2P1-M02 クルー装着型マニピュレータの初期概念検討 : 概念設計とロボットハンドの試作(【宇宙工学部門】宇宙工学とロボティクス・メカトロニクス)

The Self-Powered Extravehicular Mobility Unit (EMU) Extravehicular Activity (EVA) Data Recorder (SPEEDR) is a field-programmable gate array (FPGA)-based device designed to collect high-rate EMU Primary Life Support Subsystem (PLSS) data for download at a later time. During EVA, the existing EMU PLSS data downlink capability is one data packet every 2 minutes and is subject to bad packets or loss of signal. Higher-rate PLSS data is generated by the Enhanced Caution and Warning System but is not normally captured or distributed. Access to higher-rate data will increase the capability of EMU anomaly resolution team to pinpoint issues remotely, saving crew time by reducing required call-down Q&A and on-orbit diagnostic activities. With no Space Shuttle flights post Fiscal Year 2011 (FY11), and potentially limited down-mass capability, the ISS crew and ground support personnel will have to be capable of on-orbit operations to maintain, diagnose, repair, and return to service EMU hardware, possibly through 2028. Collecting high-rate EMU PLSS data during both intravehicular activity (IVA) and EVA operations will provide trending analysis for life extension and/or predictive performance. The SPEEDR concept has generated interest as a tool/technology that could be used for other International Space Station subsystems or future exploration-class space suits where hardware reliability/availability is critical and low/variable bandwidth may require store then forward methodology. Preliminary work in FY11 produced a functional prototype consisting of an FPGA evaluation board, custom memory/interface circuit board, and custom software. The SPEEDR concept includes a stand-alone battery that is recharged by a computer Universal Serial Bus (USB) port while data are being downloaded.

<div class="htmlview paragraph">In future lunar and Mars exploration missions the ability to provide the crewmember navigation information will be critical. Exploration demands that Extravehicular Activity (EVA) astronauts be provided the capability to operate with greater autonomy in accomplishing complex EVA missions than has been the case previously. Robust crew information interfaces and navigation support integral to the EVA spacesuit system are expected to be minimum requirements. Navigation support must allow the EVA crew to determine their position relative to EVA target locations, satellite imagery and maps and assist them in walking or riding to the desired targets on the planetary surface. Together, these needs suggest a requirement for an integrated system that combines data and voice communications, a high performance visual display, and navigation support in a design that is compatible with spacesuit environmental and packaging restrictions and with unique EVA crew interface demands. Unlike current Earth surface operations, lunar and Mars missions will require that these capabilities be provided with a minimum of infrastructure and without the availability of an extensive network of satellites like the Global Positioning System (GPS).</div> <div class="htmlview paragraph">NASA has included crew information interface experiments in its Desert Research and Technology Studies (RATS) to better understand the detailed requirements for such a system and has evolved a test platform called the Communications Avionics and Informatics (CAI) pack to support those studies. During 2006, Hamilton Sundstrand and Raytheon have worked with NASA to integrate a ground based navigation system developed for military uses into this test environment for a preliminary assessment of feasibility and utility. The results show significant promise and the potential for near term development of a more fully integrated test system. This paper describes the test systems, test activities and results and discusses possible future experimentation.</div>

The International Space Station Program experienced a problem with the extra vehicular activity (EVA) pre-breathe oxygen (O <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> ) sensor on-board the International Space Station (ISS). Astronauts on the ISS must pre-breathe a mixture rich in oxygen prior to a scheduled EVA to prevent nitrogen narcosis (the bends) during the EVA. The O <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> measurement from this sensor on the pre-breathing apparatus was observed during its 270 day mission to be in error by more than ±6mmHg, subjecting the life of the EVA astronaut to an unacceptable risk. The ISS Program was faced with either halting EVA's for the ISS until this sensor could be redesigned, tested, and delivered to the ISS, or finding some other way to reduce this risk to the EVA astronauts to an acceptable level.

