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NASA NTRS2010

Converting an MPLM to a PMM

The Multi-Purpose Logistics Module (MPLM) are pressurized modules for transporting equipment, supplies and experimental devices to and from the International Space Station (ISS). An MPLM is carried in the cargo bay of a Shuttle and attached to the Unity or Harmony modules on the ISS for the duration of a mission, usually about 10 days. From there, supplies are offloaded, and finished experiments and waste are reloaded. The MPLM is then returned to the Space Shuttle payload bay for return to Earth. Three modules were built, Leonardo, Raffaello and Donatello. The modules were provided to NASA under contract by the Italian Space Agency. Each MPLM was built to be on-orbit a maximum of one month at a time. The MPLM Leonardo is being modified to turn it into the Pressurized Multipurpose Module (PMM), which will remain permanently attached to the ISS following the STS- 133 mission. The Space Shuttle is the only vehicle or rocket that has the capacity to carry the MPLM to the ISS. With the planned retirement of the Space Shuttle in 2011, NASA has found another use for the MPLM. With the modifications of the MPLM into a PMM the ISS will have another permanent module as part of the ISS that will be used as a storage module

Perez, Hector P.↗

NASA NTRS2002

Development of Three-Dimensional Multicellular Tissue-Like Constructs for Mutational Analysis Using Macroporous Microcarriers

A three-dimensional (3-D), tissue-like model was developed for the genotoxic assessment of space environment. In previous experiments, we found that culturing mammalian cells in a NASA-designed bioreactor, using Cytodex-3 beads as a scaffold, generated 3-D multicellular spheroids. In an effort to generate scaffold-free spheroids, we developed a new 3-D tissue-like model by coculturing fibroblast and epithelial cell in a NASA bioreactor using macroporous Cultispher-S(TradeMark) microcarriers. Big Blue(Registered Trademark) Rat 2(Lambda) fibroblasts, genetically engineered to contain multiple copies (>60 copies/cell) of the Lac I target gene, were cocultured with radio-sensitive human epithelial cells, H184F5. Over an 8-day period, samples were periodically examined by microscopy and histology to confirm cell attachment, growth, and viability. Immunohistochemistry and western analysis were used to evaluate the expression of specific cytoskeletal and adhesion proteins. Key cell culture parameters (glucose, pH, and lactate concentrations) were monitored daily. Controls were two-dimensional mono layers of fibroblast or epithelial cells cultured in T-flasks. Analysis of 3-D spheroids from the bioreactor suggests fibroblast cells attached to and completely covered the bead surface and inner channels by day 3 in the bioreactor. Treatment of the 3-day spheroids with dispase II dissolved the Cultisphers(TradeMark) and produced multicellular, bead-less constructs. Immunohistochemistry confirmed the presence of vi.mentin, cytokeratin and E-cadherin in treated spheroids. Examination of the dispase II treated spheroids with transmission electron microscopy (TEM) also showed the presence of desmosomes. These results suggest that the controlled enzymatic degradation of an artificial matrix in the low shear environment of the NASA-designed bioreactor can produce 3-D tissue-like spheroids. 2

Jordan, Jacqueline A.↗

NASA NTRS2010

The Mechanical Performance of Subscale Candidate Elastomer Docking Seals

The National Aeronautics and Space Administration is developing a Low Impact Docking System (LIDS) for future exploration missions. The mechanism is a new state-of-the-art device for in-space assembly of structures and rendezvous of vehicles. At the interface between two pressurized modules, each with a version of the LIDS attached, a composite elastomer-metal seal assembly prevents the breathable air from escaping into the vacuum of space. Attached to the active LIDS, this seal mates against the passive LIDS during docking operation. The main interface seal assembly must exhibit low leak and outgas values, must be able to withstand various harsh space environments, must remain operational over a range of temperatures from -50 C to 75 C, and perform after numerous docking cycles. This paper presents results from a comprehensive study of the mechanical performance of four candidate subscale seal assembly designs at -50, 23, 50, and 75 C test temperatures. In particular, the force required to fully compress the seal during docking, and that which is required for separation during the undocking operation were measured. The height of subscale main interface seal bulbs, as well as the test temperature, were shown to have a significant effect on the forces the main interface seal of the LIDS may experience during docking and undocking operations. The average force values required to fully compress each of the seal assemblies were shown to increase with test temperature by approximately 50% from -50 to 75 C. Also, the required compression forces were shown to increase as the height of the seal bulb was increased. The seal design with the tallest elastomer seal bulb, which was 31% taller than that with the shortest bulb, required force values approximately 45% higher than those for the shortest bulb, independent of the test temperature. The force required to separate the seal was shown to increase with decreasing temperature after 15 hours of simulated docking. No adhesion force was observed at 75 C, while magnitudes of up to 235 lbf were recorded at the refrigerated temperature. In addition, the adhesion force was observed to increase with bulb height. When compared with the LIDS program requirements, the measured compression force values were found to be below the maximum allowable load allotted to the main interface seal. However, the measured adhesion force values at the refrigerated test temperature were found to exceed the program limits.

