Gravity environment simulation by locomotion and restraint aid for studying manual operation performance of astronauts at zero gravit

Vykukal, H. C.

English

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NATIONAL AERONAUTICS AND SPACE ADMINISTRATION 
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I t l P L Y  10 
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u s ~ / ~ c i e n t i f i c  & Technical Infomation Division 
Attention: Miss Winnie M. Morgan 
FROM : ~ ~ / ~ f f i c e  of Assistagt General Counsel for 
Patent Matters 
I 
SUBJECT: Announcement of NASA-Owned U, 6 .  Patents in  STAR 
I n  accordance w i t h  the procedures agreed updn by Code GP 
and Code USI, the attached NASA-owned U. S. Patent is being 
forwarded fior abstracting and announcement i n  NASA STAR, 
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U. S. Patent No. 
Government or 
~or'porate Employee 
Supplementary Corporate 
Source (if  applicable) t Hd . 
NASA Patent Case No. 
NOTE - If t h i s  patent covers an invention made by a corporate 
employee of a NASA Contractor, the fo  lowing is applicable: 
yes 0 No d 
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Space A c t ,  the name of the Administrator of NASA appears on 
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inventor (author) appears a t  the heading of Column No* 1 of 
the Specification, following the word8 . . with rrsmct t o  
Enclosure 
COPY of Patent elted abwi J 
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https://ntrs.nasa.gov/search.jsp?R=19710019143 2020-03-17T03:14:17+00:00Z
PATENTED JUN 8 1971 
INVl'lVTOR. 
HUBERT C. VYKUKAL 
BY 
ATTORNEYS 
PATENTED JUN 8 1971 ;3,5E33,322 
HUBERT C. VYKUKAL 
1 
t ,) BY 
\ ATTORNEYS 
PATENTED JUN 8 1971 
SHEET 3 OF 3 
INVENTOR 
HUBERT C .  V Y K U K A L  
ATTORNEYS 
United States Patent r 1 ' 1  3.583.32i2 
172 1 Inventor Hubert C. Vykukal 1561 References Cited 
Filed 
Patented 
Assignee 
Cupertino, dm.  
h. 11.1968 S N  783377 
June 8.1971 
The United States of America as 
r ep~sen ted  by the Administrator of the 
National Aeronautics and Space 
Administration 
[54] LOCOMOTION AND RESTRAINT AID 
5 Claims, 5 Drawing Figs. 
[52] U.S. CI ........................................................ 10411, 
35/29, 104/139.119/96,238/1,248/361,272/70 
15 1 ] Int. Cl ........................................................ A63671/00, 
B61b 13/00 
1501 Field of Search ............................................ 272124, 60, 
70,80,81,82; 35129.120; 1 19196,124,117; 
2481361; 161210; 1041173, 178,242,243,244.1, 
1.245.60, 139; 23811 
UNITED STATES PATENTS 
711957 Michalski ..................... 
1211955 Nordheim .................... 
711 967 Johnson et al. ............... 
1211 968 Miller .......................... 
FORlElGN PATENiiS 
227 111902 Great Britain ................ 272170 
Primary Examiner-Arthur L. LaPoint 
Assistant Examiner-Richard A. Beflsch 
At~orneys-Darrell 6 .  Brekke and 6. T McCoy 
ABSTRACT: A locomotion and restrrnrvt aid for humans 
operating in conditions of zero gravity, comprising a sprsng 
biased tension member secured at one end to the operator and 
at the other to a trolley which moves along 3 track secured to a 
space vehicle. The track and trolley permit a lmmlted range ci 
movement, including walking, and the tensaon member samu- 
lates gravitational pull lo provide stab~Erzatroa dtnrlng the pelr- 
formance of manual operation. 
ty. The other end of the tenslon member 12 I* secured 10 ,. 