Fabrication of a Smart Suspension Structure of Micro Tactile Probing

When we send humans to search for life on other planets, we'll need to know what we brought with us versus what may already be there. To ensure our crewed systems meet planetary protection requirements — and to protect our science from human contamination — we'll need to assess whether microorganisms may be leaking or venting from our spacecraft. Microbial sample collection outside of a pressurized spacecraft is complicated by temperature extremes, low pressures that preclude the use of laboratory standard (wetted) swabs, and operation either in bulky spacesuits or with robotic assistance. A team at the National Aeronautics and Space Administration (NASA) recently developed a swab kit for use in collecting microbial samples from the external surfaces of crewed spacecraft, including spacesuits. The Extravehicular Activity (EVA) Swab Kit consists of a single swab tool handle and an eight-canister sample caddy. The design team minimized development cost by re-purposing a heritage Space Shuttle tile repair handle that was designed to quickly snap into different tool attachments by engaging a mating device in each end effector. This allowed the tool handle to snap onto a fresh swab end effector much like popular shaving razor handles can snap onto a disposable blade cartridge. To disengage the handle from a swab, the user performs two independent functions, which can be done with a single hand. This dual operation mitigates the risk that a swab will be inadvertently released and lost in microgravity. Each swab end effector is fitted with commercially available foam swab tips, vendor-certified to be sterile for Deoxyribonucleic Acid (DNA). A microbial filter installed in the bottom of each sample container allows the container to outgas and re-pressurize without introducing microbial contaminants to internal void spaces. Extensive ground testing, post-test handling, and sample analysis confirmed the design is able to maintain sterile conditions as the canister moves between various pressure environments. To further minimize cost, the design team acquired extensive ground test experience in a relevant flight environment by piggy-backing onto suited crew training runs. These training runs allowed the project to validate tool interfaces with pressurized EVA gloves and collect user feedback on the tool design and function, as well as characterize baseline microbial data for different types of spacesuits. In general, test subjects found the EVA Swab Kit relatively straightforward to operate, but identified a number of design improvements that will be incorporated into the final design. Although originally intended to help characterize human forward contaminants, this tool has other potential applications, such as for collecting and preserving space-exposed materials to support astrobiology experiments.

After introductory considerations on the main functional and design differences between anthropomorphic hands conceived as robotic end effectors or as prostheses, this chapter presents two topics related to advances in robotic hand design that seem transferable to prosthetic hands, in order to increase their functional capability yet coping with specific constraints like simplicity, lightweight, cost effectiveness, robustness, etc. The development of a bio-inspired robotic hand, called UB Hand IV, based on an endoskeletal articulated structure, actuated by tendons and covered by a soft dermal-epidermal layer is briefly illustrated, in order to show the potential of its design solutions to be transferred into prosthetic hands. The first part of the chapter presents alternative design approaches for articulated joints and finger structures based on purposely designed compliant hinges. The basic problem of compliant hinges adoption in robotic structures, that is the limitation of secondary compliance effects, is analyzed and considerations about comparative metrics are proposed. Two hinge morphologies which show promising features are critically compared and pros and cons the production of fully integral fingers with compliant joints are discussed. The second part reports on the development of thin soft covers for robotic (and prosthetic) hands capable of strictly mimicking the actual compliance of human finger pulps. A design method, called by the authors Differentiated Layer Design (DLD), is reviewed and its potential for application on both robotic and prosthetic devices is underlined. Conclusions summarize the main aspects that encourage the transfer of the described results from the world of robots to that of human portable devices.

In the rapid development of the world, robots have become involved in different aspects of human lives. A robotic arm is a type of machine that is able to manipulate its end effector in two or more axes, thus more mobile than a human arm would be. The most common restraint of a robotic arm is how it needs to be connected to the user through wires, which limits the overall capabilities of the robotic arm. Thus, the study aims to design, fabricate, and test a prototype of a robotic arm which can be controlled wirelessly through joystick module. The robotic arm controlled by a wireless joystick can change the position of its end effector within the three axes; X,Y, and Z axis. The prototype was then tested on its accuracy and on the maximum distance for safe performance when it is unobstructed and when it is obstructed by a glass window. The controller for the robotic arm was able to transmit data wirelessly through a radio frequency module while the robotic arm was able to receive the data using the same module. The robotic arm can be controlled at a maximum distance of 25ft with a glass obstruction, and 29 ft when unobstructed. The accuracy of the robotic arm is then tested wherein the researchers were operating the robotic arm. It was proven that it was accurate enough to be able to move its end effector to the desired point while being controlled remotely using a joystick controller. The ability of the robotic arm to carry load depends on the type of servo motor used in the robotic arm, however, the researchers opted to focus more on the accuracy of the robotic arm and not on the load carrying capacity.

Currently available industrial robots are mainly of monolithic structure. Hence, the geometrical dimensions and the configuration of robotic arms are immutable. A modular design of serial manipulators allows to vary the structure of serial kinematic chains, for example, to adapt the system to a specific handling task. In this work we present the concept of a modular robot which has general kinematic structure by means of curved link elements. We show how to describe intuitively the assemblage of modular manipulators with curved links (referred to as Cuma-arms) by a parameter set. A Cuma-type arm and a dedicated path which can be followed by the end effector with 16 different postures is presented. For computation of the inverse kinematics of general serial 6R manipulators the algorithm of Husty and Pfurner is used and implemented on a real system.

