Design and Control of Exoskeletons for Planetary Exploration

951729

07/01/1995

Event
International Conference on Environmental Systems
Authors Abstract
Content
This paper discusses the development and prototype construction of a powered hand exoskeleton that is designed to fit over the gloved hand of an astronaut. The exoskeleton is designed to offset the stiffness of the pressurized space suit and keep the productive time spent in the space suit from being constrained by hand fatigue. The exoskeleton has a three-finger design. The motions of the hand are monitored by an array of pressure sensors mounted between the exoskeleton and the hand, and the resultant controller commands are determined by a state of the art programmable controller. These commands are then applied to a DC motor array which power the device.
Meta TagsDetails
DOI
https://doi.org/10.4271/951729
Pages
26
Citation
Shields, B., Main, J., Peterson, S., and Strauss, A., "Design and Control of Exoskeletons for Planetary Exploration," SAE Technical Paper 951729, 1995, https://doi.org/10.4271/951729.
Additional Details
Publisher
Published
Jul 1, 1995
Product Code
951729
Content Type
Technical Paper
Language
English