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Design and control of a hand exoskeleton for use in extravehicular activitiesTo counter problems inherent in extravehicular activities (EVA) and complex space operations, an exoskeleton, a unique adaptive structure, has been designed. The exoskeleton fits on the hand and powers the proximal and middle phalanges of the index finger, the middle finger, and the combined ring and little finger. A kinematic analysis of the exoskeleton joints was performed using the loop-closure method. This analysis determined the angular displacement and velocity relationships of the exoskeleton joints. This information was used to determine the output power of the exoskeleton. Three small DC motors (one for each finger) are used to power the exoskeleton. The motors are mounted on the forearm. Power is transferred to the exoskeleton using lead screws. The control system for the exoskeleton measures the contact force between the operator and the exoskeleton. This information is used as the input to drive the actuation system. The control system allows the motor to rotate in both directions so that the operator may close or open the exoskeleton.
Document ID
19940034532
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Shields, B.
(NASA Headquarters Washington, DC United States)
Peterson, S.
(NASA Headquarters Washington, DC United States)
Strauss, A.
(NASA Headquarters Washington, DC United States)
Main, J.
(Vanderbilt Univ. Nashville, TN, United States)
Date Acquired
August 16, 2013
Publication Date
October 1, 1993
Subject Category
Man/System Technology And Life Support
Report/Patent Number
IAF PAPER 93-252
Meeting Information
Meeting: IAF, International Astronautical Congress
Location: Graz
Country: Austria
Start Date: October 16, 1993
End Date: October 22, 1993
Sponsors: IAF
Accession Number
94A11187
Distribution Limits
Public
Copyright
Other

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