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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1985

Integrated multi-sensory control of space robot hand

Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).

Bejczy, A. K.↗
NASA NTRS1988

Dexterity analysis and robot hand design

Understanding about a dexterous robot hand's motion ranges is important to the precision grasping and precision manipulation. A planar robot hand is studied for object orientation, including ranges of motion, measures with respect to the palm, position reaching of a point in the grasped object, and rotation of the object about the reference point. The rotational dexterity index and dexterity chart are introduced and an analysis procedure is developed for calculating these quantities. A design procedure for determining the hand kinematic parameters based on a desired partial or complete dexterity chart is also developed. These procedures have been tested in detail for a planar robot hand with two 2- or 3-link fingers. The derived results are shown to be useful to performance evaluation, kinematic parameter design, and grasping motion planning for a planar robot hand.

Li, LU↗
NASA NTRS1989

Calibrating a VPL DataGlove for teleoperating the Utah/MIT hand

A system able to control the Utah/MIT hand with the VPL DataGlove has been developed. To get the actual joint angles from the DataGlove sensor values, a least-squares fit is used to find the best-fit exponential curve for each sensor, and then the correlation between the sensors is reduced by the iterative correlation elimination procedure. The calibration depends both on the wearer and the particular DataGlove being used. The first-level calibration is simple and can be done under 15 min with experience. The second level is fixed and requires no adjustments. To control the hand, a mapping from the DataGlove angles to the hand angles is applied, making the hand fingertips follow the DataGlove fingertips. The hand can successfully implement various high-level tasks under the DataGlove wearer's control.

Hong, Jiawei↗
NASA NTRS1989

The 3-D vision system integrated dexterous hand

Most multifingered hands use a tendon mechanism to minimize the size and weight of the hand. Such tendon mechanisms suffer from the problems of striction and friction of the tendons resulting in a reduction of control accuracy. A design for a 3-D vision system integrated dexterous hand with motor control is described which overcomes these problems. The proposed hand is composed of three three-jointed grasping fingers with tactile sensors on their tips, a two-jointed eye finger with a cross-shaped laser beam emitting diode in its distal part. The two non-grasping fingers allow 3-D vision capability and can rotate around the hand to see and measure the sides of grasped objects and the task environment. An algorithm that determines the range and local orientation of the contact surface using a cross-shaped laser beam is introduced along with some potential applications. An efficient method for finger force calculation is presented which uses the measured contact surface normals of an object.

Luo, Ren C.↗
NASA NTRS1994

Do Right- and Left-Handed Monkeys Differ on Cognitive Measures?

Twelve left- and 14 right-handed monkeys were compared on 6 measures of cognitive performance (2 maze-solving tasks, matching-to-sample, delayed matching-to-sample, delayed response using spatial cues, and delayed response using form cues). The dependent variable was trials-to-training criterion for each of the 6 tasks. Significant differences were found between left- and right-handed monkeys on the 2 versions of the delayed response task. Right-handed monkeys reached criterion significantly faster on the form cue version of the task, whereas left-handed monkeys reached criterion significantly faster on delayed response for spatial position (p less than .05). The results suggest that sensitive hand preference measures of laterality can reveal differences in cognitive performance, which in turn may reflect underlying laterality in functional organization of the nervous system.

Hopkins, William D.↗
NASA NTRS1998

Classification and evolution of EF-hand proteins

Forty-five distinct subfamilies of EF-hand proteins have been identified. They contain from two to eight EF-hands that are recognizable by amino acid sequence as being statistically similar to other EF-hand domains. All proteins within one subfamily are congruent to one another, i.e. the dendrogram computed from one of the EF-hand domains is similar, within statistical error, to the dendrogram computed from another(s) domain. Thirteen subfamilies--including Calmodulin, Troponin C, Essential light chain, Regulatory light chain--referred to collectively as CTER, are congruent with one another. They appear to have evolved from a single ur-domain by two cycles of gene duplication and fusion. The subfamilies of CTER subsequently evolved by gene duplications and speciations. The remaining 32 subfamilies do not show such general patterns of congruence; however, some--such as S100, intestinal calcium binding protein (calbindin 9 kd), and trichohylin--do not form congruent clusters of subfamilies. Nearly all of the domains 1, 3, 5, and 7 are most similar to other ODD domains. Correspondingly the EVEN numbered domains of all 45 subfamilies most closely resemble EVEN domains of other subfamilies. Many sequence and chemical characteristics do not show systemic trends by subfamily or species of host organisms; such homoplasy is widespread. Eighteen of the subfamilies are heterochimeric; in addition to multiple EF-hands they contain domains of other evolutionary origins.