LOCOMOTION AND RESTRAlNT AID housing 18 wh~ch is carrted on a trolley 28 rnovlible ahc.xy: r 
E ha: ~nventlon devcribed herecn wa\ made by an employee track 22 so that the wearer A may move along the ' ~p i c th  s' 
of the Uncted States government and may be manufactured the track 22 while bang pulled toward the S U I - ~ ~ C C  ~ 7 ~ ~ 7  
and wed cn or for the Government for Governmental purposes 5 he IS stand~ng or walk~ng in simulat~on oQj.av*ta*lona nu1 
wtthout the payment of any royalt~es therein 01- therefor As is shown more clearly in FIG 2 the %rn\ron saemxr v s j  
OBJECTS AND DESCRIPTION 
actually comprise a plurality of constant force sprung mefa" 
bands 12a. 82b. 12c and 12d which are normaliv ea rned  on 
=his invention relates to a ~ocomotion and restraint and, coils 24 attached to and between the walls of thedhow,sing 18. 
more to a restraint aid simulates gravita- The coiled metal bands 120 to 82d resist uncoiling with a con. 
tional p14j1 to enable a to perforrn manual operations stant force and hence may be extended to considernbfe 
and exercise greater control over his movements at zero gravj- lengths to permit kneeling, walking, crawling, or ePimb6ag. Ex- 
ZY. tension spring devices of this type are well known and are 
Locomotion aids previously considered for operation at , available commercially. For example, the Hunter Spring Cam.. 
zero gravity include a rope tether, one of which is at- PanY of Hatfield, Pennsylvania carries a complete: Pine of con.. 
tached to the astronaut and the other end to the vehicle. HOW- Stant tension springs bearing the trade name ""NEGATOR." 
ever, this means of locomotion is on ly  for return- While four coiled bands are here illustrated, any number o i  
ing to the vehicle by hand-over-hand operation, Other devices springs may be selected according to the force desired ti. 
considered include hand rails or taut ropes which are attached 20 simulate gravitational pull and provide adequate stabilization. 
at both ends to the vehicle also to permit hand-over-hand In this connection, it has been found that a force of 60 pounds 
movement but, ofcourse, the movement is confined to the rail is satisfactory although the invention i s  not limited to ainy 
or rope. Other devices such as magnets or "Velcro" patches Vecific force. 
may permit a wider range of movement but, as in the case of The spring housing 18 is secured together by suitable means 
the other devices cited above, none of these devices overcome 25 such as bolts 26 the bottom row 260 of which sosnares it r:) the 
the infirmities of working or moving in conditions of zero trolley body 20 which extends through an opening 33 irr thc 
gravity and they do not provide any stabilizing effect to aid the track 22 and has wheels 28 mounted on both sides to engage 
operator under such conditions. under and be restrained by the inwardly turned rirnii~ 36, of ;he 
It is, therefore, an object of this invention to provide a channellike tracks. Preferably, additional front and rear 
restraint aid which permits movement of an astronaut 30 horizontal wheels 32 are mounted for rotation absrut vertical 
or outside a space vehicle under simulated gravitational pull. axeS34 to increase lateral stability. 
Another object of this invention is to provide a ~ocomo~ion Referring now to FIG. 3, there is shown a wearc: A, work- 
aid which permits movement of an astronaut at zero gravity ing 0" the interior of a space vehicle with the restrniqt aid I0  
while being pulled toward the surface on which he is moving at putling downward through his normal center of ,gravity and 
a predetermined, constant force. 35 providing stabilization to enable him to turn a crank 36 r;$s t he  
A further object of this invention is to provide a restraint aid like and to move along a track 38 which may axtencd complete- 
which permits an astronaut in a zero environment to ly around the vehicle V. In this ernboclirneqt a spring housing 
utilize conventional, reaction-type tools. 18 similar to that shown in FIG. A is provided. Huwever, the 
In carrying out this invention, there is provided a tension rail 38  may be of T-shaped configuration with the rrolley 40 
member which is secured at  one end to the astronaut as by 40 straddling it so that the wheels 42 engage under the crossarm 
hooking it to a strap at the astronaut's crotch and the other of the T. It will be noted that the wearer has no helmet cr ox- 
end of the tension member is pulled at a constant force by ygen equipment since the interior of the vehicle is  eiomp:e:eiy 
means attached to a trolley. In the preferred embodiment, the pressurized. 
tension member comprises a selected number of strips of con- FIG. 3 also illustrates a suitable body harness 41 which r n ~ y  
stant force spring metal which are contained on coils secured 45 be employed to carry the strap 17. As illustrated, :his harness 
to the trolley. The trolley, in turn, is movable along a track 48 may include a belt 43 with crossed shoulder straps 45 
which is secured to the space vehicle and tracks may $e secured thereto and the crotch strap 17 being secured at both 
secured to both the inside and outside of the vehicle. In one ends Po the belt portion. Suitable safety catches nay be incor- 
embodiment of the invention, the spring members are carried porated in the harness to allow ready attachment of the bar- 
on the end of a rod which is pivotably mounted on the trolley ness to the wearer while at  the same time preventing iaiadven- 
for articulation transversely of the track so that the astronaut tent release of the harness. 
