Design and Control of Exoskeletons for Planetary Exploration 951729
This paper discusses the development and prototype construction of a powered hand exoskeleton that is designed to fit over the gloved hand of an astronaut. The exoskeleton is designed to offset the stiffness of the pressurized space suit and keep the productive time spent in the space suit from being constrained by hand fatigue. The exoskeleton has a three-finger design. The motions of the hand are monitored by an array of pressure sensors mounted between the exoskeleton and the hand, and the resultant controller commands are determined by a state of the art programmable controller. These commands are then applied to a DC motor array which power the device.
Citation: Shields, B., Main, J., Peterson, S., and Strauss, A., "Design and Control of Exoskeletons for Planetary Exploration," SAE Technical Paper 951729, 1995, https://doi.org/10.4271/951729. Download Citation
Author(s):
Bobby L. Shields, John A. Main, Steven W. Peterson, Alvin M. Strauss
Affiliated:
Vanderbilt Univ.
Pages: 26
Event:
International Conference on Environmental Systems
ISSN:
0148-7191
e-ISSN:
2688-3627
Also in:
SAE 1995 Transactions: Journal of Aerospace-V104-1
Related Topics:
Hand
Fatigue
Sensors and actuators
Pressure
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