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At least 217 records · Page 12

Human capabilities in space

Man's ability to live and perform useful work in space was demonstrated throughout the history of manned space flight. Current planning envisions a multi-functional space station. Man's unique abilities to respond to the unforeseen and to operate at a level of complexity exceeding any reasonable amount of previous planning distinguish him from present day machines. His limitations, however, include his inherent inability to survive without protection, his limited strength, and his propensity to make mistakes when performing repetitive and monotonous tasks. By contrast, an automated system does routine and delicate tasks, exerts force smoothly and precisely, stores, and recalls large amounts of data, and performs deductive reasoning while maintaining a relative insensitivity to the environment. The establishment of a permanent presence of man in space demands that man and machines be appropriately combined in spaceborne systems. To achieve this optimal combination, research is needed in such diverse fields as artificial intelligence, robotics, behavioral psychology, economics, and human factors engineering.

Nicogossian, A. E.

Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation

The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.

Wiker, Steven F.

Cosmos 2229

The 6 weeks preflight activities of the Cosmos project during 1993 included: modification of EMG connector to improve the reliability of EMG recording; 24 hour cage activity recording from all but two of the flight animals (monkeys); attempts to record from flight candidates during foot lever task; and force transducer calibrations on all flight candidate animals. The 4 week postflight recordings included: postflight recordings from flight animals; postflight recordings on 3 control (non-flight) animals; postflight recalibration of force transducers on 1 flight and 4 control (non-flight) animals; and attempts to record EMG and video data from the flight animals during postflight locomotion and postural activity. The flight EMG recordings suggest that significant changes in muscle control may occur in spaceflight. It is also clear from recordings that levels of EMG recorded during spaceflight can attain values similar to those measured on earth. Amplifier gain settings should therefore probably not be changed for spaceflight.

Edgerton, V. Reggie

Frequency Analysis Of Data On Telerobotic Tasks

Data on forces and torques measured in experiments with remote manipulators processed into spectral signatures via special frequency-analysis procedure. Spectral signatures complement other measures used to evaluate performances of telerobotic systems and human operators. Contributes to verification of some assumptions made in designing manipulator arms and control subsystems and used as feedback by operators engaged in realtime monitoring of telerobotic tasks. Also provides useful indications of flows of power between manipulators and their environments.

Fiorini, Paolo

Visual search in a forced-choice paradigm

The processing of visual information was investigated in the context of two visual search tasks. The first was a forced-choice task in which one of two alternative letters appeared in a visual display of from one to five letters. The second task included trials on which neither of the two alternatives was present in the display. Search rates were estimated from the slopes of best linear fits to response latencies plotted as a function of the number of items in the visual display. These rates were found to be much slower than those estimated in yes-no search tasks. This result was interpreted as indicating that the processes underlying visual search in yes-no and forced-choice tasks are not the same.

Holmgren, J. E.

Investigation of Hardware and Instrumentation to Measure Hand Grasp Activity with the Spacesuit Gloves

