Design and Virtual Prototyping of Human-worn Manipulation Devices Peng Song

Design and Virtual Prototyping of Human-worn Manipulation Devices

• Peng Song

• GRASP Laboratory

• University of Pennsylvania

MOTIVATION

• MOTIVATION

• Mass production fixed automation flexible automation
• Mass customization
• Agile manufacturing
• speeds up the process of going from concept to production
• Customized design and manufacture
• Human-worn products (helmets, hearing aids, eye-glasses, wearable computers, ...)
• One-of-a-kind products: Product volume is 1 (3-day cars, assistive devices, ...)
• Human-worn manipulation assistive devices

WHY ASSISTIVE DEVICES?

• WHY ASSISTIVE DEVICES?

WHY CUSTOMIZATION?

• WHY CUSTOMIZATION?

• Variability exists in user needs across the population. Products must be designed and customized to match these individual user needs.
• The device-user customization ensures comfort of user and enhances performance of the device.

HUMAN-WORN MANIPULATION DEVICES

• HUMAN-WORN MANIPULATION DEVICES

HUMAN-WORN MANIPULATION DEVICES

• HUMAN-WORN MANIPULATION DEVICES

GOALS

• GOALS

• Identify and investigate the component technologies required for designing, customizing, virtually prototyping and finally fabricating human-worn manipulation assistive devices for the motor disabled.
• Present a unified design environment which integrates these component technologies and aids the designer in shortening the design cycle.
• The design-customization-integration process can be extended to many classes of human worn products.

KEYS TO CUSTOMIZATION

• KEYS TO CUSTOMIZATION

• 1. DATA ACQUISITION
• Measurement of the human user, the task, and the environment.
• 2. DEVICE DESIGN AND OPTIMIZATION
• Mechanism synthesis (generating the desired “output” motion/force from the specified human “input” motion/force), CAD modeling.
• 3. VIRTUAL PROTOTYPING AND EVALUATION
• Geometric and dynamic modeling of the human user, the designed product, and simulation of the human using the product prior to rapid fabrication.

1. DATA ACQUISITION

• 1. DATA ACQUISITION

1. DATA ACQUISITION: Measurement to models

• 1. DATA ACQUISITION: Measurement to models

• Solid models generated from image data using

• Multi-camera, multi-pose measurements
• Cyberware 3D scanner

• Meshed Solid models for

• CAD (Pro/Engineer)
• CAM (CNC machining)
• FEM/FEA

• Kinematic and dynamic models for

• Virtual prototyping
• Analysis and simulation

Software: Pro/Engineer.

• Software: Pro/Engineer.

• Parametric definition of parts.

• Detailed geometric design capability.

• Part vs assembly modeling.

• Interfaces to analysis, FEM and CAM packages.

Obtain kinematic model of movement and determine appropriate input motion.

• Obtain kinematic model of movement and determine appropriate input motion.
• Choose appropriate output motions.
• Preliminary design: select candidate mechanism.
• Use virtual models to investigate the mechanism.
• Customize the mechanism to the individual user and build a virtual prototype.
• After testing and evaluation, build the physical prototype.

3. VIRTUAL PROTOTYPING AND EVALUATION

DESIGN SELECTION

• DESIGN SELECTION

VIRTUAL PROTOTYPING

• VIRTUAL PROTOTYPING

VIRTUAL PROTOTYPING

• VIRTUAL PROTOTYPING

FABRICATED PROTOTYPE

• FABRICATED PROTOTYPE

VIRTUAL PROTOTYPING

• VIRTUAL PROTOTYPING

VIRTUAL PROTOTYPING

• VIRTUAL PROTOTYPING

SUMMARY

• SUMMARY

• Key Ideas
• Integrated design environment aids the designer in the rapid realization of “one-of-a-kind” products customized to individual users
• Only feasible designs are created by design module effectively reducing the optimization search space.
• Virtual prototyping enables rapid evaluation within these feasible design choices.
• Customized design methodology applicable to many classes of human-worn devices which need to be customized to individuals.
• Limitation
• The component technologies are often specific to the product