosing of harmless force introduction into the human body and especially the complex human motion patterns. The current approach of intuitive evaluation of boundary conditions regarding the user is experience based knowledge of experts and engineers familiar with the topic. An evaluation during development of support-system and power tool is yet not possible since final and wearable prototypes are required. The proposed methodology aims to close this gap by providing new hybrid models for the full support during design and a continuous evaluation of the developed support-system and power tool. Therefore, methods of use-case and human body modelling are merged to create these hybrid models through co-simulation. In this proposed research project, the methodology will be developed and evaluated for an upper-body support-system (exoskeleton) with an integrated wrench for the use case bolting above the head.