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首页> 外文会议>IASTED International conference on biomechanics >SIMULATING SPACE SUIT MOVEMENT RESISTANCE AND KINEMATIC WORKSPACE USING A MECHANICAL EXOSKELETON
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SIMULATING SPACE SUIT MOVEMENT RESISTANCE AND KINEMATIC WORKSPACE USING A MECHANICAL EXOSKELETON

机译：使用机械外骨骼模拟空间套装运动阻力和运动工作空间

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A mechanical exoskeleton has the capacity to replicate the properties of a pressurized space suit with regards to motion resistance. Using such an exoskeleton for ground based mission training and research provides a lower-cost, less operationally-complex alternative to using a space suit. To that end, NASA is supporting the development of such a device, termed a Space Suit Simulator (S3).The S3 must be designed to allow the wearer the same range of motion allowed in a space suit, and the joints must be actuated to produce the experienced resistive torques.A kinematic design of the lower-body exoskeleton was developed by using Denavit-Hartenberg notation and transformation matrices to derive the Jacobian matrix that was in turn used to identify singular configurations . The four degree-of-freedom exoskeleton design eliminates constrictive singularities by aligning human and exoskeleton joint axes. A graphical representation of the leg and S3 end-effector workspace verified that the S3 allows the human leg to move within the operational envelope anticipated during space suit use. A computational algorithm, based on the Preisach hysteresis model, was used to mimic space suit joint hysteresis behavior in knee flexion and hip abduction/adduction. The kinematic design and computational hysteresis algorithms will support the further development of a physical space suit simulator.
机译：机械外骨骼具有在运动电阻方面复制加压空间套装的性能的能力。使用这种外骨骼进行基于地面的任务培训和研究提供了较低的成本，较少的操作系统复杂的替代方案来使用空间套装。为此，NASA正在支持这样的装置的发展，称为太空服模拟器（S3）。该S3的设计必须允许佩戴者相同的范围中允许的太空服运动，并且所述接头必须被致动以产生经验丰富的电阻扭矩。通过使用Denavit-Hartenberg符号和转化基质来开发低体外外骨骼的运动学设计，以导出依次用于识别奇异配置的雅各族矩阵。通过对准人和外骨骼关节轴，四个自由度外骨骼设计消除了收缩奇异性。腿和S3末端执行器工作空间的图形表示验证了S3允许人腿在空间套装使用期间预期的操作包络内移动。基于Preisach滞后模型的计算算法用于模拟膝关节屈曲和髋关节绑定/内收的空间适用性联合滞后行为。运动学设计和计算滞后算法将支持物理空间套装模拟器的进一步发展。

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