Development of a Power-Assisted Space Suit Glove Joint

Sorenson, Elizabeth; Sanner, Robert M.; Howard, Russell D.; Akin, David L.; Lingo, B.; Cadogan, David

doi:10.4271/972323

Cited by 8 publications

(7 citation statements)

References 4 publications

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“…Tightly covering the bladder layer with mesh resins, excluding the volume around ngertips, causes resistive movements especially at MCP joints of a wearer. This motivates such development as a power-assisted EVA glove for the wearer's MCP joints [5]. Moreover, it is also revealed from our interview with the astronaut that he is more likely to use the major three ngers, thumb, pointing and middle ngers, than the remaining ring and little ngers.…”

Section: Design Guidelinesmentioning

confidence: 93%

“…They not only proposed to provide a power assist mechanism to help the astronaut overcome the inherent stiffness of the glove, but also explored what kind of pneumatic actuator design enabled the production of a suf cient magnitude of bending force for four independent metacarpophalangeal (MCP) joints even when a space suit was pressurized. Later, Sorenson et al [5] made a more practical approach in which the integrated design strategy of both a space suit glove and power assist hardware and software were described. The strategy was characterized such that the inherent closing torque about the MCP mobility joint when the glove was pressurized was compensated by applying a tension along a spectra cable run on the exterior of the glove and connected to a power assist DC motor.…”

Section: Introductionmentioning

confidence: 99%

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Proposal of a SkilMate Hand and its component technologies for extravehicular activity gloves

Yamada¹,

Morizono²,

Sato³

et al. 2004

Advanced Robotics

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In this study, we propose a SkilMate Hand for space extravehicular activity gloves which is equipped with devices of both a power assist and a tactile media. The paper focuses on development of component technologies for constructing a SkilMate Hand, which is proposed for recovering deteriorated haptic sensation in human hands. First, we manufacture a power assist device which compensates the bending moment exerted at a human nger joint utilizing a standing-wave-type ultrasonic motor. We plot the examined characteristics, propose a control policy of the actuators and show some control perforce in Bode plots. Second, we produce a tactile media device which is composed of a vibrotactile sensor element on the outer side and a vibrotactile display element on the inner side at the ngertips of the SkilMate Hand. Piezo-rubber is chosen to be used as a vibrotactile sensing transducer whose sensing performance is examined in the extremely high/low-temperature regions. We locate SkilMate in a wider framework of wearable intelligent machines which assist in affording such working surroundings that they can exhibit their skills in spite of their necessity for wearing special suits typical in hazardous environments. A proposal of a wearable intelligent machine such as that of a SkilMate with its concept has not been made before.

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Section: Design Guidelinesmentioning

confidence: 93%

Section: Introductionmentioning

confidence: 99%

Proposal of a SkilMate Hand and its component technologies for extravehicular activity gloves

Yamada¹,

Morizono²,

Sato³

et al. 2004

Advanced Robotics

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“…The subject then has to constantly fight against that preferred position when trying to accomplish a task. This type of compensation can lead to muscle fatigue, especially in the fingers and wrist [4].…”

Section: Historymentioning

confidence: 99%

Evaluation of Various Hand Controllers for Use by a Space Suited Subject

Shook¹,

Akin²

2001

SAE Technical Paper Series

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The Space Systems Lab has evaluated several different types of generic hand controllers to see which performs the best when used by a suited subject. This paper outlines the types of hand controllers selected for this experiment and the results of the performance testing. The evaluation was conducted by subjects wearing spacesuit gloves in a partial pressure glovebox at a pressure differential of 4.3 pounds/square inch. Performance for each hand controller was measured by the completion of several one degree-of-freedom (DOF) tasks presented to the subject on a computer screen. Performance metrics for this experiment included the error associated with attempting to follow an ideal trajectory and a subjective Cooper-Harper questionnaire given after each session was complete. The same information was also collected for unpressurized suit gloves and for the bare hand.

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“…Tightly covering the bladder layer with mesh resins excluding the volume around¯ngertips causes resistive movements especially at MP joints of a wearer. This motivates such a development as a power-assisted EVA glove for the wearer's MP joints [3]. Moreover, it is also revealed from our interview with the astronaut that he is more likely to use the major three¯ngers, thumb, pointing and middle¯ngers, than the remaining ring and littlē ngers.…”

Section: Design Guidelinesmentioning

confidence: 93%

“…They not only proposed to provide a power assist mechanism to help the astronaut overcome the inherent sti®ness of the glove, but also explored what kind of pneumatic actuator design enabled to produce su±cient magnitude of bending force for four independent MP (metacarpophalangeal) joints even when a space suit was pressurized. Later, Sorenson et al [3] made a more practical approach in which the integrated design strategy of both a space suit glove and power assist hardware and software were described. The strategy was characterized by that the inherent closing torque about the MP mobility joint when the glove was pressurized was compensated by applying a tension along a spectra cable run on the exterior of the glove and connected to a power assist DC motor.…”

Section: Introductionmentioning

confidence: 99%

Proposal of a SkilMate finger for EVA gloves

Yamada

Morizono²,

Sato³

et al.

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)

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It has been pointed out that the hard structure of an EVA glove deteriorates e±ciency of tasks in the space environment. We also found a claim that an EVA glove did not allow an astronaut to acquire contact information at the¯ngertips. In the study, we proposed a SkilMate Hand for space EVA gloves which has both a tactile media and a power assist devices. We locate SkilMate in a wider framework of wearable intelligent machines which assist in a®ording such working surroundings that they can exhibit their skills in spite of their necessity for wearing special suits typically in hazardous environments. The paper focuses on the development of a¯nger system of a SkilMate Hand, and begins with determination of the design guidelines through analyses from an interview with an astronaut. To improve the task e±ciency, we manufacture a power assist device which compensates the bending moment exerted at a human¯nger joint utilizing an ultrasonic motor. We show the structure and the control strategy of the motor drives. To overcome the second problem of tactile insensibleness, we produce a tactile media device which is composed of a slip sensor element on the outer side and a vibrotactile display element on the inner side of a SkilMate Hand. Transduction characteristics of both pressure sensitive conductive rubber and piezo-rubber are experimentally examined in the low temperature region. Finally, piezo-rubber is chosen to be used as a slip sensing transducer. Such a proposal of a wearable intelligent machine as that of a SkilMate with its concept has not been o®ered, and moreover, the technical argument about temperature dependence of tactile sensing performance has not been intensively made so far in the¯eld of robotics.

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Development of a Power-Assisted Space Suit Glove Joint

Cited by 8 publications

References 4 publications

Proposal of a SkilMate Hand and its component technologies for extravehicular activity gloves

Proposal of a SkilMate Hand and its component technologies for extravehicular activity gloves

Evaluation of Various Hand Controllers for Use by a Space Suited Subject

Proposal of a SkilMate finger for EVA gloves

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