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At least 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Robot hands and extravehicular activity

Extravehicular activity (EVA) is crucial to the success of both current and future space operations. As space operations have evolved in complexity so has the demand placed on the EVA crewman. In addition, some NASA requirements for human capabilities at remote or hazardous sites were identified. One of the keys to performing useful EVA tasks is the ability to manipulate objects accurately, quickly and without early or excessive fatigue. The current suit employs a glove which enables the crewman to perform grasping tasks, use tools, turn switches, and perform other tasks for short periods of time. However, the glove's bulk and resistance to motion ultimately causes fatigue. Due to this limitation it may not be possible to meet the productivity requirements that will be placed on the EVA crewman of the future with the current or developmental Extravehicular Mobility Unit (EMU) hardware. In addition, this hardware will not meet the requirements for remote or hazardous operations. In an effort to develop ways for improving crew productivity, a contract was awarded to develop a prototype anthromorphic robotic hand (ARH) for use with an extravehicular space suit. The first step in this program was to perform a a design study which investigated the basic technology required for the development of an ARH to enhance crew performance and productivity. The design study phase of the contract and some additional development work is summarized.

Marcus, Beth↗
NASA NTRS1987

Concept development of a tendon arm manipulator and anthropomorphic robotic hand

AMETEK/ORED inhouse research and development efforts leading toward a next-generation robotic manipulator arm and end-effector technology is summarized. Manipulator arm development has been directed toward a multiple-degree-of-freedom, flexible, tendon-driven concept referred to here as a Tendon Arm Manipulator (TAM). End-effector development has been directed toward a three-fingered, dextrous, tendon-driven, anthropomorphic configuration which is referred to as an Anthropomorphic Robotic Hand (ARH). Key technology issues are identified for both concepts.

Tolman, C. T.↗
NASA NTRS1990

A new six-degree-of-freedom force-reflecting hand controller for space telerobotics

A new 6 degree of freedom universal Force Reflecting Hand Controller (FRHC) was designed for use as the man-machine interface in teleoperated and telerobotic flight systems. The features of this new design include highly intuitive operation, excellent kinesthetic feedback, high fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all 6 DOF, good back-drivability, and zero backlash. In addition, the new design has a much larger work envelope, smaller stowage volume, greater stiffness and responsiveness, and better overlap of the human operator's range of motion than do previous designs. The utility and basic operation of a new, flight prototype FRHC called the Model X is briefly discussed. The design heritage, general design goals, and design implementation of this advanced new generation of FRHCs are presented, followed by a discussion of basic features and the results of initial testing.

Mcaffee, Douglas↗
NASA NTRS1991

Prosthetic Hand Lifts Heavy Loads

Prosthetic hand designed to enable amputee to lift diverse heavy objects like rocks and logs. Has simple serrated end effector with no moving parts. Prosthesis held on forearm by system of flexible straps. Features include ruggedness, simplicity, and relatively low cost.

Carden, James R.↗
NASA NTRS1991

Rotationally Actuated Prosthetic Hand

Prosthetic hand attached to end of remaining part of forearm and to upper arm just above elbow. Pincerlike fingers pushed apart to degree depending on rotation of forearm. Simpler in design, simpler to operate, weighs less, and takes up less space.

Norton, William E.↗
NASA NTRS1991

Compact Force-Reflecting Hand Controller

Novel design keeps joints mechanically independent. Force-reflecting hand controller for remote manipulator offers two times work volume of any of its predecessors. Folded into volume half that of its immediate predecessor for storage. First six-degree-of-freedom, cable-driven controller designed with six revolute joints; contains no prismatic joints. Advantages of low friction, low inertia, and no backlash. Intended for use in telerobotic experiments during space flight, controller modified for such terrestrial applications as construction and handling of dangerous (e.g., hot, poisonous, radioactive, or infectious) materials.