Introduction: During the 2022 suited injury summit, it was hypothesized that there will be concerns for hand and glove injuries for future exploration space missions, especially given the fact that the “total number of Extravehicular activity (EVA) hours and frequency” for lunar surface missions is expected to vastly increase [1]. It has been reported that the hands experienced the greatest “absolute numbers” of reported injuries and far exceeds other injuries during EVA [1, 2]. It was reported that the most fatiguing part of the surface EVA was the repetitive gripping tasks [3]. It was recommended that a “glove sub-team” be created to look at possible injury mechanism and mitigation strategies. Some of the recommendations that were suggested [1] are as follows: examine hand fatigue, utilize motion capture, examine the duration and frequency of hand movements, and identify frequent hand motions. We started assessing hardware and instrumentation to measure hand grasp activity in the pressurized glove environment. The purpose of this test was to perform a hardware evaluation for motion capture (MoCap) gloves obtained from StretchSense (Auckland, New Zealand). The specific gloves used were the Pro Fidelity and SuperSplay to determine the repeatability, reliability, feasibility, and useability inside of a pressurized gloved environment. Methods: The MoCap gloves were customized (e.g., battery/Bluetooth pack relocated to upper arm) to better suit the pressurized testing environment and protect the subject from unintentional injury (Fig. 1). Fourteen total subjects from different demographics (i.e., gender and pressurized glove experience level) participated in this test series. Testing included one session each of a baseline data collection (NASA Johnson Space Center (JSC) building 21) and a spacesuit glove box (Fig. 2 at JSC building 7 room 2027) data collection (under vacuum down to 4.3 psid), where each session lasted 3-5 hours. Controlled and reproducible tasks to systematically evaluate the repeatability and reliability of the hardware were performed during baseline data collection. Additionally, subjects performed simulated EVA-like tasks in a pressurized gloved environment. For all sessions, MoCap gloves were placed on each of the subjects’ hands and the signal from it, or the raw capacitance (Fig. 3), was analysed. The raw capacitance was used to estimate the open and closed hand states between the testing conditions and allow us to provide an offset caused by the pressurized environment. Results & Discussion: Initial observation with the bare hands (baseline) condition showed that the MoCap gloves appeared to track grasping and releasing of the fingers (opening and closing fist) with both high- and low-speed conditions, while adduction and abduction of the fingers were not relatively tracked. A hardware evaluation was done outside of the glove box to assess the reliability and repeatability of the MoCap glove. In one task, a point force was applied to various locations on the back of the hand. When the point force was applied to the space between the 1st digit and the pointer finger, there was a noticeable distortion to the MoCap data. Another task examining an increasing force from a 10 lb. sandbag applied to the back of the hand while lying flat on a table, showed a constant flat line with only a distortion when the weight was increased or added to the back of the hand. Fig. 3 shows an object relocation task where you can see when each individual finger “opened” and “closed” (changed position) when picking up and setting down the dumbbell. When the fingers were stationary, the signal remained relatively flat compared to the peaks and valleys that can be observed in Fig. 3. This study showed promising results and imperative input into an attempt to discriminate between hand states across various functional tasks and should be evaluated with context to the repeatability and reliability outcomes. Depending on the task done inside of the pressurized glove box environment and outside, the results appear to be affected by many different factors (i.e., drift, pressure, hand size, etc.). Significance: If this hardware proves to be reliable and repeatable in determining the open and closed hand states then this may provide critical insight into assisting in the characterization of the pressurized gloved environment and the effect on crew member exertion level. Ultimately, this tool will provide useful data for quantifying the repetitive nature of EVA training and tasks. Acknowledgments: The authors would like to acknowledge the NASA Mars Campaign Office for providing funding for this research. Lastly, thanks to all the engineers and technicians at NASA JSC who helped with this data collection. References: [1] Reiber, et al. (2022), NASA/TM-20220007605; [2] Scheuring, et al. (2009), Av., Sp., and Envir. Med. 80(2). [3] Scheuring, et al. (2007), NASA/TM–2007–214755.

Rachel L Thompson

An advanced teleoperator control system - Design and evaluation

The design goal of an advanced teleoperator control system is twofold: 1) to allow the operator's manual control to be robust to system nonlinearities such as time delays and operator's control errors, and 2) to support the high performance of teleoperation while reducing the operator's control burden by providing the master and slave arms with desirable dynamic properties and by allowing the slave arm to automatically perform such control tasks as compliance and force control in the form of task sharing. The authors present a novel teleoperator control system achieving the above design goal by taking the following into consideration: the human dynamics involved in generating control command based on visual and forced feedback is modeled and incorporated into the controller design and evaluation; the dynamic characteristics of slave and master arms are actively modified in such a way as to implement the desirable dynamic characteristics; and the force feedback is redefined in terms of the combination of opposition and force discrepancies in order to establish the required man/machine dynamic coordination under shared control. The proposed control system with human dynamics in the control loop is simulated and compared with a number of conventional methods in the presence of human control errors and time delays.

