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Dynamic Simulation and Control of Exoskeletal Devices for an Astronaut’s Hand and Leg

González Camarero, Ricardo (2014) Dynamic Simulation and Control of Exoskeletal Devices for an Astronaut’s Hand and Leg. Master's. DLR-Interner Bericht. DLR-IB 572-2014/17, 104 S.

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Abstract

Humanity is in the edge of space exploration, but severe health problems arise as space missions increase in time. The STAMAS European project focuses on two relevant problems, hand fatigue during extravehicular Activities (EVAs) and lower libs chronic physiological degradation. To counteract these health conditions it proposes two demonstrators, an astronaut semi-passive leg exercising device and an EVA hand support exoskeleton. In the current research project controller strategies have been analysed to determine a suitable control architecture for both devices and an interactive simulation tool was developed to simulate and visualize the device behaviour. The main features of the interactive tool include the astronaut hand, leg and device actuator dynamics, the device kinematics with the force attack points and a simulation of the air pressure during EVAs. The chosen controller uses an impedance feedforward control architecture. The torque controlled human simulation includes an accurate 22 degrees of freedom representation of the human hand and an 8 degrees of freedom leg, that were modelled as serial robots with rotational joints, actual link lengths, mass and moments of inertia. Denavit-Hartenberg's recursive method was used for kinematics analysis and the recursive Newton-Euler formulation was used to calculate on-line the dynamics of the system.

Item URL in elib:https://elib.dlr.de/89554/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Dynamic Simulation and Control of Exoskeletal Devices for an Astronaut’s Hand and Leg
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
González Camarero, RicardoCEIT and TECNUN, University of NavarraUNSPECIFIED
Date:20 June 2014
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:104
Status:Published
Keywords:Hand Simulation, Leg Simulation, Exoskeleton Control, Astronaut Countermeasure Device, Space Glove Support Device
Institution:CEIT and TECNUN, University of Navarra
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Hulin, Thomas
Deposited On:26 Sep 2014 19:04
Last Modified:26 Sep 2014 19:04

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