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与人类密切互动的可穿戴和手持技术系统的开发方法。焦点系统都是与人体平行的支持系统（例如，外骨骼系统）以及与人体串联作用的系统（例如，手持设备，例如电动工具）。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。通过将常用的仿真方法与人体的生物力学模型相结合和扩展，产生了用于外骨骼和电动工具产品开发的混合模型，一个与人体并行，一个与人体串行。与今天相比，这个拟议的研究项目使外骨骼和电动工具的综合开发成为可能。目前，支持系统和电动工具的直接组合恰好对开发人员具有挑战性。原因是考虑到人体解剖结构的复杂性，正确选择无害的力引入人体，特别是复杂的人体运动模式。目前的方法，直观的评价边界条件的用户是基于经验的知识的专家和工程师熟悉的主题。在支持系统和电动工具的开发过程中进行评估是不可能的，因为需要最终的和可穿戴的原型。所提出的方法的目的是通过提供新的混合动力模型的充分支持，在设计和开发的支持系统和电动工具的持续评估，以缩小这一差距。因此，用例和人体建模的方法被合并，通过联合仿真创建这些混合模型。在这个拟议的研究项目中，该方法将被开发和评估的上身支撑系统（外骨骼）与集成扳手的使用情况螺栓以上的头部。

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.