Lee, Sukhan

Teleoperator performance with varying force and visual feedback

An experimental study was conducted to determine the effects of various forms of visual and force feedback on human performance for several 'peg-in-hole'-type telemanipulation tasks. Each of six human test subjects used a master/slave manipulator during two experimental sessions. In one session the subjects performed the tasks with direct vision, where subtended visual angle, force feedback, task difficulty, and the interaction of subtended visual angle and force feedback made signigicant differences in task completion times. During the other session the tasks were performed using a video monitor for visual feedback, and video frame rate, force feedback, task difficulty and the interaction of frame rate and force feedback were found to make significant differences in task times. An analysis between the direct and video viewing environments showed that apart from subtended visual angle and reduced frame rate, the video medium itself did not significantly affect task times relative to direct viewing.

Massimino, Michael J.

The Effect of Information Feedback Upon Psychophysical Judgments

An analysis was made of the role of presentation schedules and information feedback on performance in a forced-choice signal detection task. The experimental results indicate that information feedback facilitates performance, but only for certain presentation schedules. The present study was designed to assess performance in a signal detection task under two conditions of information feedback. In the I-condition, S was told on each trial whether his detection response was correct or incorrect; in the !-condition S was given no feedback regarding the correctness of his response. The task involved a 2-response, forced-choice auditory detection problem. On each trial 2 temporal intervals were defined and S was required to report which interval he believed contained the signal; i. e., in one interval a tone burst in a background of white noise was presented, while the other interval contained only white noise. A trial will be denoted as s1 or s2, depending on whether the signal was embedded in the 1st or 2nd interval; the S's response will be denoted A1 or A2 to indicate which interval he reported contained the signal. The probability of an s1 trial will be denoted as y. In this study two values of y were used (.50 and.75) and, as indicated above, two conditions of information feedback. Thus there were 4 experimental conditions (501, · 50I, 751, 75I); each S was run under all 4 conditions. Method Gaussian noise was presented binaurally in S's headphones throughout a test session and the signal was a 1000-cps sinusoid tone; the tone was presented for 100 msec. including equal fall and rise times of 20 msec. The ratio of signal energy to noise power in a unit bandwidth was 2.9, and was constant throughout the study. The. S was seated before a stimulus display board. On each trial a red warning light was flashed for 100 msec. Two amber lights then came on successively each for 1 sec.; these lights defined the 2 observation intervals. The onset of the signal occurred 500 msec. after the onset of one of the observation intervals. After the second amber light went off, S indicated his response by pressing 1 of 2 wand switches under cards reading "1st interval" and "2nd interval." For the !-condition a green light flashed on above the correct response key after S's response; the green light was omitted in the !-condition. Each trial lasted 6 sec. The S's were 12 male college students with normal hearing. They were run for two practice sessions followed by 20 test sessions. Test sessions were run on consecutive days, 350 trials/day. Each day S ran on 1 of the 4 experimental conditions; in successive 4-day blocks S ran one day on each of the 4 experimental conditions in a random order. Thus, over 20 days each of the experimental conditions was repeated 5 times.

Atkinson, Richard C.

Interchangeable end effector tools utilized on the PFMA

An instrumented task board, used for measuring forces applied by the Protoflight Manipulator Arm (PFMA) to the task board, was fabricated and delivered to Marshall Space Flight Center. SRS Technologies phased out the existing IBM compatible data acquisition system, used with a instrumented task board, and integrated the force measuring electronic hardware in with the Macintosh II data acquisition system. The purpose of this change was to acquire all data with the same time tag, allowing easier and more accurate data reduction in addition to real-time graphics. A three-dimensional optical position sensing system for determining the location of the PFMA's end effect or in reference to the center of the instrumented task board was also designed and delivered under. An improved task board was fabricated which included an improved instrumented beam design. The modified design of the task board improved the force/torque measurement system by increasing the sensitivity, reliability, load range and ease of maintenance. A calibration panel for the optical position system was also designed and fabricated. The calibration method developed for the position sensors enhanced the performance of the sensors as well as simplified the installation and calibration procedures required. The modifications made under this effort expanded the capabilities of the task board system. The system developed determines the arm's position relative to the task board and measures the signals to the joints resulting from the operator's control signals in addition to the task board forces. The software and hardware required to calculate and record the position of the PFMA during the performance of tasks with the instrumented task board were defined, designed and delivered to MSFC. PFMA joint input signals can be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to realtime force and position sensor data presentation.

