SIMPACK Biomotion Application of Virtual Human Body Models in MBS Simulation: The Biomotion Car Driver Model and other Applications 1
Biomotion Solutions Launched 2010 as University Spin-off Theoretical Astrophysics & Computational Physics Institute for Sports Science Specialized on active human body Models (e.g. Driver, Operator) SIMPACK Partner Development & Maintenance of SIMPACK/Biomotion Distribution of Biomotion Workbench Engineering Services (SIMPACK/Biomotion) Biomechanical Measurements (Mocap, EMG, Forces ) 2
Outline SIMPACK Modules Human Body Model Generator New: Biomotion Car Driver Other Application Examples MOCAP-Data Import Muscle-Skeleton-Models Summary and Outlook 3
SIMPACK Modules Biomotion Elements Biomechanical force elements Compatible with Biomotion Workbench Hand-Arm-Controller Controls manual handled devices Control of pressing force Control of position & orientation Motorcycle Rider Driver model for single track vehicles Moves handlebars by hand-armmotion New in 9.6: Biomotion Car Driver 4
Powertool-Operator 5
Motorcycle Rider 6
Outline SIMPACK Modules Human Body Model Generator New: Biomotion Car Driver Other Application Examples MOCAP-Data Import Muscle-Skeleton-Models Summary and Outlook 8
Model Generator Model Wizard Size, Weight, Gender Predefined scenarios All necessary bodies and force elements Compatible with SIMPACK Biomotion Modules SIMPACK 9.X Model MOCAP-Import Module 9
Model Generator 10
Car Model with Substructure 11
Outline SIMPACK Modules Human Body Model Generator New: Biomotion Car Driver Other Application Examples MOCAP-Data Import Muscle-Skeleton-Models Summary and Outlook 12
Biomotion Car Driver Biomechanical driver: Human as actuator Control of the steering wheel Calculate forces and moments generated by the driver 13
Active Driver Model Hold Steering Angle 1 DOF Check if the car will stay on the right track Change Steering Angle 14
The Joint Space Model Steering 1DOF Upper Limbs 12 DOF How to solve? internal model needed Cerebellum = metric tensor Joint Space Model 15
Biomotion Car Driver Interface to SIMPACK Driver Track Control - CE 287 Track Control - CE 128 16
Biomotion Car Driver Interface to SIMPACK Driver 17
Simulation Based Drivability Rating 18
Drivability Rating - Testing 1. acc headrest 2. Acc backrest 3. Acc seatrail 4. Acc steering 5. Clutch pedal 6. Acc COM 7. Acc gearlever 8. Electric load 9. CAN bus 9 8 7 1 2 3 4 6 5 19
Drivability Rating Metrics Defined maneuvers Defined sensors Correlation between drivers subjective rating and measured data Metrics for drivability rating Drivability assessment Rating Evaluation 9-10 excellent 8-9 good 7-8 satisfying 6-7 acceptable 5-6 poor 4-5 unacceptable 3-4 defective 2-3 unsafe 1-2 no operation 20
Process of shift comfort optimization Drivability rating solutions are deployed during testing Drivability is calculated by a complex metric based on physical measurements. Testing with defined maneuvers - For shift comfort: Tip in, Tip out What if during start testing they find issues with: Vehicle Suspension Engine Transmission Controls Driveline It is very late in the vehicle process! May prevent release of the vehicle to production 21
Drivability Rating - Simulation From:[Froschhammer et al, 2009]: Franz Froschhammer, Marcus Schittenhelm, Rainer Keppler (2009): BMW High-Dynamic Test Benches using SIMPACK Real-Time Models, SIMPACK News November 2010 - download: www.simpack.com 22
Shift Comfort Optimization Process Engine & Transmission Dyno dspace SIMPACK Realtime Model Perform the same maneuver as with the drivability rating system Results from SIMPACK RT model can be used to calculate the drivability rating But: No driver in the model! Major difference in just looking at the chassis acceleration data for events compared to the data they see at the seat and head rest Need for an active occupant model to close this gap! Driveability Rating 23
