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

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.