Bastrzyk, Marta B.↗

NASA NTRS2010

Reusable Hot-Wire Cable Cutter

During the early development stage of balloon deployment systems for missions, nichrome wire cable cutters were often used in place of pyro-actuated cutters. Typically, a nichrome wire is wrapped around a bundle of polymer cables with a low melting point and connected to a relay-actuated electric circuit. The heat from the nichrome reduces the strength of the cable bundle, which quickly breaks under a mechanical load and can thus be used as a release mechanism for a deployment system. However, the use of hand-made heated nichrome wire for cutters is not very reliable. Often, the wrapped nichrome wire does not cut through the cable because it either pulls away from its power source or does not stay in contact with the cable being cut. Because nichrome is not readily soldered to copper wire, unreliable mechanical crimps are often made to connect the nichrome to an electric circuit. A self-contained device that is reusable and reliable was developed to sever cables for device release or deployment. The nichrome wire in this new device is housed within an enclosure to prevent it from being damaged by handling. The electric power leads are internally connected within the unit to the nichrome wire using a screw terminal connection. A bayonet plug, a quick and secure method of connecting the cutter to the power source, is used to connect the cutter to the power leads similar to those used in pyro-cutter devices. A small ceramic tube [0.25-in. wide 0.5-in. long (.6.4-mm wide 13-mm long)] houses a spiraled nichrome wire that is heated when a cable release action is required. The wire is formed into a spiral coil by wrapping it around a mandrel. It is then laid inside the ceramic tube so that it fits closely to the inner surface of the tube. The ceramic tube provides some thermal and electrical insulation so that most of the heat generated by the wire is directed toward the cable bundle in the center of the spiral. The ceramic tube is cemented into an aluminum block, which holds it in position. The leads of the nichrome wire are attached to screw terminals that connect them to power leads. A bayonet plug mounted at the bottom of the rectangular block connects the power leads to a relay circuit. A thin aluminum shell encloses the entire structure, leaving access points to attach to the bayonet plug and to feed a cable into the cylinder. The access holes for the deployment cable are a smaller diameter than the nichrome coil to prevent the cable from coming in direct contact with the nichrome when loaded. It uses the same general method of severing a cable with a heated wire as was used previously, but implements it in such a way that it is more reliable and less prone to failure. It creates a mechanism to create repeatability that was nonexistent in the previous method.

Pauken, Michael T.↗

NASA NTRS2010

Portable Handheld Optical Window Inspection Device

The Portable Handheld Optical Window Inspection Device (PHOWID) is a measurement system for imaging small defects (scratches, pits, micrometeor impacts, and the like) in the field. Designed primarily for window inspection, PHOWID attaches to a smooth surface with suction cups, and raster scans a small area with an optical pen in order to provide a three-dimensional image of the defect. PHOWID consists of a graphical user interface, motor control subsystem, scanning head, and interface electronics, as well as an integrated camera and user display that allows a user to locate minute defects before scanning. Noise levels are on the order of 60 in. (1.5 m). PHOWID allows field measurement of defects that are usually done in the lab. It is small, light, and attaches directly to the test article in any orientation up to vertical. An operator can scan a defect and get useful engineering data in a matter of minutes. There is no need to make a mold impression for later lab analysis.

Ihlefeld, Curtis↗

NASA NTRS2010

Testing of Laser Components Subjected to Exposure in Space

Materials International Space Station Experiment (MISSE) missions provide an opportunity for developing space qualifiable materials by studying the response of novel materials when subjected to the synergistic effects of the harsh space environment. MISSE 6 was transported to the international Space Station (ISS) via STS 123 on March 11. 2008. The astronauts successfully attached the passive experiment containers (PEC) to external handrails of the international space station (ISS) and opened up for long term exposure. After more than a year of exposure attached to the station's exterior, the PEC with several hundred material samples returned to the earth with the STS-128 space shuttle crew that was launched on shuttle Discovery from the Kennedy Space Center, Fla., on Aug. 28. Meanwhile, MISSE 7 launch is scheduled to be launched on STS 129 mission. MISSE-7 was launched on Space Shuttle mission STS-129 on Atlantis was launched on November 16, 2009. This paper will briefly review recent efforts on MISSE 6 and MISSE 7 missions at NASA Langley Research Center (LaRC).