is permitted to move along the track and within a limited in FIG. 4, the astronaut A, is in a hard suit with air hoses ex- 
range of movement on both sides. tending therefrom and working on the exteslor of the vch:e!e 
Other objects and advantages of this invention will become 55 with the spring case 18 and trolley movab?e along a channel- 
apparent from the description following when read in con- like track 44 similar to that shown in FIG. :. A scita$ie hard 
junction with the accompanying drawings wherein: suit is disclosed in my copending application ent;tl'ed 'Ward 
FIG. 1 is an enlarged view in perspective showing the Space Suit," Ser. NO. 566,397, filed July 19, 1966; now U.S. 
restraint aid of this invention in detail; Pat. No. 3,405,406. The disconnect coupli13g 14 o f  the inven-  
FIG. 2 is a partial section view of the trolley and track form- 60 tion is secured to the pelvic portion of the suit. Ths may be ac- 
ing a part of this invention taken along line 2-2 of FIG. 1; cornplished by the use of a harness, as shown in FIG. 3 for ex- 
FIG. 3 is a view in perspective of an astronaut working ample, or some hard suits incorporate a webbing En? the CT"I):C:I 
within a space vehicle with the restraint means of this inven- region to which a ring may be attached for jobnee. to the 
tion attached to him; upper part of the coupling 14. The astronaut A, i s  in a k?eel- 
FIG. 4 is a view in perspective of an astronaut in hard space 65 ing position and the springs 12 have, of course, seer-pQ to 2 
suit working on the exterior of a space vehicle; and shorter length while still applying a constant force. SSat>iliaed 
FIG. 5 is a view in perspective showing another embodiment by the constant force of springs 12, the astronaut A, is :able to 
of this invention. perform work with a conventional wrench 46 as opposed to a 
Referring now more particularly to FIG. 1, the restraint and complex "zero-reaction" tool. Since the springs PZ crcatc an 
locomotion aid 10 of this invention comprises a tension 70 "artificial gravity" for the astronaut A,, be may ambulate to 
member I 2  which may be attached to the wearer as by a quick any surface of the space vehicle (sides, bottom, ex. !  by suits- 
disconnect coupling 14, one element 16 of which is securcd to ble positioning of track 44. 
a strap 17 of a body harness briefly described below at the Referring to FIG. 5, there will be seen to be  i?ft~stra?ei" 
crotch of the wearer A so that the force of the tension mernber another embodiment of the invention par",lcParry ada.113iac' to 
is directed approximately through the wearer's center of pravi- 75 afford substantial lateral motion of the astroi.ar: wF*F re:sa:.:: 
3,583,322 
3 4 
in  the iracbt. AS shown, a track 52 is provided in or on a sur- means for attaching one end of said tension member to an 
Pice 54 of a space vehicle, for example, and a trolley 56 is operator, comprising a removable attachment to the 
mounted Elrerein or thereon. In this instance the track and operator having a portion depending from the crotch of 
trolley are smiBar 10 those illustrated in FIG. 4. A coil 58 of the operator whereby tension force is exerted substan- 
cimstkont force spring meVal band 60 is molrnred on a horizon- 5 tially through the center of gravity ofrhe operator, 
tal axis 62 09' a bracket 64 that is in turn connected to a connecting means joining the other end of said tension 
horii.,santal pivot mount 66 atop the trolley. The bracket 64 is member to a solid body upon which the operator is 
s h o w n  to cutend from the pivot mount 66 to a crossbar having located, said connecting means comprising a track 
I? plurality of pivota!iy mounted wheels 68 beneath same and secured to said solid body, said track having at least one 
riding ~ P P I  !he surface 54. 10 laterally extending restraining rim along the length 
With regard to r~rtachment of the above-described arrange- thereof, 
men9 tta an nwtronaut, there is provided a first arm 72 mounted a along said track, and 
i,n the connection 66 in forwardby and up- said tension member being secured to said trolley. 