Non-NASA Center↗
NASA NTRS1992

Evolution of EF-hand calcium-modulated proteins. II. Domains of several subfamilies have diverse evolutionary histories

In the first report in this series we described the relationships and evolution of 152 individual proteins of the EF-hand subfamilies. Here we add 66 additional proteins and define eight (CDC, TPNV, CLNB, LPS, DGK, 1F8, VIS, TCBP) new subfamilies and seven (CAL, SQUD, CDPK, EFH5, TPP, LAV, CRGP) new unique proteins, which we assume represent new subfamilies. The main focus of this study is the classification of individual EF-hand domains. Five subfamilies--calmodulin, troponin C, essential light chain, regulatory light chain, CDC31/caltractin--and three uniques--call, squidulin, and calcium-dependent protein kinase--are congruent in that all evolved from a common four-domain precursor. In contrast calpain and sarcoplasmic calcium-binding protein (SARC) each evolved from its own one-domain precursor. The remaining 19 subfamilies and uniques appear to have evolved by translocation and splicing of genes encoding the EF-hand domains that were precursors to the congruent eight and to calpain and to SARC. The rates of evolution of the EF-hand domains are slower following formation of the subfamilies and establishment of their functions. Subfamilies are not readily classified by patterns of calcium coordination, interdomain linker stability, and glycine and proline distribution. There are many homoplasies indicating that similar variants of the EF-hand evolved by independent pathways.

Non-NASA Center↗
NASA NTRS2007

Evaluation of Hands-Free Devices for the Display of Maintenance Procedures

Over the past year, NASA's focus has turned to crewed long duration and exploration missions. On these journeys, crewmembers will be required to execute thousands of procedures to maintain life support systems, check out space suits, conduct science experiments, and perform medical exams. To support the many complex tasks crewmembers undertake in microgravity, NASA is interested in providing crewmembers a hands-free work environment to promote more efficient operations. The overarching objective is to allow crewmembers to use both of their hands for tasks related to their mission, versus holding a paper manual or interacting with a display. The use of advanced, hands-free tools will undoubtedly make the crewmembers task easier, but they can also add to overall task complexity if not properly designed. A leading candidate technology for supporting a hands-free environment is the Head-Mounted Display (HMD). A more recent technology (e-book reader) that could be easily temp-stowed near the work area is also a potential hands-free solution. Previous work at NASA involved the evaluation of several commercially available HMDs for visual quality, comfort, and fit, as well as suitability for use in microgravity. Based on results from this work, three HMDs were selected for further evaluation (along with an e-book reader), using International Space Station (ISS)-like maintenance procedures. Two evaluations were conducted in the Space Station Mockup and Trainer Facility (SSMTF) located at the NASA Johnson Space Center (building 9). The SSMTF is a full scale, medium fidelity replica of the pressurized portions of the ISS. It supports crew training such as ingress and egress, habitability, and emergency procedures. In each of the two evaluations, the participants performed two maintenance procedures. One maintenance procedure involved inspecting air filters in a life support system and replacing them with a clean filter if one were found to be contaminated. The second maintenance procedure focused on working in a confined space; specifically, pulling down a rack to inspect wiring configurations, and rewiring in a different pattern. The maintenance procedures were selected to assess mobility, tool use, and access to multiple document sources during task performance. That is, the participant had to move from rack to rack, use a wrench, a camera, etc., replace components, and refer to diagrams to complete tasks. A constraint was imposed that the ISS-like format of the procedures was to be retained, and not modified or optimized for the electronic device ("plug and play" approach). This was based on future plans to test with real procedures on ISS.

Ronald B Hoffman↗
NASA NTRS2000

Development of a Methodology to Conduct Usability Evaluation for Hand Tools that May Reduce the Amount of Small Parts that are Dropped During Installation while Processing Space Flight Hardware

Foreign object debris (FOD) is an important concern while processing space flight hardware. FOD can be defined as "The debris that is left in or around flight hardware, where it could cause damage to that flight hardware," (United Space Alliance, 2000). Just one small screw left unintentionally in the wrong place could delay a launch schedule while it is retrieved, increase the cost of processing, or cause a potentially fatal accident. At this time, there is not a single solution to help reduce the number of dropped parts such as screws, bolts, nuts, and washers during installation. Most of the effort is currently focused on training employees and on capturing the parts once they are dropped. Advances in ergonomics and hand tool design suggest that a solution may be possible, in the form of specialty hand tools, which secure the small parts while they are being handled. To assist in the development of these new advances, a test methodology was developed to conduct a usability evaluation of hand tools, while performing tasks with risk of creating FOD. The methodology also includes hardware in the form of a testing board and the small parts that can be installed onto the board during a test. The usability of new hand tools was determined based on efficiency and the number of dropped parts. To validate the methodology, participants were tested while performing a task that is representative of the type of work that may be done when processing space flight hardware. Test participants installed small parts using their hands and two commercially available tools. The participants were from three groups: (1) students, (2) engineers / managers and (3) technicians. The test was conducted to evaluate the differences in performance when using the three installation methods, as well as the difference in performance of the three participant groups.

