Engineering a robotic exoskeleton for space suit simulation

Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.Cataloged from PDF version of thesis.Includes bibliographical references (pages 177-181).Novel methods for assessing space suit designs and human performance capabilities are needed as NASA prepares for manned missions beyond low Earth orbit. Current human performance tests and training are conducted in space suits that are heavy and expensive, characteristics that constrain possible testing environments and reduce suit availability to researchers. Space suit mock-ups used in planetary exploration simulations are light and relatively inexpensive but do not accurately simulate the joint stiffness inherent to space suits, a key factor impacting extravehicular activity performance. The MIT Man-Vehicle Laboratory and Aurora Flight Sciences designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that is lighter and cheaper than a traditional space suit so that it can be used in a variety of testing and training environments. The EVA S3 employs pneumatic actuators to vary joint stiffness and a pre-programmed controller to allow the experimenter to apply torque profiles to mimic various space suit designs in the field. The focus of this thesis is the design, construction, integration, and testing of the hip joint and backpack for the EVA S3. The final designs of the other joints are also described. Results from robotic testing to validate the mechanical design and control system are discussed along with the planned improvements for the next iteration of the EVA S3. The fianl EVA S3 consists of a metal and composite exoskeleton frame with pneumatic actuators that control the resistance of motion in the ankle, knee, and hip joints, and an upper body brace that resists shoulder and elbow motions with passive spring elements. The EVA S3 is lighter (26 kg excluding the tethered components) and less expensive (under $600,000 including research, design, and personnel) than a modem space suit. Design adjustments and control system improvements are still needed to achieve a desired space suit torque simulation fidelity within 10% root-mean-square error.by Forrest Edward Meyen.S.M

2021 Student Symposium Research and Creative Activity Book of Abstracts

The UMaine Student Symposium (UMSS) is an annual event that celebrates undergraduate and graduate student research and creative work. Students from a variety of disciplines present their achievements with video presentations. It’s the ideal occasion for the community to see how UMaine students’ work impacts locally – and beyond. The 2021 Student Symposium Research and Creative Activity Book of Abstracts includes a complete list of student presenters as well as abstracts related to their works

Soviet Space Stations as Analogs, Second Edition

The available literature that discusses the various aspects of the Soviet Salyut 6 and Salyut 7 space staions are examined as related to human productivity. The methodology for this analog was a search of unclassified literature. Additional information was obtained in interviews with the cosmonauts and some Soviet space personnel. Topics include: general layout and design of the spacecraft system; cosmonauts role in maintenance and repair; general layout and design of the Mir complex; effects of the environment on personnel; information and computer systems; organization systems; personality systems; and physical conditin of the cosmonaut

WOFEX 2021 : 19th annual workshop, Ostrava, 1th September 2021 : proceedings of papers

The workshop WOFEX 2021 (PhD workshop of Faculty of Electrical Engineer-ing and Computer Science) was held on September 1st September 2021 at the VSB – Technical University of Ostrava. The workshop offers an opportunity for students to meet and share their research experiences, to discover commonalities in research and studentship, and to foster a collaborative environment for joint problem solving. PhD students are encouraged to attend in order to ensure a broad, unconfined discussion. In that view, this workshop is intended for students and researchers of this faculty offering opportunities to meet new colleagues.Ostrav

Feature Papers in Eng

This Special Issue is a collection of high-quality reviews and original papers from editorial board members, guest editors, and leading researchers discussing new knowledge or new cutting-edge developments in the field of engineering

Current Progress in Biopolymer-Based Bionanocomposites and Hybrid Materials

In recent years, the development of biopolymers based on constituents obtained from natural resources has been gaining considerable attention. The utilization of biopolymers to engineer advanced bionanocomposites and hybrid materials is the focus of increasing scientific activity, explained by growing environmental concerns and interest in the novel features and multiple functionalities of these macromolecules.In this Special Issue, we aim to present the current state of the art in research pertaining to biopolymer-based bionanocomposites and hybrid materials, and their advanced applications. Contributions on the processing of biopolymers and bionanocomposites, the use of diverse biopolymer sources such as polysaccharides, the reinforcement of nanosized materials with biopolymers, and applications of these biopolymers, bionanocomposites, and biohybrid materials will constitute the backbone of this Special Issue

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

The development and investigation of a novel pulsatile heart assist device

Cardiovascular diseases (CVD) contributed to almost 30% of worldwide mortality; with heart failure being one class of CVD. One popular and widely available treatment for heart failure is the intra-aortic balloon pump (IABP). This heart assist device is used in counterpulsation to improve myocardial function by increasing coronary perfusion, and decreasing aortic end-diastolic pressure (i.e. the resistance to blood ejection from the heart). However, this device can only be used acutely, and patients are bedridden. The subject of this research is a novel heart assist treatment called the Chronic Intermittent Mechanical Support (CIMS) which was conceived to offer advantages of the IABP device chronically, whilst overcoming its disadvantages. The CIMS device comprises an implantable balloon pump, a percutaneous drive line, and a wearable driver console. The research here aims to determine the haemodynamic effect of balloon pump activation under in vitro conditions. A human mock circulatory loop (MCL) with systemic and coronary perfusion was constructed, capable of simulating various degrees of heart failure. Two prototypes of the CIMS balloon pump were made with varying stiffness. Several experimental factors (balloon inflation/deflation timing, Helium gas volume, arterial compliance, balloon pump stiffness and heart valve type) form the factorial design experiments. A simple modification to the MCL allowed flow visualisation experiments using video recording. Suitable statistical tests were used to analyse the data obtained from all experiments. Balloon inflation and deflation in the ascending aorta of the MCL yielded favourable results. The sudden balloon deflation caused the heart valve to open earlier, thus causing longer valve opening duration in a cardiac cycle. It was also found that pressure augmentation in diastole was significantly correlated with increased cardiac output and coronary flowrate. With an optimum combination (low arterial compliance and low balloon pump stiffness), systemic and coronary perfusions were increased by 18% and 21% respectively, while the aortic end-diastolic pressure (forward flow resistance) decreased by 17%. Consequently, the ratio of oxygen supply and demand to myocardium (endocardial viability ratio, EVR) increased between 33% and 75%. The increase was mostly attributed to diastolic augmentation rather than systolic unloading