Dynamic analysis of astronaut motions in microgravity: Applications for Extravehicular Activity (EVA)

Simulations of astronaut motions during extravehicular activity (EVA) tasks were performed using computational multibody dynamics methods. The application of computational dynamic simulation to EVA was prompted by the realization that physical microgravity simulators have inherent limitations: viscosity in neutral buoyancy tanks; friction in air bearing floors; short duration for parabolic aircraft; and inertia and friction in suspension mechanisms. These limitations can mask critical dynamic effects that later cause problems during actual EVA's performed in space. Methods of formulating dynamic equations of motion for multibody systems are discussed with emphasis on Kane's method, which forms the basis of the simulations presented herein. Formulation of the equations of motion for a two degree of freedom arm is presented as an explicit example. The four basic steps in creating the computational simulations were: system description, in which the geometry, mass properties, and interconnection of system bodies are input to the computer; equation formulation based on the system description; inverse kinematics, in which the angles, velocities, and accelerations of joints are calculated for prescribed motion of the endpoint (hand) of the arm; and inverse dynamics, in which joint torques are calculated for a prescribed motion. A graphical animation and data plotting program, EVADS (EVA Dynamics Simulation), was developed and used to analyze the results of the simulations that were performed on a Silicon Graphics Indigo2 computer. EVA tasks involving manipulation of the Spartan 204 free flying astronomy payload, as performed during Space Shuttle mission STS-63 (February 1995), served as the subject for two dynamic simulations. An EVA crewmember was modeled as a seven segment system with an eighth segment representing the massive payload attached to the hand. For both simulations, the initial configuration of the lower body (trunk, upper leg, and lower leg) was a neutral microgravity posture. In the first simulation, the payload was manipulated around a circular trajectory of 0.15 m radius in 10 seconds. It was found that the wrist joint theoretically exceeded its ulnal deviation limit by as much as 49. 8 deg and was required to exert torques as high as 26 N-m to accomplish the task, well in excess of the wrist physiological limit of 12 N-m. The largest torque in the first simulation, 52 N-m, occurred in the ankle joint. To avoid these problems, the second simulation placed the arm in a more comfortable initial position and the radius and speed of the circular trajectory were reduced by half. As a result, the joint angles and torques were reduced to values well within their physiological limits. In particular, the maximum wrist torque for the second simulation was only 3 N-m and the maximum ankle torque was only 6 N-m

Low spring index, large displacement Shape Memory Alloy (SMA) coil actuators for use in macro- and micro-systems

Shape memory alloys (SMA) offer unique shape changing characteristics that can be exploited to produce low­ mass, low-bulk, large-stroke actuators. We are investigating the use of low spring index (defined as the ratio of coil diameter to wire diameter) SMA coils for use as actuators in morphing aerospace systems. Specifically, we describe the development and characterization of minimum achievable spring index coiled actuators made from 0.3048 mm (0.012") diameter shape memory alloy (SMA) wire for integration in textile architectures for future compression space suit applications. Production and shape setting of the coiled actuators, as well as experimental test methods, are described. Force, length and voltage relationships for multiple coil actuators are reported and discussed. The actuators exhibit a highly linear (R[superscript 2] < 0.99) relationship between isometric blocking force and coil displacement, which is consistent with current SMA coil models; and SMA coil actuators demonstrate the ability to produce significant linear forces (i.e., greater than 8 N per coil) at strains up to 3x their initial (i.e., fully coiled) length. Discussions of both the potential use of these actuators in future compression space suit designs, and the broader viability of these actuators in both macro- and micro-systems, are presented.United States. National Aeronautics and Space Administration. Office of the Chief Technologist (Space Technology Research Fellowship Grant NNX11AM62H)MIT-Portugal Progra