Prasad, Narasimha S.↗

NASA NTRS2011

Aircraft Wing for Over-The-Wing Mounting of Engine Nacelle

An aircraft wing has an inboard section and an outboard section. The inboard section is attached (i) on one side thereof to the aircraft's fuselage, and (ii) on an opposing side thereof to an inboard side of a turbofan engine nacelle in an over-the-wing mounting position. The outboard section's leading edge has a sweep of at least 20 degrees. The inboard section's leading edge has a sweep between -15 and +15 degrees, and extends from the fuselage to an attachment position on the nacelle that is forward of an index position defined as an imaginary intersection between the sweep of the outboard section's leading edge and the inboard side of the nacelle. In an alternate embodiment, the turbofan engine nacelle is replaced with an open rotor engine nacelle.

Hahn, Andrew S.↗

NASA NTRS2011

ISS Interface Mechanisms and their Heritage

The International Space Station, by nurturing technological development of a variety of pressurized and unpressurized interface mechanisms fosters "competition at the technology level". Such redundancy and diversity allows for the development and testing of mechanisms that might be used for future exploration efforts. The International Space Station, as a test-bed for exploration, has 4 types of pressurized interfaces between elements and 6 unpressurized attachment mechanisms. Lessons learned from the design, test and operations of these mechanisms will help inform the design for a new international standard pressurized docking mechanism for the NASA Docking System. This paper will examine the attachment mechanisms on the ISS and their attributes. It will also look ahead at the new NASA docking system and trace its lineage to heritage mechanisms.

Cook, John G.↗

NASA NTRS2011

Apparatus and method for a light direction sensor

The present invention provides a light direction sensor for determining the direction of a light source. The system includes an image sensor; a spacer attached to the image sensor, and a pattern mask attached to said spacer. The pattern mask has a slit pattern that as light passes through the slit pattern it casts a diffraction pattern onto the image sensor. The method operates by receiving a beam of light onto a patterned mask, wherein the patterned mask as a plurality of a slit segments. Then, diffusing the beam of light onto an image sensor and determining the direction of the light source.

Leviton, Douglas B.↗

NASA NTRS2010

COLD MAGICS - Continuous Local Deformation Monitoring of an Arctic Geodetic Fundamental Station

We describe the experience gained in a project to continuously monitor the local tie at the Geodetic Observatory Ny-Alesund. A PC-controlled robotic total station was used to monitor survey prisms that were attached to survey pillars of the local network and the monuments used for geodetic VLBI and GNSS measurements. The monitoring lasted for seven days and had a temporal resolution of six minutes. The raw angle and distance measurements show clear sinusoidal signatures with a daily period, most strongly for a four-day period with 24 hours of sunshine. The derived topocentric coordinates of the survey prisms attached to the GNSS monument and the VLBI radio telescope act as approximation for the local tie. We detect clear signatures at the mm-level. With the current approach we cannot distinguish between real motion of the prisms and potential thermal influences on the instrument used for the observations. However, the project shows that continuous local tie monitoring is feasible today and in the future can and should be used for all geodetic co-location stations.

Haas, Ruediger↗

NASA NTRS2011

Miniaturized Ka-Band Dual-Channel Radar

Smaller (volume, mass, power) electronics for a Ka-band (36 GHz) radar interferometer were required. To reduce size and achieve better control over RFphase versus temperature, fully hybrid electronics were developed for the RF portion of the radar s two-channel receiver and single-channel transmitter. In this context, fully hybrid means that every active RF device was an open die, and all passives were directly attached to the subcarrier. Attachments were made using wire and ribbon bonding. In this way, every component, even small passives, was selected for the fabrication of the two radar receivers, and the devices were mounted relative to each other in order to make complementary components isothermal and to isolate other components from potential temperature gradients. This is critical for developing receivers that can track each other s phase over temperature, which is a key mission driver for obtaining ocean surface height. Fully hybrid, Ka-band (36 GHz) radar transmitter and dual-channel receiver were developed for spaceborne radar interferometry. The fully hybrid fabrication enables control over every aspect of the component selection, placement, and connection. Since the two receiver channels must track each other to better than 100 millidegrees of RF phase over several minutes, the hardware in the two receivers must be "identical," routed the same (same line lengths), and as isothermal as possible. This level of design freedom is not possible with packaged components, which include many internal passive, unknown internal connection lengths/types, and often a single orientation of inputs and outputs.