Miller, Darcy↗
NASA NTRS2013

3D Printed Robotic Hand

Dexterous robotic hands are changing the way robots and humans interact and use common tools. Unfortunately, the complexity of the joints and actuations drive up the manufacturing cost. Some cutting edge and commercially available rapid prototyping machines now have the ability to print multiple materials and even combine these materials in the same job. A 3D model of a robotic hand was designed using Creo Parametric 2.0. Combining "hard" and "soft" materials, the model was printed on the Object Connex350 3D printer with the purpose of resembling as much as possible the human appearance and mobility of a real hand while needing no assembly. After printing the prototype, strings where installed as actuators to test mobility. Based on printing materials, the manufacturing cost of the hand was $167, significantly lower than other robotic hands without the actuators since they have more complex assembly processes.

Pizarro, Yaritzmar Rosario↗
NASA NTRS2022

Controlling Palm-Object Interactions via Friction for Enhanced In-Hand Manipulation

In-hand manipulation is necessary, yet challenging for robotic hands as robots begin to interact with real-world objects and environments. The intentional incorporation of an active palm can lead to improved dexterity. In this work, we demonstrate how controlling the palm-object interaction enables access to different sets of motion primitives. We first discuss how various properties of the palm affect in-hand manipulation, as well as grasping. Here, we focus on varying the friction force between the object and the palm by either changing the coefficient of friction or the normal load. We explore how these two design factors can be actively controlled to enable 5-degree-of-freedom object motion within the hand. We present variable-friction and variable-preload palms that enable on-the-fly switching between in-plane and out-of-plane manipulation modes. Additionally, we discuss their impact on grasp stability. Finally, we demonstrate how an object can be translated and pivoted within the hand by sequentially performing synchronized palm and finger actions.

Clark B Teeple↗
DOE OSTI2023

Height Above Nearest Drainage (HAND) at Three-Meter Resolution for the State of Texas

URL: https://web.corral.tacc.utexas.edu/nfiedata/pin2flood/texas/ The current National Water Model and its Flood Inundation Mapping (FIM) service use 10-meter Height Above Nearest Drainage (HAND) hydrological terrain. In the Pin2Flood project (https://gis.tdem.texas.gov/portal/apps/storymaps/stories/72f0ec81a7654da688518f486122abed), funded by the Texas Division of Emergency Management (TDEM), ORNL computed the 3-meter HAND and associated synthetic rating curves for the State of Texas, covering 287,535 river streams (1.5km/stream) in 209 HUC8s. This archived dataset includes the HAND raster and the synthetic rating curve table for each of the 209 HUC8s in Texas. It is hosted at the Texas Advanced Computing Center (TACC). This 3-meter HAND is derived from the Fathom 3-meter DEM and NHDPlus V21 using an accelerated version of NOAA's Flood Inundation Mapping version 3 (FIM3, https://github.com/NOAA-OWP/inundation-mapping/tree/dev-fim3)

58 GEOSCIENCES↗
DOE OSTI2024

c-HAND: near real-time coastal flood mapping

The Texas Gulf Coast region contains significant centers of population, infrastructure, and economy and is threatened by intensifying tropical storms. The flooding from these tropical storms often has multiple compounding drivers. This characteristic presents a complex numerical problem where a simulation must consider multiple hydrologic forcings. While several procedures exist for addressing this problem numerically, they tend to be resource-intensive and cannot be conducted in near real-time. We extend GeoFlood, a reduced physics approach for fluvial flood forecasting, to rapidly predict coastal and compound fluvial-coastal inundation. This method is validated against a numerical ocean circulation model (ADCIRC) simulation of Hurricane Ike, a major coastal flooding event that happened on the Texas Gulf Coast in 2008. We show that the inundation map generated by coastal HAND (c-HAND) has reasonable agreement with the ADCIRC simulation while taking about 1.7% of the time currently needed to run ADCIRC on a supercomputer. While our model correctly predicts 99% of ADCIRC-inundated DEM cells, it also overpredicts inundated area by a factor of approximately 27%. We combine c-HAND with the GeoFlood framework for fluvial flood forecasting to create a compound fluvial-coastal inundation mapping workflow that can be run in near real-time. c-HAND's fast wall-clock time and low CPU requirements can support decision making by first response personnel. The method provides timely and convenient access to crucial information, such as the locations of flooded roads and inundated coastal areas.

