Robert Weidner

Human Hybrid Robot: a new concept for supporting manual assembly tasks

Due to the volatile conditions in today’s production, flexible assembly systems are required. However, current plants are often custom-made which are designed for a fix product spectrum. Especially for the assembly of unique products or products with a small-scale lot size and large-scale lot size with a high diversity of variants, many manufacturing steps are difficult or non economic to automate. Thus, a large part of the manufacturing processes is to be performed manually. These can be supported by assistance systems, but appropriate systems are seldom available. A new approach for supporting manual assembly tasks is the hybridization of biological and technical systems, a so-called “Human Hybrid Robot” (HHR). The kinematic chains of human, machines and tools are configured task-depended in serial and parallel arrangement. By doing so, the individual skills are used optimally. Main focus of this concept is improving the assembly accuracy and error prevention to boost the overall quality of the assembly processes. This paper presents the theoretical concept. Possible applications and realization of exemplary components are outlined to show the potential of HHR.

Telematic driving profile classification in car insurance pricing

Abstract This paper presents pricing innovations to German car insurance. The purpose is to provide an effective approach to adapting actuarial pricing decision to incorporate telematic data, which differs substantially from established tariff criteria in complexity and volume. A vehicle mobility model and a real-world sample of driving profiles form the input into the analysis. We propose an allocation of the driving profiles based on velocity and acceleration parameters to specific driving styles for evaluating the driving behaviour to subsequently enable discounts or surcharges on the premiums to obtain usage-based insurance premiums. The result is highly relevant for actuaries, who calculate the tariffs, but also for managers, as they have to make a pricing decision.

Biomimetic design of an ultra-compact and light-weight soft muscle glove

Wearable robotic hand devices can support people doing hand-intensive tasks by reducing the physical stress and strain on the human hand. For the safety and comfort of the user, such a device should be compatible and inconspicuous. Based on these two requirements, this paper presents a biomimetic design of a wearable robotic hand device called soft muscle glove, aiming to restore the salient features and functionalities of the human hand. Inspired by the hand musculature, the soft structure of the glove contains strings, bands and shape memory alloy (SMA) spring actuators to replicate the functionalities of tendons, pulleys and muscles in the human hand. The low-mass and small-size SMA spring actuator allows an ultra-compact and light-weight design of the glove with high dexterity. The glove weighs in total 85.03 g inclusive of the actuators and microcontroller. The performance of the muscle glove was experimentally investigated through hand function tests. The experimental results suggest that the glove can achieve functional range of motion of the human hand and can perform a wide range of grasp types defined in grasp taxonomy. Moreover, the grasping performance of the muscle glove with coupled and uncoupled flexion of the finger joints was compared. The uncoupled control shows a better matching between the grasp posture and the objects form, contributing to more efficient force transmission. This confirms the benefits of the proposed highly biomimetic design.

A Novel Concept for Wearable, Modular and Soft Support Systems Used in Industrial Environments

This paper presents a novel concept for wearable support systems based on the approach of the Human Hybrid Robot (HHR), which can be adapted easily to the user and the activity. The concept focuses on modularity and makes intensive use of new manufacturing technologies like 3D-printing as well as flexible kinematics and textile components, in order to fit the system to different individuals and tasks as well as to increase human safety. The main idea can be applied to various applications. In this paper we are focusing on a functional exoskeleton prototype for the upper extremities. It comprises a Human-Machine-Interface (HMI) using a glove equipped with haptic sensors to measure grip force as well as force sensors in a coupling to the user at the forearm. This functional prototype was then successfully evaluated in a blind study with 20 test subjects.

Hochgenaue Montage von Strukturbauteilen

Kurzfassung Gegenwärtig werden stetig flexiblere und schlankere Produktionssysteme verlangt, um auf unterschiedliche Anforderungen reagieren zu können und möglichst wenig Kapital zu binden. Bei Produktionsanlagen der Flugzeugbauer handelt es sich zum Großteil um Spezialmaschinen, die für feste Randbedingungen entwickelt wurden. Der vorliegende Beitrag stellt ein innovatives Konzept für die hochgenaue Montage von Strukturbauteilen aus CFK in der Luftfahrtindustrie inklusive ersten Prototypen und Simulationsstudien vor.

Towards a Modular and Wearable Support System for Industrial Production

Despite the increasing degree of automation many tasks are still performed manually, especially in production of individualized, sensitive or quality critical products. These tasks, e.g. tasks in or above head level, are often non ergonomic. Thus musculoskeletal diseases can occur. This paper presents a novel concept for a modular and wearable technical support system for reducing musculoskeletal stress. The support system which is based on the approach of Human Hybrid Robot (HHR) can be adapted easily to different users and activities. The system emphasizes on modularity and the use of soft materials for kinematic elements and interfaces in order to gain higher flexibility and increased human safety. The basic idea can be applied to various applications. The focus lies on a functional support system prototype for upper extremities. It comprises a Human-Machine-Interface using a vest equipped with soft kinematic elements as well as a control unit. Moreover, results from a biomechanical case study will be illustrated in order to confirm the ergonomic improvements, especially the comparison of the range of motion and the musculoskeletal stress during tasks.

Three General Determinants of Support-Systems

Different research institutes and companies are developing technical systems to support or assist people at work and in daily life. The technical systems can be used for a wide range of different applications. Moreover, the systems have different forms with respect to their application. This paper will analyse and classify different forms of such systems in a general manner. The classification procedure will be illustrated by exemplary solutions.

Integrativer Ansatz zur Produktionstechnik und -planung in der Luftfahrtindustrie

Kurzfassung Steigende Variantenvielfalt und verkürzte Produktlebenszyklen fordern fertigende Unternehmen unter anderem dazu auf, die Veränderungsfähigkeit der Produktion zu erhöhen. Dies hat Auswirkungen auf unterschiedliche Teilgebiete der Fertigung. Sowohl die Planung, Fertigungseinrichtungen als auch die Fertigungsprozesse selbst sind davon betroffen. Das Laboratorium Fertigungstechnik forscht in diesen Bereichen und nutzt einen integrativen Ansatz, um fachübergreifende und anwendungsorientierte Lösungen für die Industrie zu entwickeln.

Montagesysteme unter Berücksichtigung dynamischer Größen

Kurzfassung Heutzutage müssen produzierende Unternehmen ständig auf veränderte Situationen reagieren. Es gilt, die nicht voraussagbaren Ereignisse und Änderungen frühzeitig im Planungsprozess zu berücksichtigen, um die Montagesysteme danach auszurichten. Hierfür entwickelt das LaFT ein Konzept inklusive Demonstator, um Montagesysteme ganzheitlich unter Berücksichtigung von Unsicherheiten und Szenarien zu planen und zu bewerten.

Towards soft, adjustable, self-unfoldable and modular robots – an approach, concept and exemplary application

Appropriate assistive systems are used due to the demographic change, increased temporal and spatial interaction or integration of human and robots as well as necessary flexibility in respect to tasks and location. Especially safety and flexibility for effective human-robot-interaction and a broad spectrum of tasks are important. Existing technologies use different kinds of mechanisms or principles for realizing safe interaction, especially e.g. soft control, optical approaches and sensor skin in combination with conventional industrial robots. In addition, the field of soft materials robotics is becoming increasingly important, with the focus to increase E-modulus of structure elements. This paper presents an approach for soft and self-unfolding modular robots on the basis of paper lamella technology which can be used as a system for human-machine interaction as well as for robots with the ability of self-unfolding and -folding. For demonstration, a realization of a self-unfolding lamella element as well as the results of first measurements are summarized.