Hoffman, James P.↗

NASA NTRS2011

Sample Acquisition and Handling System from a Remote Platform

A system has been developed to acquire and handle samples from a suspended remote platform. The system includes a penetrator, a penetrator deployment mechanism, and a sample handler. A gravity-driven harpoon sampler was used for the system, but other solutions can be used to supply the penetration energy, such as pyrotechnic, pressurized gas, or springs. The deployment mechanism includes a line that is attached to the penetrator, a spool for reeling in the line, and a line engagement control mechanism. The penetrator has removable tips that can collect liquid, ice, or solid samples. The handling mechanism consists of a carousel that can store a series of identical or different tips, assist in penetrator reconfiguration for multiple sample acquisition, and deliver the sample to a series of instruments for analysis. The carousel sample handling system was combined with a brassboard reeling mechanism and a penetrator with removable tips. It can attach the removable tip to the penetrator, release and retrieve the penetrator, remove the tip, and present it to multiple instrument stations. The penetrator can be remotely deployed from an aerobot, penetrate and collect the sample, and be retrieved with the sample to the aerobot. The penetrator with removable tips includes sample interrogation windows and a sample retainment spring for unconsolidated samples. The line engagement motor can be used to control the penetrator release and reeling engagement, and to evenly distribute the line on the spool by rocking between left and right ends of the spool. When the arm with the guiding ring is aligned with the spool axis, the line is free to unwind from the spool without rotating the spool. When the arm is perpendicular to the spool axis, the line can move only if the spool rotates.

Badescu, Mircea↗

NASA NTRS2011

Helium-Cooled Black Shroud for Subscale Cryogenic Testing

This shroud provides a deep-space simulating environment for testing scaled-down models of passively cooling systems for spaceflight optics and instruments. It is used inside a liquid-nitrogen- cooled vacuum chamber, and it is cooled by liquid helium to 5 K. It has an inside geometry of approximately 1.6 m diameter by 0.45 m tall. The inside surfaces of its top and sidewalls have a thermal absorptivity greater than 0.96. The bottom wall has a large central opening that is easily customized to allow a specific test item to extend through it. This enables testing of scale models of realistic passive cooling configurations that feature a very large temperature drop between the deepspace-facing cooled side and the Sun/Earth-facing warm side. This shroud has an innovative thermal closeout of the bottom wall, so that a test sample can have a hot (room temperature) side outside of the shroud, and a cold side inside the shroud. The combination of this closeout and the very black walls keeps radiated heat from the sample s warm end from entering the shroud, reflecting off the walls and heating the sample s cold end. The shroud includes 12 vertical rectangular sheet-copper side panels that are oriented in a circular pattern. Using tabs bent off from their edges, these side panels are bolted to each other and to a steel support ring on which they rest. The removable shroud top is a large copper sheet that rests on, and is bolted to, the support ring when the shroud is closed. The support ring stands on four fiberglass tube legs, which isolate it thermally from the vacuum chamber bottom. The insides of the cooper top and side panels are completely covered with 25- mm-thick aluminum honeycomb panels. This honeycomb is painted black before it is epoxied to the copper surfaces. A spiral-shaped copper tube, clamped at many different locations to the outside of the top copper plate, serves as part of the liquid helium cooling loop. Another copper tube, plumbed in a series to the top plate s tube, is clamped to the sidewall tabs where they are bolted to the support ring. Flowing liquid helium through these tubes cools the entire shroud to 5 K. The entire shroud is wrapped loosely in a layer of double-aluminized Kapton. The support ring s inner diameter is the largest possible hole through which the test item can extend into the shroud. Twelve custom-sized trapezoidal copper sheets extend inward from the support ring to within a few millimeters of the test item. Attached to the inner edge of each of these sheets is a custom-shaped strip of Kapton, which is aluminum- coated on the warm-facing (outer) side, and has thin Dacron netting attached to its cold-facing side. This Kapton rests against the test item, but the Dacron keeps it from making significant thermal contact. The result is a non-contact, radiatively reflective thermal closeout with essentially no gap through which radiation can pass. In this way, the part of the test item outside the shroud can be heated to relatively high temperatures without any radiative heat leaking to the inside.

