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The STAMAS Simulator: A Kinematics and Dynamics Simulator for an Astronaut's Leg and Hand Exoskeleton

González Camarero, Ricardo and Hulin, Thomas and Vodermayer, Bernhard (2015) The STAMAS Simulator: A Kinematics and Dynamics Simulator for an Astronaut's Leg and Hand Exoskeleton. STAMAS Workshop - Smart technology for artificial muscle applications in space, Madrid, Spain.

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Abstract

In the scope of the European project STAMAS, novel exoskeleton based exercise and support devices for an astronaut's leg and hand are developed. The STAMAS simulator is capable of simulating the dynamic interaction between the astronaut and these two exoskeleton prototypes. It comprises components for the calculation of the kinematics and dynamics of the device and the astronaut's extremities, as well as a virtual reality viewer for visualization. The simulator not only offers efficient and inexpensive access to the behavior of the systems, but also is a veritable key element towards the assessment of the safety for the astronaut, for the equipment and for the mission. Simulations that have been conducted could confirm the concepts of both exoskeletons and reveal the mechanical strain and the required actuator forces.

Item URL in elib:https://elib.dlr.de/99521/
Document Type:Conference or Workshop Item (Speech)
Title:The STAMAS Simulator: A Kinematics and Dynamics Simulator for an Astronaut's Leg and Hand Exoskeleton
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
González Camarero, RicardoUNSPECIFIEDUNSPECIFIED
Hulin, ThomasGerman Aerospace Center (DLR), GermanyUNSPECIFIED
Vodermayer, BernhardDLR - German Aerospace Center, Institute of Robotics and Mechatronics (Germany)UNSPECIFIED
Date:29 October 2015
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:dynamics simulator, hand exoskeleton, leg exoskeleton, shape memory alloy actuators
Event Title:STAMAS Workshop - Smart technology for artificial muscle applications in space
Event Location:Madrid, Spain
Event Type:Workshop
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:17 Nov 2015 14:29
Last Modified:31 Jul 2019 19:56

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