Exoskeleton energetics: Implications for planetary extravehicular activity

Humans first visited another world nearly 50 years ago and are poised to return to the Moon and visit Mars in the coming decade(s). Developing a space suit that supports safe, efficient, and effective exploration despite the extremes of temperature, pressure, radiation, and environmental hazards like dust and topography remains a critical challenge. Space suits impose restrictions on movement that increase metabolic rate and limit the intensity and duration of extravehicular activity. In this study, a lower body exoskeleton was used to test a simple model that predicts the energy cost of locomotion across gait and gravity. Energetic cost and other variables were measured during treadmill locomotion, with and without a lower body exoskeleton, in simulated reduced gravity and in Earth gravity. Six subjects walked and ran at constant Froude numbers, non-dimensional parameters used to characterize gait. The springlike energy recovery of the exoskeleton legs was estimated using energetics data in combination with the model. Model predictions agreed with the observed results (no statistical difference). High spring-like energy recovery of the exoskeleton legs lowered measures of the energetic cost of locomotion. For planetary extravehicular activity, our work reveals potential approaches to optimizing space suits for efficient locomotion, for example, tuning the stiffness and spring-like energy recovery of space suit legs

Human mental workload & performance in space : engineering development and policy aspects

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1989.Includes bibliographical references (leaves 161-163).by Dava Jean Newman.M.S

Human locomotion and energetics in simulated partial gravity

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992.Includes bibliographical references (leaves 214-219).by Dava Jean Newman.Ph.D

System and Method for Measuring Skin Movement and Strain and Related Techniques

Described herein are systems and techniques for a motion capture system and a three-dimensional (3D) tracking system used to record body position and/or movements/motions and using the data to measure skin strain (a strain field) all along the body while a joint is in motion (dynamic) as well as in a fixed position (static). The data and technique can be used to quantify strains, calculate 3D contours, and derive patterns believed to reveal skin's properties during natural motions

System and Method for Measuring Skin Movement and Strain and Related Techniques

Described herein are systems and techniques for a motion capture system and a three-dimensional (3D) tracking system used to record body position and/or movements/motions and using the data to measure skin strain (a strain field) all along the body while a joint is in motion (dynamic) as well as in a fixed position (static). The data and technique can be used to quantify strains, calculate 3D contours, and derive patterns believed to reveal skin's properties during natural motions

Extracting the Essence of Flexibility in System Design

The modest purpose of this paper is to review the concept of flexibility as discussed in various fields of investigations, and to extract its characteristic features. In order to discuss any subject matter clearly, it is necessary to begin with a clear set of definitions. Indeed much can be gained through careful and consistent definitions of terms alone. Flexibility however is a word rich with ambiguity. While it is being increasingly used in various fields, few attempts have been made to formally define, quantify, and propose ways for achieving flexibility. This paper proposes to fill in part this gap by synthesizing a clear and consistent definition of flexibility. It will do so by reviewing the usage of the term in various fields of inquiries, and show that it is indeed possible to clearly and unambiguously characterize flexibility, and to disentangle it from closely related concepts

Low Spring Index NiTi Coil Actuators for Use in Active Compression Garments

This paper describes the modeling, development, and testing of low spring index nickel titanium (NiTi) coil actuators designed for use in wearable compression garments, and presents a prototype tourniquet system using these actuators. NiTi coil actuators produce both large forces (>1 N) and large recoverable displacements (>100% length) that are well suited for compression garment design. Thermomechanical coil models are presented that describe temperature and force as a function of nondimensionalized coil geometry, extensional strain, and applied voltage. These models suggest that low spring index coils maximize activation force, and an analytical model is presented to predict garment counter-pressure based on actuator architecture. Several low spring index (C = 3.08) coils were manufactured, annealed, and tested to assess their detwinning and activation characteristics. Results suggest both annealing and applied stress affect activation thresholds. Actuator force increases both with extensional strain and applied voltage up to 7.24 N. A first-generation compression tourniquet system using integrated actuators with direct voltage control of applied pressure is presented, demonstrating >70% increase in applied pressure during activation. This approach enables new, dynamic garments with controllable activation and low effort donning and doffing, with applications ranging from healthcare solutions to advanced space suit design