therefrom an upward bend near the outer end 2. The device defined claim 1 wherein: 
A second 74 is connected to 15 said tension member comprises a, plurality of constant force 
arm,  as by means of the illustrated upwardly extending forked extension spring bands mosaroeed in coils on said trolley. 
crld !hereof, an$, a 76, such as a flexible l ine  is 3. The device defined in claim 1 wherein the connecting 
trached to she outer end of the second arrn for attachment meansfurthercom?sises: 
through disconnect means 14 to a harness or suit of an as- at least one arm pivotally connected to said trolley for ar- 
::-onaut at t h e  crotch thereof. The spring band 60 extends 20 ticulation transversely and normally of said track, 
said tension member urging said arrn toward the track, and borizontaiiy through a guide hole in the first arm 72 and under the means for attaching one end of the tension member to 
a pulley wheel 78 mounted beneath the first arm into connec- ths operator being wnnected to the outer end of the arm. 
tion with a lug 80 depending from the second arm near the q" defined En clainr by: outer end of same. 25 a pivot mount attached to said trolley for movement about 
In operi~tion of the embodiment of the invention illustrated an axis normal to said track 
in FIG. 5, the spring band, or bands if desired, exerts a a bracket connected to said ~ i v o t  mount for movement 
downward force on the outer end of the second arm 74 of the 
devmce so a5 to pull downward on an astronaut attached 
thereto b~iiovement along the track as as described above but 30 
laa rh1s caw the astronaut may move laterally of the rrach Such 
movcment ~4 accommodated by the prvon connection 64 so 
:baa the arms 74 and 76 Bbllow the astronaut Also this pivots 
asae 5racsrat 64 or1 the wheels 68 so that the sprin2 mcta! 60 
rernaari< ~c aitgl~rnent with the arms This embodsminr clam\ 35 
crc~v~cqer the sdme rcstr,eant or gravity replacement force a\ 
aeicr~bed above and also provides addltronal freedom for 
~atessE motton rr,l,\tlve to the track SO that an tmproved mob~dt- 
+v  IS dch~eved 
Whrle X ~ I S  invention has been de\cribed tn conjunctton wlth 40 
preferred embodrsnanrs thereof, it as obvaous rhst rnodtfrca- 
bans and changes &herein nlay be rnadt by hhosz skilled In the 
~ r l  w,-hoent depclrahng tram the spnrla and scope sb!o I ~ J - n -  
tion as deiiaaea by toe cica*mc, appended hereto 
l  la^^ 45 
1 h aa;v?i?ce lo! dacrnd rhe pedorrrrotrk; ~t r,,uid JIG ,y "r 1 
~eoaas under c~nd i~sons  0 1  reduced gravity cowora4:i-g 
a ten\nor;i member carnprbstng constant liorci: ertcnsion 
therewith andjolned to saad tenslon member, and 
said arm plvotaBly connected to s a ~ d  mount for pivoting 
about an axls normal to the mount axis 
5 The devlce defined ~w clam 1 further dehned by: 
s a d  tension member corraprnbrng a corled band constant 
force extension spr:ng, 
a pru.ot mouni upan saad trolley for pigating about an axrs 
normal to rhet tyark -*I$ S ~ L ~ O ,  , - a  01 >a12! 30dy carrying s a d  
rrack, 
tb.2 coded b ~ n d  :ela 3-n men 5i be8?g mounted on said 
~ V O L  nt0~11t o YTY ' e  tYu,se%+lef 
a fwst arm pavodt;y connected to said pivot mount for 
movcnlent aboqrt na . xrn nortn..-' YO v d l e  axis of the mount, 
a second arm p~vora?~y e rcnnc~~c2 t~o  he outer end of said 
hrib arm, and 
m,-A a Jr.i'r,ro$ '\be ,id - S  l k -  --. *- rc l  -rsnnn member to 
'Ae S ~ C L B I C B  LTm ~ L ~ I L , , '  s - r p i  U J * , ~  the  outer end thereof 
r ~"ht r*r * ,-;d vmrfare of the body mount- 
-1%''~ u L '  
sasd C<rfineCtPn& ndai ir*s D IeoLnop Cro,?rg ane  outer end of said 
ebor$d d m  'L rne C p - r _ n ~  
spring means. 
50 


Locomotion and restraint aid Patent

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