Spaceflight research has seen an increased focus on developing models of astronaut health, operational readiness, and cognitive states from physiological data during astronaut operations. In particular, astronaut monitoring during extravehicular activities (EVAs) will become increasingly important for future deep space exploration missions to the Moon and Mars with reduced reliance on Earth-based support. A primary challenge in developing models is the ability to collect sufficient, representative sample data in realistic operational settings, and models developed to date have been constrained to using human data collected in laboratory settings. Spacesuit simulators offer a means to collect data in experimental settings on simulated EVA, but a suite of physiological and behavioral sensors and data acquisition has yet to be incorporated into simulated spacesuits. As a result, existing models remain unvalidated in representative environments. Without providing human participants with similar ecological constraints and validity, models trained on lab-based data may not generalize to field EVA operations. To address these gaps, this work presents the development and validation of a spacesuit simulator capable of collecting behavioral, physiological (including neural) data during naturalistic simulated EVAs. Specifically, the spacesuit simulator enables the collection of speech and navigation data as well as functional near-infrared spectroscopy and eye-tracking, recorded from in-suit sensors by embedding data acquisition hardware within the portable life support system. To simulate teaming constraints, the helmet ventilation system forces communication to be mediated by technological devices. Finally, these suits accommodate diverse anthropometries (5th percentile female to 95th percentile male) to enable the collection of generalizable sample datasets. Following fabrication, the collection of these physiological data for future model development was validated in dyads during simulated EVA surface operations.

&lt;div class="htmlview paragraph"&gt;An extravehicular activity (EVA) path-planning and navigation tool, called the Mission Planner, has been developed to assist with pre-mission planning, scenario simulation, real-time navigation, and contingency replanning during astronaut EVAs, The Mission Planner calculates the most efficient path between user-specified waypoints. Efficiency is based on an exploration cost algorithm, which is a function of the estimated astronaut metabolic rate. Selection of waypoints and visualization of the generated path are realized within a 3D mapping interface through terrain elevation models. The Mission Planner is also capable of computing the most efficient path back home from any point along the path.&lt;/div&gt;

&lt;div class="htmlview paragraph"&gt;A molecular-sieve-based portable life support system (PLSS) for microgravity extravehicular activity (EVA) has been designed to minimize weight, volume, and expenditures of consumables for missions with numerous EVA's. The PLSS incorporates a regenerable two-bed molecular sieve system for CO&lt;sub&gt;2&lt;/sub&gt; and humidity removal, and a regenerable nonventing thermal sink for temperature control.&lt;/div&gt; &lt;div class="htmlview paragraph"&gt;The molecular-sieve-based PLSS design is modular. This approach simplifies initial manufacturing tasks, facilitates subsequent maintenance tasks, and provides the potential to tailor the PLSS to the specific environmental parameters (metabolic load, radiative environment, duration) of a given EVA excursion.&lt;/div&gt; &lt;div class="htmlview paragraph"&gt;This paper presents the molecular-sieve/regenerative nonventing thermal sink PLSS design and discusses the analyses and trade studies which support the design. The modular design and its benefits are discussed, and the reduced launch weight requirements of the regenerable system are quantified.&lt;/div&gt;