Tuttle, James↗

NASA NTRS2011

Anti-reflective device having an anti-reflective surface formed of silicon spikes with nano-tips

Described is a device having an anti-reflection surface. The device comprises a silicon substrate with a plurality of silicon spikes formed on the substrate. A first metallic layer is formed on the silicon spikes to form the anti-reflection surface. The device further includes an aperture that extends through the substrate. A second metallic layer is formed on the substrate. The second metallic layer includes a hole that is aligned with the aperture. A spacer is attached with the silicon substrate to provide a gap between an attached sensor apparatus. Therefore, operating as a Micro-sun sensor, light entering the hole passes through the aperture to be sensed by the sensor apparatus. Additionally, light reflected by the sensor apparatus toward the first side of the silicon substrate is absorbed by the first metallic layer and silicon spikes and is thereby prevented from being reflected back toward the sensor apparatus.

Bae, Youngsam↗

NASA NTRS2010

Martian Dust Devil Electron Avalanche Process and Associated Electrochemistry

Mars' dynamic atmosphere displays localized dust devils and larger, global dust storms. Based on terrestrial analog studies, electrostatic modeling, and laboratory work these features will contain large electrostatic fields formed via triboelectric processes. In the low-pressure Martian atmosphere, these fields may create an electron avalanche and collisional plasma due to an increase in electron density driven by the internal electrical forces. To test the hypothesis that an electron avalanche is sustained under these conditions, a self-consistent atmospheric process model is created including electron impact ionization sources and electron losses via dust absorption, electron dissociation attachment, and electron/ion recombination. This new model is called the Dust Devil Electron Avalanche Model (DDEAM). This model solves simultaneously nine continuity equations describing the evolution of the primary gaseous chemical species involved in the electrochemistry. DDEAM monitors the evolution of the electrons and primary gas constituents, including electron/water interactions. We especially focus on electron dynamics and follow the electrons as they evolve in the E field driven collisional gas. When sources and losses are self-consistently included in the electron continuity equation, the electron density grows exponentially with increasing electric field, reaching an equilibrium that forms a sustained time-stable collisional plasma. However, the character of this plasma differs depending upon the assumed growth rate saturation process (chemical saturation versus space charge). DDEAM also shows the possibility of the loss of atmospheric methane as a function of electric field due to electron dissociative attachment of the hydrocarbon. The methane destruction rates are presented and can be included in other larger atmospheric models.

Jackson, Telana L.↗

NASA NTRS2006

Stationary Apparatus Would Apply Forces of Walking to Feet

A proposed apparatus would apply controlled cyclic forces to both feet for the purpose of preventing the loss of bone density in a human subject whose bones are not subjected daily to the mechanical loads of normal activity in normal Earth gravitation. The apparatus was conceived for use by astronauts on long missions in outer space; it could also be used by bedridden patients on Earth, including patients too weak to generate the necessary forces by their own efforts. The apparatus (see figure) would be a modified version of a bicycle-like exercise machine, called the cycle ergometer with vibration isolation system (CEVIS), now aboard the International Space Station. Attached to each CEVIS pedal would be a computer-controlled stress/ vibration exciter connected to the heel portion of a special-purpose pedal. The user would wear custom shoes that would amount to standard bicycle shoes equipped with cleats for secure attachment of the balls of the feet to the special- purpose pedals. If possible, prior to use of the apparatus, the human subject would wear a portable network of recording accelerometers, while walking, jogging, and running. The information thus gathered would be fed to the computer, wherein it would be used to make the exciters apply forces and vibrations closely approximating the forces and vibrations experienced by that individual during normal exercise. It is anticipated that like the forces applied to bones during natural exercise, these artificial forces would stimulate the production of osteoblasts (bone-forming cells), as needed to prevent or retard loss of bone mass. In addition to helping to prevent deterioration of bones, the apparatus could be used in treating a person already suffering from osteoporosis. For this purpose, the magnitude of the applied forces could be reduced, if necessary, to a level at which weak hip and leg bones would still be stimulated to produce osteoblasts without exposing them to the full stresses of walking and thereby risking fracture.

