lookKIT 02/2011 - PKM - KIT

0211
Focus 19
Forschungsthema:
wie sich der Mensch bewegt
Armdrücken mit
dem Roboter
What comes natural to most people, i.e. grasping
an object or moving in space without colliding, is
a phenomenon as yet unclear to scientists – not
just sports scientists but also neurophysiologists
and cognitive psychologists. “We assume our brain
to have neural representations of the musculoskeletal
system for movements of the body,”
says Stein. “These internal models can and must
be able to adapt to changing situations because
the biomechanics of our musculo-skeletal system
changes from early childhood into old age, and
we manipulate a variety of objects in daily life,
for instance a hammer or a bottle of water, which
have different dynamic properties. If the internal
models were unable to do that, the number of
movements available to human beings would be
greatly restricted indeed.”
In BioMotionBot, the force fields are generated by
means of electric motors and can be set exactly.
The forces applied in the scenario described above
are low; maximum levels are approx. 15 Newton.
This roughly corresponds to a weight of 1.5 kg
which the test person has to move at the end point
of the robot arm. “If forces were higher, there
would be adaptation on the level of muscles, as in
power training. However, we want to demonstrate
adaptation at neuronal level,” explains Stein. “At
the beginning, when the movement is disturbed,
we see that the original internal model of the test
person no longer matches. You could also say that
the commands sent to the musculo-skeletal system
by the internal model do not have the same effects
as before the disturbance. After some 300 cycles,
the brain has adapted the internal model so much
that the movement shows hardly any difference
relative to the initial undisturbed situation.”
Developing BioMotionBot required close
cooperation of sports scientists and mechanical
engineers. Optimum conditions were offered by the
Anthropomatics and Robotics KIT Focus: Dr. Thorsten
Stein and Dr. Wolfgang Burger met as colleagues
in the SFB 588 special research area, “Humanoid
Robots,” in which both institutes are involved. They
soon agreed to launch this joint project.
The problem was raised in sports science: The
scientists studying motion at the BioMotion Center
are experts in modeling and analyzing motor
control and learning processes. However, they
lacked the technical know-how required to build
equipment like BioMotionBot. That know-how
was available elsewhere at KIT: The engineers of
IPEK have many years of experience in developing
mechatronics systems.
Bartenbach is enthusiastic: “These are optimum
synergy effects.” They are most useful in research.
Working together, scientists are able to design
models of human motion which, in the future,
may enable also humanoid robots to move more
naturally and more efficiently. Also KIT students
contribute to the success of the project: Klaus
Wilging, in his diploma thesis, introduced important
findings into the design of BioMotionBot.
Kinesiologist Stein already envisions the next goal:
In a cooperative venture with colleagues from IPEK
and scientists from neuroscience, he wants to delve
still further into the neural processes associated
with the execution of motions. The scientists
intend to develop a version of BioMotionBot which
allows the studies to be conducted in conjunction
with magnetic resonance tomography.
Im BioMotion Center, dem Biomechanik-Labor
des Instituts für Sport und Sportwissenschaft,
steht eine etwa eineinhalb Meter lange Metallkonstruktion.
„Mit diesem Robotermanipulandum
– wir nennen es BioMotionBot – wollen wir
besser verstehen, auf welche Weise sich Menschen
bewegen“, erläutert Dr. Thorsten Stein.
Der Bewegungswissenschaftler ist der Initiator
des Manipulandum-Projektes. Zudem leitet er
die Young Investigator Group „Computational
Motor Control and Learning“, die das Projekt ab
Juli 2011 vorantreibt. „Das Manipulandum erfüllt
die Funktion eines Messgerätes: Wenn man ein
System begreifen will, dann muss man es stören
und die Reaktion untersuchen. In unserem Fall
ist es das motorische System des Menschen, das
durch die Kraftfelder des BioMotionBots gestört
wird.“ Mit einem Augenzwinkern fügt er hinzu:
„Ein bisschen kann man es auch mit Armdrücken
mit der Maschine vergleichen.“
Um den BioMotionBot zu entwickeln, war eine
enge Zusammenarbeit zwischen Sportwissenschaftlern
und Maschinenbauingenieuren notwendig.
Der KIT-Schwerpunkt Anthropomatik
und Robotik bot dafür die optimalen Bedingungen:
Stein und Dr. Wolfgang Burger vom IPEK
– Institut für Produktentwicklung lernten sich
kennen als Kollegen im Sonderforschungsbereich
SFB 588 „Humanoide Roboter“, an dem
beide Institute beteiligt sind.
Die Fragestellung kam aus der Sportwissenschaft:
Die Bewegungswissenschaftler am Bio-
Motion Center sind Experten für die Modellierung
und Analyse motorischer Kontroll- und
Lernprozesse. Doch um Geräte wie den Bio-
MotionBot zu bauen, fehlte es an technischem
Know-how. Das war am KIT an anderer Stelle
zu finden: Die Ingenieure am IPEK verfügen über
langjährige Erfahrung in der Entwicklung mechatronischer
Systeme.
Tu-Mai Pham-Huu