Cody, Joe

Implementation of a three degree of freedom, motor/brake hybrid force output device for virtual environment control tasks

The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and interaction problems. A flexible research tool that is designed as an easily reproducible product prototype has been constructed to explore the variety of possible force interaction.

Russo, Massimo

A procedure for the frequency analysis of telerobotic tasks data

In the last few years, teleoperated tasks have been the subject of extensive research to determine the best combination of control modalities according to specific criteria. The operator's performance were compared on the basis of task completion time and of force and torque measurements during the tasks. This paper proposes a procedure for the spectral analysis of force and torque signals generated during teleoperation experiments. There are two main reasons for examining teleoperation data in the frequency domain: a spectral analysis of different tasks can validate the assumptions made in the design of the teleoperator, and a task's frequency signature can be a valuable measure of the operator's performance.

Fiorini, Paolo

Effects of Type and Strength of Force Feedback on Movement Time in a Target Selection Task

Future cockpits will likely include new onboard technologies, such as cockpit displays of traffic information, to help support future flight deck roles and responsibilities. These new technologies may benefit from multimodal feedback to aid pilot information processing. The current study investigated the effects of multiple levels of force feedback on operator performance in an aviation task. Participants were presented with two different types of force feedback (gravitational and spring force feedback) for a discrete targeting task, with multiple levels of gain examined for each force feedback type. Approach time and time in target were recorded. Results suggested that the two highest levels of gravitational force significantly reduced approach times relative to the lowest level of gravitational force. Spring force level only affected time in target. Implications of these findings for the design of future cockpit displays will be discussed.

CDTI

Hybrid Position/Force Control of Robot Manipulators

In proposed method for task-oriented control of robot manipulator, position and force error signals for each task degree of freedom are used to calculate appropriate control parameters in task coordinates. Position and force error signals are transformed and summed to create drive signal for each actuator. New hybrid control technique does not require operator to supply complex transform matrices. Control trajectories are easily visualized in terms of task to be performed.

Raibert, M. H.

Computational Virtual Reality (VR) as a human-computer interface in the operation of telerobotic systems

This presentation focuses on the application of computer graphics or 'virtual reality' (VR) techniques as a human-computer interface tool in the operation of telerobotic systems. VR techniques offer very valuable task realization aids for planning, previewing and predicting robotic actions, operator training, and for visual perception of non-visible events like contact forces in robotic tasks. The utility of computer graphics in telerobotic operation can be significantly enhanced by high-fidelity calibration of virtual reality images to actual TV camera images. This calibration will even permit the creation of artificial (synthetic) views of task scenes for which no TV camera views are available.

Bejczy, Antal K.

Human and Robotic Exploration Missions to Phobos Prior to Crewed Mars Surface Missions