42 ENGINEERING↗
NASA NTRSDate not supplied

NASA's Ground Test Unit (GTU) Lunar Terrain Vehicle (LTV) Conceptual Hand Controllers Studies

Over that past year, the National Aeronautics and Space Administration (NASA) has been preparing and developing a set of standardized testing protocols for the commercial LTV vendor selection. Two studies have been conducted on two possible hand controller concepts specifically designed for the operation of NASA’s Ground Test Unit (GTU) Lunar Terrain Vehicle (LTV) that can be applied to the heretofore unknown designs developed by future LTV vendors. The objective for the two studies were to determine which hand controller enable acceptable operation of the LTV in a simulated lunar traverse. In the first evaluation a total of nine subjects in shirtsleeves with ungloved hands performed two simulated lunar driving courses in an engineering simulator with each hand controller. Controller concept one was the T-handle fashioned after the Apollo Lunar Roving Vehicle’s (LRV) T-Handle controller. The rational for using this design is it’s a proven design while in a pressurized suit. However, the LTV does have a driving mode the LRV did not consider. The mode of crabbing or strafing the vehicle at different angles; thus, the idea of a dual T-Handle controllers to accommodate this function without using a switch or display was introduced. The second concept controller is a new innovative controller call the Tri-Rotor [NASA patent review MSC-27385-1]. Inspired by Formula One race steering, the Tri-Rotor was designed to take advantage of the restricted movement and dexterity of a pressurized space suit. During testing, all subjects were able to successfully navigate through two test courses of varying lengths and complexity. Results indicated the dual Thandle had minimal recommendations for improvement while the Tri-Rotor had more extensive ones. It must be noted, the Tri-Rotor is a first-generation prototype and has some known mechanical concerns; thus, recommendations from this study will be incorporated into the second generation.

Human Factors↗
DOE OSTI2022

Application of a headspace GC–MS method to evaluate the product quality of alcohol‐based hand wipe sanitizers

Abstract The investigation of marketed hand wipe sanitizers presented an analytical challenge owing to the need for extraction from the solid matrix of the products. The present work describes the development of a new sample preparation method for the extraction of analytes from the hand wipe sanitizer matrix into dimethyl sulfoxide for analysis using headspace GCMS. Alcohol‐based hand sanitizer (ABHS) wipe products labeled to contain ethanol or isopropanol as active ingredients were tested, varying in the size and weight of the wipes. The spike recovery assay was confirmed using spiking solutions containing impurities at concentrations equivalent to 50, 100 and 200% of the interim concentration limits. All of the tested analytes showed recovery within the allowable limits (80–120%). Six marketed ABHS wipe products were tested and no impurities above the FDA interim limits were observed. One product contained ethanol below the 60% v/v limit and another product was mislabeled for isopropanol and was found to contain ethanol instead. Four of the six ABHS products did not meet the label claim, which may affect the product quality. The analytical method and sample preparation procedures will provide the FDA and ABHS manufacturers with the capability to conduct quality assurance testing of hand wipe sanitizers for active ingredient content and impurities.

Biochemistry & Molecular Biology↗
NASA NTRS1974

Therapeutic hand-exercising device with cycling pressure value

Device exercises hands of persons whose fingers are generally straight and need to be flexed inward toward palms of hands. Device is extremely simple in design, which reduces costs, and fits all hand sizes. Patient can instantly free hand from device by pulling flap free from wrist of straps.

Barthlome, D. E.↗
NASA NTRS1976

Effect of ambient temperature on the thermal profile of the human forearm, hand, and fingers

Forearm, hand, and finger skin temperatures were measured on the right and left sides of seven resting men. The purpose was to determine the bilateral symmetry of these segmental temperature profiles at ambient temperatures from 10 to 45 C. Thermistors placed on the right and left forearms, hands, and index fingers were used to monitor the subjects until equilibration was reached at each ambient temperature. Additionally, thermal profiles of both hands were measured with copper-constantan thermocouples. During one experimental condition (23 C ambient), rectal, ear canal, and 24 skin temperatures were measured on each subject. Average body and average skin temperatures are given for each subject at the 23 C ambient condition. Detailed thermal profiles are also presented for the dorsal, ventral, and circumferential left forearm, hand, and finger skin temperatures at 23 C ambient. No significant differences were found between the mean skin temperatures of the right and left contralateral segments at any of the selected ambient temperatures.

Montgomery, L. D.↗
NASA NTRS1977

Effect of hand-based sensors on manipulator control performance

Manipulator task categories and motion phases require various hand-based information systems to meet the control performance requirements. The effect of proximity, tactile and force/torque sensors on the performance of remote manipulator control is discussed. An overview is presented on various experimental hand-based information systems which provide the manipulator controller some non-visual 'awareness' of the task environment. The rest of the paper describes and evaluates various control experiments performed at JPL using hand-mounted proximity sensors to guide and control hand motion near solid objects.

Bejczy, A. K.↗