The capabilities of maximising standard payload modules’ functionalities for applications such as on-orbit satellite servicing or planetary exploration depend critically on the creation and availability of a standard interface (IF). Standard interface should provide, aside from the necessary mechanical interconnections, electrical power and data connections, as well as thermal transfer between “building block” payload modules. The overall flexibility enabled by such IF will allow endless reconfigurations of payload and other modules for different functional requirements. This can be considered a game changer technology, enabling transformation from the current approach to space missions, deploying single-use system with pre-planned and limited functionalities, to a radically new approach with multi-use, dynamically reconfigurable and multi-functional systems. Hence, SIROM aims to set a new research agenda for future affordable space missions. Within this context, the partners of the SIROM (Standard Interface for Robotic Manipulation of payloads in future space missions) project are developing the first standard IF solution that combines the four required functionalities in an integrated and compact form for future space missions. With a mass lower than 1.5 kg and having an external diameter of 120 mm and a height of 30 mm, this novel interface permits not only mechanical coupling but also electrical, data and thermal connectivity between so called Active Payload Modules (APMs), as well as other modules such as the robotic end-effectors. This multi-functional IF features an androgynous design to allow for replacement and reconfiguration of the individual modules in any combination desired. It consists of the following sub-assemblies: mechanical IF, electrical IF, data IF, thermal IF and IF controller. A clear advantage of SIROM design is that its mechanical IF consists of a latching and guiding systems for misalignment correction, capable of withstanding certain robotic arm positioning inaccuracies: ± 5 mm translation and ± 1.5° rotation in all axes. Regarding the electrical and data IFs, SIROM transfers up to 150 W electrical power and provides a data transfer rate of 100 Mbit/s via SpaceWire, plus command communication with speeds up to 1Mbit/s via CAN bus. The thermal IF provides fluidic ports for flow transfer and has the potential to transfer 2500 W between APMs accordingly provided with the corresponding close-loop heat exchange system. Although not envisaged for SIROM current design, a possible variation could be to use these ports for satellite re-fuelling. Apart from that, SIROM exhibits redundant coupling capabilities: it can match and couple another completely passive SIROM. It is provided with main and redundant connectors for thermal, electrical, data and control flow in case of one of the lines fails. All in all, SIROM will enable long duration missions with no logistic support, refurbishing, maintenance and reconfiguration of satellites, cost efficiency and simplification of the tool exchange in scientific exploration missions. SIROM is designed to be a common building block for European and possibly world future space robotics enabled missions.

In robotics, tactile perception is important for fine control using robot grippers and hands. To effectively incorporate tactile perception in robots, it is essential to understand how humans use mechanoreceptors and proprioceptors to perceive texture. Thus, our study aimed to investigate the impact of tactile sensor arrays, shear force, and the positional information of the robot's end effector on its ability to recognize texture. A deep learning network was employed to classify tactile data from 24 different textures that were explored by a robot. The input values of the deep learning network were modified based on variations in the number of channels of the tactile signal, the arrangement of the tactile sensor, the presence or absence of shear force, and the positional information of the robot. By comparing the accuracy of texture recognition, our analysis revealed that tactile sensor arrays more accurately recognized the texture compared to a single tactile sensor. The utilization of shear force and positional information of the robot resulted in an improved accuracy of texture recognition when using a single tactile sensor. Furthermore, an equal number of sensors placed in a vertical arrangement led to a more accurate distinction of textures during exploration when compared to sensors placed in a horizontal arrangement. The results of this study indicate that the implementation of a tactile sensor array should be prioritized over a single sensor for enhanced accuracy in tactile sensing, and the use of integrated data should be considered for single tactile sensing.

During robot-assisted dressing, a robot manipulates a garment in contact with a person's body. Inferring the forces applied to the person's body by the garment might enable a robot to provide more effective assistance and give the robot insight into what the person feels. However, complex mechanics govern the relationship between the robot's end effector and these forces. Using a physics-based simulation and data-driven methods, we demonstrate the feasibility of inferring forces across a person's body using only end effector measurements. Specifically, we present a long short-term memory (LSTM) network that at each time step takes a 9-dimensional input vector of force, torque, and velocity measurements from the robot's end effector and outputs a force map consisting of hundreds of inferred force magnitudes across the person's body. We trained and evaluated LSTMs on two tasks: pulling a hospital gown onto an arm and pulhng shorts onto a leg. For both tasks, the LSTMs produced force maps that were similar to ground truth when visualized as heat maps across the limbs. We also evaluated their performance in terms of root-mean-square error. Their performance degraded when the end effector velocity was increased outside the training range, but generalized well to limb rotations. Overall, our results suggest that robots could learn to infer the forces people feel during robot-assisted dressing, although the extent to which this will generalize to the real world remains an open question.

In this paper, a learning control algorithm for the motion and force of a direct-drive robot, which has a variable table and six degrees of freedom (d. o. f.), is proposed for a task in constrained work space. The five-d. o. f. relative motion of an end effector attached to the wrist of the robot arm and the internal force between the end effector and the table through an object are achieved by utilizing the redundancy to avoid interference with the object. A hybrid controller for an end effector and a position controller for a robot arm are used. Under the over-constrained conditions, which are imposed by the two tasks stated above, a learning control algorithm using neural networks (NN's)is employed to control an end effector with higher priority than the robot arm. The proposed control algorithm is applied to an experiment on the control of both the position of an end effector and the contact force on the surface of the object while avoiding interference with the object. As a result, it has been shown that the trajectories of robot joints can be generated in real-time computation and a high accuracy of the end effector is obtained after the completion of learning. The effectiveness of the proposed control algorithm is demonstrated by the experiment.