Snow, Edward R.↗
NASA NTRS1991

A new active virtual pivot six-degree-of-freedom hand controller for aerospace applications

During 1989 a new six-degree-of-freedom (6-DOF) active hand controller concept was designed and constructed based on the concept of a virtual pivot. This concept, labeled VPHC, was first demonstrated in a 1985 study and a patent was issued in 1990. Operator control input occurs via a force/torque sensor rigidly mounted to the handgrip. Sensed force/torque signals are used by microprocessors to generate motor drive control for each of six independently controlled motors mounted on the three-legged mechanism. The control microprocessor uses input biasing and rate-feedback motor controllers to generate the sensed feel of virtual springs and deadbands found in more conventional designs. An important advantage of this design is that the location of the virtual pivots, reflective forces and torques, breakout force levels, sensed spring rates, and operating modes, can be changed simply by changing the software. This approach yields an autonomous VPHC that can easily adapt itself to an individual operator (by software extension). A proof-of-concept version has been demonstrated, and further improvements are currently being studied and implemented.

Marshall, William C.↗
NASA NTRS1991

Comparison of hand laid-up tape and filament wound composite cylinders and panels with and without impact damage

Experimentally determined axial compressive failure loads, strains and failure modes of composite flat panels and cylinders are presented. A comparison of two types of filament wound flat graphite-epoxy panels indicates that the winding pattern can influence structural response. A comparison of hand laid-up tape and filament wound composite cylinders indicates that fabrication method may not significantly influence the failure mode or average failure strain of thick-walled (radius-to-thickness ratio less than 15) graphite-epoxy cylinders. The interaction of manufacturing-induced features (fiber cross-overs) and low-speed impact damage for graphite-epoxy specimens is also presented. Filament would flat panels with many fiber cross-overs exhibited lower failure strains than filament wound panels without fiber cross-overs for all impact speeds examined. Graphite-thermoplastic cylinders exhibited a significantly different failure mode from the graphite-epoxy cylinders.

Jegley, Dawn C.↗
NASA NTRS1992

Portable Computer Keyboard For Use With One Hand

Data-entry device held in one hand and operated with five fingers. Contains seven keys. Letters, numbers, punctuation, and cursor commands keyed into computer by pressing keys in various combinations. Device called "data egg" used where standard typewriter keyboard unusable or unavailable. Contains micro-processor and 32-Kbyte memory. Captures text and transmits it to computer. Concept extended to computer mouse. Especially useful to handicapped or bedridden people who find it difficult or impossible to operate standard keyboards.

Friedman, Gary L.↗
NASA NTRS1992

Hand-Switch Unit For Use With Protective Suit

Unit containing two hand-operated switches water-tight and designed for use with protective suit. One switch is toggle switch used to select communication by wire or radio. Other switch is press-to-talk button. User grasps and operates switches without looking at them. Fences on top of new unit protects toggle switch from inadvertent operation and spaced to accommodate gloved thumb. Push-to-talk button protected by longitudinal bar, springy and compressed inward to actuate button.

Chalson, Howard E.↗
NASA NTRS1992

Prosthetic helping hand

A prosthetic device for below-the-elbow amputees, having a C-shaped clamping mechanism for grasping cylindrical objects, is described. The clamping mechanism is pivotally mounted to a cuff that fits on the amputee's lower arm. The present invention is utilized by placing an arm that has been amputated below the elbow into the cuff. The clamping mechanism then serves as a hand whenever it becomes necessary for the amputee to grasp a cylindrical object such as a handle, a bar, a rod, etc. To grasp the cylindrical object, the object is jammed against the opening in the C-shaped spring, causing the spring to open, the object to pass to the center of the spring, and the spring to snap shut behind the object. Various sizes of clamping mechanisms can be provided and easily interchanged to accommodate a variety of diameters. With the extension that pivots and rotates, the clamping mechanism can be used in a variety of orientations. Thus, this invention provides the amputee with a clamping mechanism that can be used to perform a number of tasks.

Vest, Thomas W.↗
NASA NTRS1991

Hand controller study of force and control mode

The objectives are to compare and evaluate the utility and effectiveness of various input control devices, e.g., hand controllers, with respect to the relative importance of force and operation control mode (rate or position) for Space Station Freedom (SSF) related tasks. The topics are presented in viewgraph form and include the: Intelligent Research Systems Lab (ISRL) experimental design; Telerobotic Systems Research Laboratory (TSRL) final experimental design; and factor analysis summary of results.

