Hand exo-muscular system for assisting astronauts during extravehicular activities

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dc.contributor.author Villoslada Peciña, Álvaro
dc.contributor.author Rivera, Cayetano
dc.contributor.author Escudero, Naiara
dc.contributor.author Martín Monar, Fernando
dc.contributor.author Blanco Rojas, María Dolores
dc.contributor.author Moreno Lorente, Luis Enrique
dc.date.accessioned 2022-01-27T09:57:27Z
dc.date.available 2022-01-27T09:57:27Z
dc.date.issued 2019-02
dc.identifier.bibliographicCitation Villoslada, 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.
dc.identifier.issn 2169-5172
dc.identifier.uri http://hdl.handle.net/10016/33977
dc.description.abstract Human 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.
dc.description.sponsorship The 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).
dc.format.extent 17
dc.language.iso eng
dc.publisher Mary Ann Liebert
dc.rights © 2019, Mary Ann Liebert, Inc., publishers.
dc.subject.other Soft robotics
dc.subject.other Wearable robotics
dc.subject.other Space robotics
dc.subject.other Hand exoskeleton
dc.subject.other Shape memory alloy actuator
dc.title Hand exo-muscular system for assisting astronauts during extravehicular activities
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.identifier.doi https://doi.org/10.1089/soro.2018.0020
dc.rights.accessRights openAccess
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7-SPACE-2012-312815
dc.type.version acceptedVersion
dc.identifier.publicationfirstpage 21
dc.identifier.publicationissue 1
dc.identifier.publicationlastpage 37
dc.identifier.publicationtitle Soft Robotics
dc.identifier.publicationvolume 6
dc.identifier.uxxi AR/0000022747
dc.contributor.funder European Commission
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