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首页> 外文会议>Proceedings of the 6th IASTED international conference on biomechanics; Proceedings of the Second IASTED international conference on robotics. >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适应运动阻力和运动工作空间

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摘要

A mechanical exoskeleton has the capacity to replicate thernproperties of a pressurized space suit with regards tornmotion resistance. Using such an exoskeleton for groundrnbased mission training and research provides a lower-cost,rnless operationally-complex alternative to using a spacernsuit. To that end, NASA is supporting the developmentrnof such a device, termed a Space Suit Simulator (S3).ThernS3 must be designed to allow the wearer the same rangernof motion allowed in a space suit, and the joints must bernactuated to produce the experienced resistive torques.Arnkinematic design of the lower-body exoskeleton wasrndeveloped by using Denavit-Hartenberg notation andrntransformation matrices to derive the Jacobian matrix thatrnwas in turn used to identify singular configurations . Thernfour degree-of-freedom exoskeleton design eliminatesrnconstrictive singularities by aligning human andrnexoskeleton joint axes. A graphical representation of thernleg and S3 end-effector workspace verified that the S3rnallows the human leg to move within the operationalrnenvelope anticipated during space suit use. Arncomputational algorithm, based on the Preisach hysteresisrnmodel, was used to mimic space suit joint hysteresisrnbehavior in knee flexion and hip abduction/adduction.rnThe kinematic design and computational hysteresisrnalgorithms will support the further development of arnphysical space suit simulator.
机译：机械外骨骼具有复制耐压太空服抗扭转性能的能力。使用这样的外骨骼进行地面任务训练和研究可以提供一种成本低廉，操作复杂的替代品，而不是使用间隔服。为此，美国国家航空航天局（NASA）正在为开发这种称为太空服模拟器（S3）的设备提供支持.rnS3必须设计成允许佩戴者在太空服中进行相同的范围动作，并且必须使关节弯曲以产生有经验的抵抗力通过使用Denavit-Hartenberg表示法和rn变换矩阵来发展Jacobian矩阵，进而开发了下身外骨骼的运动学设计，该Jacobian矩阵又被用于识别奇异构型。四自由度外骨骼设计通过对齐人骨骼和外骨骼的关节轴消除了狭窄的奇点。腿部和S3末端执行器工作区的图形表示验证了S3允许人的腿在使用航天服期间在预期的操作信封内移动。基于Preisach滞后模型的Arncomputational算法被用来模拟膝关节屈曲和髋外展/内收中的航天服关节滞后行为。运动学设计和计算滞后算法将支持神经物理航天服模拟器的进一步发展。

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