A Terry Morris↗
NASA NTRS1993

Prosthetic Hand With Two Gripping Fingers

Prosthetic hand developed for amputee who retains significant portion of forearm. Outer end of device is end effector including two fingers, one moved by rotating remaining part of forearm about its longitudinal axis. Main body of end effector is end member supporting fingers, roller bearing assembly, and rack-and-pinion mechanism. Advantage of rack-and-pinion mechanism enables user to open or close gap between fingers with precision and force.

Norton, William E.↗
NASA NTRS1993

Synthesizing Friction In A Force-Reflecting Hand Controller

Algorithm synthesizes frictionlike limited reaction force in force-reflecting hand controller. Synthetic friction enhances operator's feel and improves control characteristics in two ways: handle of controller retains setting when operator releases it, and in case of multiple-axis controller, synthetic frictional force helps to hold control setting on one axis when handle pushed to command movement along another axis.

Kauffman, James↗
NASA NTRS1993

Quantitative Tester And Reconditioner For Hand And Arm

Apparatus measures torques, forces, and motions of hand, wrist, forearm, elbow, and shoulder and aids in reconditioning muscles involved. Used to determine strengths and endurances of muscles, ranges of motion of joints, and reaction times. Provides quantitative data used to assess extent to which disuse, disease, or injury causes deterioration of muscles and of motor-coordination skills. Same apparatus serves as exercise machine to restore muscle performance by imposing electronically controlled, gradually increasing loads on muscles. Suitable for training and evaluating astronauts, field testing for workers' compensation claims, and physical therapy in hospitals. With aid of various attachments, system adapted to measure such special motions as pinching, rotation of wrist, and supination and pronation of the forearm. Attachments are gloves, wristlets, and sleeves.

Engle, Gary↗
NASA NTRS1991

Comparison of hand laid-up tape and filament wound composite cylinders and panels with and without impact damage

The results of this experimental comparison of filament wound control (unimpacted) cylinders loaded to failure in axial compression indicates that one fiber cross-over location has no effect on the failure mode or strain in thick walled filament wound graphite-epoxy specimens with stacking sequence (plus or minus 45/90) sub 3s. A comparison between filament wound and hand laid-up tape control cylinders indicates that there is little or no difference in the response of cylinders constructed by using two different fabrication methods, however, unimpacted panels with many fiber cross-overs fail at up to 15 percent lower strains than panels with no fiber cross-overs. A comparison of samples subjected to low speed impact damage prior to compressive loading indicates that impact damage reduces the strain at failure by over 60 percent in tape and filament wound graphite-epoxy cylinders and in tape flat panels. The presence of fiber cross-overs was observed to reduce the strength of filament wound impact-damaged panels, but to have no significant effect on the strength of filament wound impact-damaged cylinders.

Jegley, Dawn C.↗
NASA NTRS1992

A feasibility study of hand kinematics for EVA analysis using magnetic resonance imaging

A new method for analyzing the kinematics of joint motion using magnetic resonance imaging (MRI) is described. The reconstruction of the metacarpalphalangeal joint of the left index finger into a 3D graphic display is shown. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones are obtained and processed by analyzing the screw motion of the joint. Landmark positions are chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily 2D planar motion of this joint is then studied using a method of constructing coordinate systems using three or more points. A transformation matrix based on a world coordinate system describes the location and orientation of the local target coordinate system. The findings show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove design for EVA.

Dickenson, Reuben D.↗
NASA NTRS1993

Kinematics and control of a fully parallel force-reflecting hand controller for manipulator teleoperation

Design of a parallel force-reflecting hand controller that implements a friction- and inertia canceling control loop about the entire mechanism based on wrench sensing in the mechanism handgrip is discussed. Kinematics of the controller under consideration is analyzed and results are presented using a closed-form solution for the inverse kinematics and Newton-Raphson's method for the forward kinematics. Results indicate that the force control scheme based on a handgrip force sensor provides smaller steady-state errors than the scheme without a handigrip sensor.

Bryfogle, Mark D.↗