Development of a Space Suit Soft Upper Torso Mobility/Sizing Actuation System

Graziosi, David; Ferl, Jinny; Splawn, Keith

doi:10.4271/2004-01-2342

Cited by 10 publications

(2 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The concept of highly adjustable scye bearings was developed by Graziosi et al (2004). High strength linear actuators were attached across the front and back of a waist entry Soft Upper Torso, demonstrating that the bearings could be widely spaced during donning and doffing, and then controlled to a much narrower configuration during wear.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Robotically Augmented Pressure Suit for Planetary Exploration

Jacobs

Benson

Akin

2007

SAE Technical Paper Series

View full text Add to dashboard Cite

The next generation of pressure suits must enable large-scale planetary Extra-Vehicular Activities (EVA). Astronauts exploring the moon and Mars will be required to walk many kilometers, carry large loads, perform intricate experiments, and extract geological samples. Advanced pressure suit architectures must be developed to allow astronauts to perform these and other tasks simply and effectively. The research developed here demonstrates integration of robotics technology into pressure suit design. The concept of a robotically augmented pressure suit for planetary exploration has been developed through the use of analytical and experimental investigations. Two unique torso configurations are examined, including a Soft/Hard Upper Torso with individually adjustable bearings, as well as advances in Morphing Upper Torso research, in which an all-soft torso is analyzed as a system of interconnected parallel manipulators. The forward kinematics of the systems are developed, and tools have been generated to further quantify the dynamic requirements. In addition, the concept of using parallel manipulators to augment suit mobility has been extended to include the lower torso assembly. Coupling these analyses with previous work done on a wire-actuated glove and concurrent work on robotically augmented arm assemblies, it becomes feasible to envision a fully augmented pressure suit, one which significantly increases the astronaut's capabilities and the efficiency of future planetary EVA. This unique concept was furthered by extending the manipulability of the scye bearings to the entire torso assembly. The helmet, two scye bearings, and waist

show abstract

Section: Introductionmentioning

confidence: 99%

Kinematic Analysis of a Robotically Augmented Pressure Suit for Planetary Exploration

Jacobs

Benson

Akin

2007

SAE Technical Paper Series

View full text Add to dashboard Cite

show abstract

“…In a 2004 paper on the subject [23], Dave Graziosi of ILC Dover described the initial testing conducted at ILC Dover. A simple set of requirements had been laid 38 out, and the suit designers built a prototype Soft Upper Torso (SUT) to gain a better understanding of several properties of the system.…”

Section: A System For Active Resizing and Motion Assistancementioning

confidence: 99%

Investigation of a Cable-Driven Parallel Mechanism for Pressure Suit Arm Resizing and Motion Assistance

Benson

2007

SAE Technical Paper Series

View full text Add to dashboard Cite

The fit of a spacesuit has been identified as a crucial factor that will determine its usability. Therefore, because one-size-fits-all spacesuits seldom fit any wearer well, and because individually tailored spacesuits are costly, the University of Maryland has conducted research into a resizable Extravehicular Activity (EVA) suit. This resizing is accomplished through a series of cable-driven parallel manipulators, which are used to adjust the distance between plates and rings built into a soft space suit.These actuators, as well as enabling passive suit resizing, could be used to actively assist the astronaut's motion, decreasing the torques that must be applied for movement in a pressurized suit. This thesis details the development and testing of an arm test section, which is used to better understand the dynamics of a more complex torso-limb system.

show abstract

Human–robotic symbiosis to enable future planetary extravehicular activity

Jacobs¹,

Akin²

2010

Acta Astronautica

View full text Add to dashboard Cite

Development of a Space Suit Soft Upper Torso Mobility/Sizing Actuation System

Cited by 10 publications

References 0 publications

Kinematic Analysis of a Robotically Augmented Pressure Suit for Planetary Exploration

Kinematic Analysis of a Robotically Augmented Pressure Suit for Planetary Exploration

Investigation of a Cable-Driven Parallel Mechanism for Pressure Suit Arm Resizing and Motion Assistance

Human–robotic symbiosis to enable future planetary extravehicular activity

Contact Info

Product

Resources

About