Phobos is a scientifically significant destination that would facilitate the development and operation of the human Mars transportation infrastructure, unmanned cargo delivery systems and other Mars surface systems. In addition to developing systems relevant to Mars surface missions, Phobos offers engineering, operational, and public engagement opportunities that could enhance subsequent Mars surface operations. These opportunities include the use of low latency teleoperations to control Mars surface assets associated with exploration science, human landing‐site selection and infrastructure development which may include in situ resource utilization (ISRU) to provide liquid oxygen for the Mars Ascent Vehicle (MAV). A human mission to Mars' moons would be preceded by a cargo predeploy of a surface habitat and a pressurized excursion vehicle (PEV) to Mars orbit. Once in Mars orbit, the habitat and PEV would spiral to Phobos using solar electric propulsion based systems, with the habitat descending to the surface and the PEV remaining in orbit. When a crewed mission is launched to Phobos, it would include the remaining systems to support the crew during the Earth‐Mars transit and to reach Phobos after insertion in to Mars orbit. The crew would taxi from Mars orbit to Phobos to join with the predeployed systems in a spacecraft that is based on a MAV, dock with and transfer to the PEV in Phobos orbit, and descend in the PEV to the surface habitat. A static Phobos surface habitat was chosen as a baseline architecture, in combination with the PEV that was used to descend from orbit as the main exploration vehicle. The habitat would, however, have limited capability to relocate on the surface to shorten excursion distances required by the PEV during exploration and to provide rescue capability should the PEV become disabled. To supplement exploration capabilities of the PEV, the surface habitat would utilize deployable EVA support structures that allow astronauts to work from portable foot restraints or body restrain tethers in the vicinity of the habitat. Prototype structures were tested as part of NEEMO 20. PEVs would contain closed loop guidance and provide life support and consumables for two crew for 2 weeks plus reserves. The PEV has a cabin that uses the exploration atmosphere of 8.2 psi with 34% oxygen, enabling use of suit ports for rapid EVA with minimal oxygen prebreathe as well as dust control by keeping the suits outside the pressurized volume. When equipped with outriggers and control moment gyros, the PEV enables EVA tasks of up to 8 pounds of force application without the need to anchor. Tasks with higher force requirements can be performed with PEV propulsion providing the necessary thrust to react forces. Exploration of Phobos builds heavily from the developments of the cis‐lunar proving ground, and significantly reduces Mars surface risk by facilitating the development and testing of habitats, MAVs, and pressurized rover cabins that are all Mars surface forward. A robotic precursor mission to Phobos and Deimos is also under consideration and would need to launch in 2022 to support a 2031 human Phobos mission.

Gernhardt, Michael L.

Evaluation of Tablet-Based Methods for Assessment of Contrast Sensitivity

Some astronauts have suffered degradation of vision during long-duration space flight, suffering from a condition that has come to be known as Spaceflight Associated Neuro-ocular Syndrome (SANS). While related morphological changes can be observed with imaging technologies such as optical coherence tomography (OCT), it may be useful to have a rapid method for functional vision assessment. In this paper, we compare three tablet-based methods for rapid assessment of contrast sensitivity. First, a relatively novel method developed expressly for touch screens, in which the subject ”swipes” a frequency/contrast sweep grating to indicate the boundary between visible and invisible patterns; second, a method-of-adjustment task in which the subject adjusts the contrast of a grating patch up and down to bracket the visual threshold; and third, a traditional temporal two-alternative forced choice (2AFC) task, in which the subject is presented with a near-threshold stimulus in one of two intervals, and must report the interval containing the stimulus. The swipe method shows variability comparable to the 2AFC method, and shows good agreement in estimates of the spatial frequency of peak sensitivity. The absolute sensitivity estimated with the swipe method is higher than that of the other methods, perhaps because subjects are biased to trace outside of the visible pattern region, or perhaps due to stimulus differences.

Mulligan, Jeffrey B.

Operator performance with alternative manual control modes in teleoperation

Recent experiments conducted at the JPL comparing alternative manual control modes using the JPL Advanced Teleoperator system are described. Of particular interest were control modes that provide force reflection to the operator. The task selected for the experiment is a portion of the Solar Maximum Satellite Repair procedure we developed to demonstrate the repair of the Solar Maximum Satellite with teleoperators. The seven manual control modes evaluated in the experiment are combinations of manual position or resolved motion rate control with alternative control schemes for force reflection and remote manipulator compliance. Performance measures used were task completion times, average force and torque exerted during the execution of the task, and cumulative force and torque exerted. The results were statistically analyzed and they show that, in general, force reflection significantly improves operator performance and indicate that a specific force-reflecting scheme may yield the best performance among the control modes we tested. Also, our experiment showed that, for the selected task, the position control modes were preferable to the rate control modes and slave manipulator compliance reduced task interaction forces and torques.

Das, H.