Hauss, Jessica↗

NASA NTRS2006

Hybrid Deployable Foam Antennas and Reflectors

Hybrid deployable radio antennas and reflectors of a proposed type would feature rigid narrower apertures plus wider adjoining apertures comprising reflective surfaces supported by open-cell polymeric foam structures (see figure). The open-cell foam structure of such an antenna would be compressed for compact stowage during transport. To initiate deployment of the antenna, the foam structure would simply be released from its stowage mechanical restraint. The elasticity of the foam would drive the expansion of the foam structure to its full size and shape. There are several alternatives for fabricating a reflective surface supported by a polymeric foam structure. One approach would be to coat the foam with a metal. Another approach would be to attach a metal film or a metal-coated polymeric membrane to the foam. Yet another approach would be to attach a metal mesh to the foam. The hybrid antenna design and deployment concept as proposed offers significant advantages over other concepts for deployable antennas: 1) In the unlikely event of failure to deploy, the rigid narrow portion of the antenna would still function, providing a minimum level of assured performance. In contrast, most other concepts for deploying a large antenna from compact stowage are of an "all or nothing" nature: the antenna is not useful at all until and unless it is fully deployed. 2) Stowage and deployment would not depend on complex mechanisms or actuators, nor would it involve the use of inflatable structures. Therefore, relative to antennas deployed by use of mechanisms, actuators, or inflation systems, this antenna could be lighter, cheaper, amenable to stowage in a smaller volume, and more reliable. An open-cell polymeric (e.g., polyurethane) foam offers several advantages for use as a compressible/expandable structural material to support a large antenna or reflector aperture. A few of these advantages are the following: 3) The open cellular structure is amenable to compression to a very small volume - typically to 1/20 of its full size in one dimension. 4) At a temperature above its glass-transition temperature (T(sub g)), the foam strongly damps vibrations. Even at a temperature below T(sub g), the damping should exceed that of other materials. 5) In its macroscopic mechanical properties, an open-cell foam is isotropic. This isotropy facilitates computational modeling of antenna structures. 6) Through chemical formulation, the T(sub g) of an open-cell polyurethane foam can be set at a desired value between about - 100 and about 0 C. Depending on the application, it may or may not be necessary to rigidify a foam structure after deployment. If rigidification is necessary, then the T(sub g) of the foam can be tailored to exceed the temperature of the deployment environment, in conjunction with providing a heater to elasticize the foam for deployment. Once deployed, the foam would become rigidified by cooling to below T(sub g). 7) Techniques for molding or machining polymeric foams (especially including open-cell polyurethane foams) to desired sizes and shapes are well developed.

Rivellini, Tommaso↗

NASA NTRS2005

Articulating Support for Horizontal Resistive Exercise

A versatile mechanical device provides support for a user engaged in any of a variety of resistive exercises in a substantially horizontal orientation. The unique features and versatility of the device promise to be useful in bedrest studies, rehabilitation, and specialized strength training. The device affords a capability for selectively loading and unloading of portions of the user s body through its support mechanisms, so that specific parts of the body can be trained with little or no effect on other parts that may be disabled or in the process of recovery from injury. Thus, the device is ideal for rehabilitation exercise programs prescribed by physicians and physical therapists. The capability for selective loading and support also offers potential benefits to strength and conditioning trainers and athletes who wish to selectively strengthen selected parts. The principal innovative aspect of the device is that it supports the subject s weight while enabling the subject, lying substantially horizontally, to perform an exercise that closely approximates a full standing squat. The device includes mechanisms that support the subject in such a way that the hips are free to translate both horizontally and vertically and are free to rotate about the line connecting the hips. At the same time, the shoulders are free to translate horizontally while the upper back is free to rotate about the line connecting the shoulders. Among the mechanisms for hip motion and support is a counterbalance that offsets the weight of the subject as the subject s pelvis translates horizontally and vertically and rotates the pelvis about the line connecting the hips. The counterbalance is connected to a pelvic support system that allows these pelvic movements. The subject is also supported at the shoulder by a mechanism that can tilt to provide continuous support of the upper back while allowing the rotation required for arching the back as the pelvis is displaced. The shoulder support also affords a capability for horizontal motion, and acts as the point of attachment of a load that is provided for squat and heel-raise exercises. The device is compatible with any resistive-exercise machine that provides bilateral loading via a moving cable or other mechanical linkage. The hip-translation and shoulder-translation and -rotation degrees of freedom of the supports can be locked individually or in combination in order to support the subject as necessary for exercises other than the standing squat. If necessary, for such exercises, the load can be applied directly to the subject by use of various attachments. In addition to the aforementioned heel raise, such exercises include the upright row, leg press, curls, extension of the triceps, front raise, lateral raise, and rear raise.

Gundo, Daniel↗