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Hand exo-muscular system for assisting astronauts during extravehicular activities

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorVilloslada Peciña, Álvaro
dc.contributor.authorRivera, Cayetano
dc.contributor.authorEscudero, Naiara
dc.contributor.authorMartín Monar, Fernando
dc.contributor.authorBlanco Rojas, María Dolores
dc.contributor.authorMoreno Lorente, Luis Enrique
dc.contributor.funderEuropean Commissionen
dc.date.accessioned2022-01-27T09:57:27Z
dc.date.available2022-01-27T09:57:27Z
dc.date.issued2019-02
dc.description.abstractHuman exploration of the Solar System is one of the most challenging objectives included in the space programs of the most important space agencies in the world. Since the Apollo program, and especially with the construction and operation of the International Space Station, extravehicular activities (EVA) have become an important part of space exploration. This article presents a soft hand exoskeleton designed to address one of the problems that astronauts face during spacewalks: hand fatigue caused by the pressurized EVA gloves. This device will reduce the stiffness of the spacesuit glove by counteracting the force exerted by the pressurized glove. To this end, the system makes use of a set of six flexible actuators, which use a shape memory alloy (SMA) wire as the actuating element. SMAs have been chosen because some of their features, such as low volume and high force-to-weight ratio, make them a suitable choice taking into account the constraints imposed by the use of the device in a spacesuit. Besides describing the different mechanical and electronic subsystems that compose the exoskeleton, this article presents a preliminary assessment of the device; several tests to characterize its nominal operation have been carried out, as well as position and force control tests to study its controllability and evaluate its suitability as a force assistive device.en
dc.description.sponsorshipThe research leading to these results has received funding from the STAMAS (Smart Technology for Artificial Muscle Applications in Space) project,** funded by the European Union's Seventh Framework Program for Research (FP7) (Grant No. 312815).en
dc.format.extent17
dc.identifier.bibliographicCitationVilloslada, L., Rivera, C., Escudero, N., Martín, F., Blanco, D. & Moreno, L. (2019). Hand Exo-Muscular System for Assisting Astronauts During Extravehicular Activities. Soft Robotics, 6(1), 21–37.en
dc.identifier.doihttps://doi.org/10.1089/soro.2018.0020
dc.identifier.issn2169-5172
dc.identifier.publicationfirstpage21
dc.identifier.publicationissue1
dc.identifier.publicationlastpage37
dc.identifier.publicationtitleSoft Roboticsen
dc.identifier.publicationvolume6
dc.identifier.urihttps://hdl.handle.net/10016/33977
dc.identifier.uxxiAR/0000022747
dc.language.isoengen
dc.publisherMary Ann Lieberten
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/FP7-SPACE-2012-312815
dc.rights© 2019, Mary Ann Liebert, Inc., publishers.en
dc.rights.accessRightsopen accessen
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherSoft roboticsen
dc.subject.otherWearable roboticsen
dc.subject.otherSpace roboticsen
dc.subject.otherHand exoskeletonen
dc.subject.otherShape memory alloy actuatoren
dc.titleHand exo-muscular system for assisting astronauts during extravehicular activitiesen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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