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Title:
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Innovative hand exoskeleton design for extravehicular activities in space
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Authors:
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Pierluigi Freni, Author
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Material Type:
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book
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Publisher:
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New York, NY : Springer, 2014
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Series:
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SpringerBriefs in Applied Sciences and Technology
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ISBN / ISSN / EAN :
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978-3-319-03957-2
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Format:
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xii, 89 p. / ill. (some col.) / 24 cm
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Bibliography note:
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"Politecnico Di Milano."/ Includes bibliographical references
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Languages:
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English
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Class number:
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TL1550
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Subjects:
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Extravehicular space suits
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Robotic exoskeletons
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Description:
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Environmental conditions and pressurized spacesuits expose astronauts to problems of fatigue during lengthy extravehicular activities, with adverse impacts especially on the dexterity, force and endurance of the hands and arms. A state-of-the-art exploration in the field of hand exoskeletons revealed that available products are unsuitable for space applications because of their bulkiness and mass. This book proposes a novel approach to the development of hand exoskeletons, based on an innovative soft robotics concept that relies on the exploitation of electroactive polymers operating as sensors and actuators, on a combination of electromyography and mechanomyography for detection of the user's will and on neural networks for control. The result is a design that should enhance astronauts' performance during extravehicular activities. In summary, the advantages of the described approach are a low-weight, high-flexibility exoskeleton that allows for dexterity and compliance
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Contents note:
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Introduction -- Users' requirements. EVAs ; The method ; Space environment ; Spacesuits and gloves ; Fatigue problems during EVAs ; EVA training ; Radiation. EVA suit glove shielding -- ISS shielding ; EMU suit battery ; Safety ; Space market and stakeholders ; Kinematic and dynamics analysis and considerations ; Requirements table -- State of the art. Actuators and sensors ; Control systems. EEGs -- EMGs -- Other solutions ; Alternative designs. Actuation ; Feedback -- The soft robotics approach. Materials for actuation and sensing. Ionic EAPs -- Electronic EAPs -- Materials selection -- Dielectric elastomers modeling ; Measure system. Introductive description of body signals: production process -- Description EMG -- Description MMG -- Sum up table and critical considerations -- Measure system concept and algorithm ; Control system architecture. Neural network training protocol -- Concept layout. Actuator design ; Kinematics and dynamics specifications ; Structural model of the actuator ; MEBA dimensioning ; Sensors. EMG/MMG sensors ; Prototyping and experiments. Experiments with EMG -- Experiments with MMG ; Conclusions. Side applications ; Future development
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Format :
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In print
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Permalink:
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https://isulibrary.isunet.edu/index.php?lvl=notice_display&id=9298
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