GRK 2198: Soft Tissue Robotics - Simulation-Driven Concepts and Design for Control and Automation for Robotic Devices Interacting with Soft Tissues

（刚性）机器人设备和软材料之间的相互作用提出了许多具有挑战性的和基本上未解决的问题。这不限于刚性机器人装置直接与软组织相互作用的应用或机器人装置处理易变形材料的应用。尽管有众多的应用，基础研究和博士生的培训主要是在一个相当非跨学科的方式进行，或完全缺失。基于斯图加特大学和奥克兰大学之间的长期联系和合作，并基于大学的协同专业知识，我们的目标是建立一个国际和跨学科的环境，提高我们的基本理解和知识。通过仿真技术、网络物理工程、机器人设备技术和生物医学工程的协同作用，我们能够在IRTG内形成一个高度跨学科的团队，专注于（i）仿真技术（重点领域A），（ii）自动化和控制（重点领域B），以及（iii）实施/连接技术和生物概念（重点领域C）。其主要思想是开发新的仿真技术和传感器，以协助开发与软组织相互作用的机器人设备的新控制策略和概念。我们将通过在仿真技术，计算建模，传感，机器人，和控制方法。由于该IRTG基于在虚拟和物理世界之间链接和交换信息的想法，因此作为该IRTG的一部分所获得的知识和经验在更广泛的意义上对未来非常宝贵。这种交换将变得越来越重要，因为它是任何数字工程过程的基础。例如，这对于推进自动化基础设施（例如网络物理系统），人机界面或（肉类，农业或汽车）行业内的（人类）安全和（医疗）人体工程学方面都是如此。从这个拟议的IRTG毕业生将是非常有价值的，他们的能力，以促进德国和新西兰的社会经济目标。

The interaction between (rigid) robotic devices and soft materials presents numerous challenging and largely unresolved problems. This is not limited to applications in which rigid robotic devices are directly interacting with soft tissues or in applications in which robotic devices handle easy-to-deform materials. Despite the multitude of applications, fundamental research and training of PhD students have mainly been carried out in a rather non-interdisciplinary way or are missing entirely. Based on long-lasting linkages and collaborations between the University of Stuttgart and the University of Auckland and based on the universities' synergistic expertise, we aim to establish an international and interdisciplinary environment that enhances our basic understanding and knowledge. Through the synergies in simulation technology, cyber-physical engineering, robotic device technology, and biomedical engineering, we are able to form within this IRTG a highly interdisciplinary team focusing on (i) simulation technologies (Focus Area A), (ii) automation and control (Focus Area B), and (iii) implementing/linking technical and biological concepts (Focus Area C). The main idea is to develop new simulation technologies and sensors in order to assist the development of new control strategies and concepts for robotic devices interacting with soft tissues.We will significantly improve our understanding of next-generation robotic devices through training a new generation of PhD students in an international and interdisciplinary environment in fields like simulation technology, computational modelling, sensing, robotics, and control methods. As this IRTG is based on the idea of linking and exchanging information between the virtual and the physical world, the knowledge and experience gained as part of this IRTG is invaluable for the future in a much broader sense. This exchange will become increasingly important, since it is the basis of any kind of digital engineering process. This is, for example, true for advancing automation infrastructure (e.g. cyber-physical systems), for human-machine-interfaces, or for aspects of (human) safety and (medical) ergonomics within the (meat, agriculture of automotive) industry. Graduates from this proposed IRTG will be highly valuable for their ability to contribute to the socio-economic goals of both Germany and New Zealand.