The principle has been there for a long time, inspired by nature, trial and error. From this comes an evaluation. Which version is the most suitable for the vision.
Industrial design with the science of ergonomics is certainly a well-known older branch. As an example, the exhibition "Hand and Handles" in 1951 in the Vienna Gewerbemuseum. Where the interaction between hand and grip and which position a hand can have was investigated.
A big change in thinking about prototypes came with the computer. It is no longer just physical but immersion in something intangible
Instrument development, like that of STEIM, is a good example of the evolving process. Through testing, certain elements/directions manifest, crystallize. It is "on going".
We were introduced to different methods.
cinematic prototyping
To use future technologies that do not exist yet as inspiration to open the horizon of experience more. Mostly used in speculative design.
physical computing
Is a simple fast way of prototyping. Microcontrollers like Arduino make this possible. By means of physical objects one reaches the real life feedback.
paper prototyping
Comes from the IT industry. User interface, button, structure, intuitive flow are the main points here.
sketching
Is the basic way of prototyping. a method that comes up again and again during a process. It transports the knowledge and visualizes the idea.