Drivability Rating - Simulation 1. Acc headrest 2. Acc backrest 3. Acc seatrail 4. Acc steering 5. Clutch pedal 6. Acc COM 7. Acc gearlever 8. Electric load 9. CAN bus 9 8 7 1 2 3 4 6 Drivers influence on measurement? 5 24
Longitudinal Dynamics 25
Extended Shift Comfort Optimization Process Engine & Transmission Dyno dspace SIMPACK Realtime Model Excitation Driveability Rating Complementing data with drivers influence SIMPACK Offline-Model With Biomotion Driver 26
Outline SIMPACK Modules Human Body Model Generator New: Biomotion Car Driver Other Application Examples MOCAP-Data Import Muscle-Skeleton-Models Summary and Outlook 28
Import Motion Capturing Data 29
Import Motion Capturing Data 30
Import Motion Capturing Data 31
Import Motion Capturing Data 32
Import Motion Capturing Data 33
Import Motion Capturing Data 34
Import Motion Capturing Data 35
Methods: EMG-Measurement Bipolar Surface EMG 16 electrodes Samplingrate: 3000Hz 37
Methods: 2D-Videocapturing Marker Nummer Struktur 1 Handgelenk 2 Ellenbogengelenk 3 Kopf 4 Schultergelenk 5 Rippenbogen 6 Hüftgelenk 7 Kniegelenk Oberes 8 Sprunggelenk 9 Ferse 10 Mittelfuß 11 Zehengelenk 3 high speed video cams (Basler 602f) Frame rate: 100 fps Cams mounted parallel to motion plane 38
Methods: SRM-System and PowerTec SRM-System by Schoberer Rad Messtechnik, Germany Ergometer: continous brake power up to 2000 Watt Cranc lenght during measurement 175 mm 39
Processing of measurement data: :Video Data Software: TraXXol (Workbench, Biomotion Solutions) Automatic and sub pixel accurate tracking of marker coordinates 41
Processing of measurement data: EMG Processing of EMG-data by software DiaMess Correction of artifacts by moving average method EMG synchronized to video trigger Result: averaged EMG activation pattern dependent from cranc angle 42
Simulation: SIMPACK Biomotion Muscle-skeleton-model with full set of muscles based on data published by DELP Software: SIMPACK/Biomotion Muskel force elements by Hill / Hatze Reduced model: Only measured muscles are active 43
Muscle-Skeleton-Model: Controlling the lenght of the muscle ( -model EPH) Set Value for cranc orientation given by speed Vector of target muscle lenghts (CE) as function of cranc angle Phase Correction (orientation feedback) 44
Bicycle Pedaling with Muscle Skeletal Model Realistic kinematics generated by stimulated muscle elements Ongoing Project Validation by comparison to EMG and pedaling forces If necessary modification of muscle controller 45
Outline SIMPACK Modules Human Body Model Generator New: Biomotion Car Driver Other Application Examples MOCAP-Data Import Muscle-Skeleton-Models Summary and Outlook 46
Smart Model vs DUMMY Smart Model Dummy Model 47
Summary Biomotion Solutions software and SIMPACK/Biomotion enable the fast and effective analysis of human-machine interaction. The new Car Driver module which is available since SIMPACK 9.6 allows for simulation of human biomechanical influence on the vehicle dynamics. The new Biomotion Workbench enables the easy import of mocap data in SIMPACK 9.X simulations. Active Hill-Type muscle force elements are currently under development and will be available in SIMPACK Biomotion. For car simulation smart occupant models are under development which will enhance the car driver module in upcoming versions. 48
Thank you for your attention! CONTACT: keppler@biomotion-solutions.de LinkedIn: http://de.linkedin.com/pub/valentin-keppler/4a/67b/7a 49