Search NASA⌕ Search

SEARCH · Search NASA

Results for “Hand”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 253 records · Page 14

Artificial dexterous hand

An artificial dexterous hand is provided for conformally engaging and manipulating objects. The hand includes an articulated digit which is connected to an engagement sub-assembly and has a first shape adaption mechanism associated with it. The digit has a digit base and first and second phalanges. The digit base is operatively interconnected to the first phalange by a base joint having a base pulley. The phalanges are operatively interconnected by a separate first phalange joint having a first phalange pulley. The engagement sub-assembly includes a tendon, which is received by the base pulley and by the first phalange pulley, and an actuation device for selectively tensioning the tendon. The first shape adaption mechanism is responsive to and receives the tendon. It is also situated between the base joint and the first phalange joint and is connected to the first phalange. Upon actuation by the actuation device, the phalanges are caused to pivot relative to the base joint and the second phalange is caused to pivot relative to the first phalange. At the same time, the first shape adaption mechanism controls the sequence of the aforementioned pivoting of the phalanges through application of braking force to the tendon.

Lee, Sukhan↗

Position dependent rate dampening in any active hand controller

A control system for an active hand controller, for example, uses a control stick connected to and controlled by a motor. Electronics are provided to control the motor to eliminate oscillations due to motor torque and high gain due to breakout at the control stick when the control stick is at about its null position. Both hardware as well as software implementations can provide position dependent dampening to the control sticks such that when the control stick is located about a null position, a higher rate of dampening is provided than when the control stick is located outside the null position, when a lower rate of dampening is provided. The system provides a stable active hand controller control stick without degraded force and feel characteristics of the system.

Gregory, William W.↗

Hand-Held Units for Short-Range Wireless Biotelemetry

Special-purpose hand-held radiotransceiver units have been proposed as means of short-range radio powering and interrogation of surgically implanted microelectromechanical sensors and actuators. These units are based partly on the same principles as those of the units described in "Printed Multi- Turn Loop Antennas for RF Biotelemetry" (LEW-17879-1), NASA Tech Briefs, Vol. 31, No. 6 (June 2007), page 48. Like the previously reported units, these units would make it unnecessary to have wire connections between the implanted devices and the external equipment used to activate and interrogate them. Like a unit of the previously reported type, a unit of the type now proposed would include a printed-circuit antenna on a dielectric substrate. The antenna circuitry would include integrated surface-mount inductors for impedance tuning. Circuits for processing the signals transmitted and received by the antenna would be included on the substrate. During operation, the unit would be positioned near (but not in electrical contact with) a human subject, in proximity to a microelectromechanical sensor or actuator that has been surgically implanted in the subject. It has been demonstrated that significant electromagnetic coupling with an implanted device could be established at a distance of as much as 4 in. (.10 cm). During operation in the interrogation mode, the antenna of the unit would receive a radio telemetry signal transmitted by the surgically implanted device. The antenna substrate would have dimensions of approximately 3.25 by 3.75 inches (approximately 8.3 by 9.5 cm). The substrate would have a thickness of the order of 30 mils (of the order of a somewhat less than a millimeter). The substrate would be made of low-radiofrequency- loss dielectric material that could be, for example, fused quartz, alumina, or any of a number of commercially available radio-frequency dielectric composite materials. The antenna conductors would typically be made of copper or a combination of chromium and gold. The choice of metal and the thickness of the metal layer(s) would depend on the choice of substrate material. For example, on a quartz or alumina substrate, one would typically use a layer of chromium 150 A thick and a layer of gold 2 m thick. The proposed units and the implanted devices that they would interrogate or activate would be inherently safe to use. They would operate at low radiated-power levels for short interrogation times (typically, milliseconds). Hence, there would be little local heating of tissues surrounding the implanted devices and little absorption of radio energy by such sensitive body parts as the eyes and the brain. Because the implanted devices would not depend on battery power and would be activated only during short interrogation intervals and would otherwise be in the goff h state most of the time, the useful lifetimes of the implanted devices would be greater than those of comparable battery-powered implanted devices. The compactness of the hand-held transceiver units would facilitate transport and storage and would facilitate self-diagnosis by patients able to handle the units while away from medical facilities.

Miranda, Felix A.↗

Use of Traditional and Novel Methods to Evaluate the Influence of an EVA Glove on Hand Performance

The gloved hand is one of an astronaut s primary means of interacting with the environment, and any restrictions imposed by the glove can strongly affect performance during extravehicular activity (EVA). Glove restrictions have been the subject of study for decades, yet previous studies have generally been unsuccessful in quantifying glove mobility and tactility. Past studies have tended to focus on the dexterity, strength, and functional performance of the gloved hand; this provides only a circumspect analysis of the impact of each type of restriction on the glove s overall capability. The aim of this study was to develop novel capabilities to provide metrics for mobility and tactility that can be used to assess the performance of a glove in a way that could enable designers and engineers to improve their current designs. A series of evaluations were performed to compare unpressurized and pressurized (4.3 psi) gloved conditions with the ungloved condition. A second series of evaluations were performed with the Thermal Micrometeoroid Garment (TMG) removed. This series of tests provided interesting insight into how much of an effect the TMG has on gloved mobility - in some cases, the presence of the TMG restricted glove mobility as much as pressurization did. Previous hypotheses had assumed that the TMG would have a much lower impact on mobility, but these results suggest that an improvement in the design of the TMG could have a significant impact on glove performance. Tactility testing illustrated the effect of glove pressurization, provided insight into the design of hardware that interfaces with the glove, and highlighted areas of concern. The metrics developed in this study served to benchmark the Phase VI EVA glove and to develop requirements for the next-generation glove for the Constellation program.

Benson, Elizabeth A.↗

Particle Impact Ignition Test Data on a Stainless Steel Hand Valve

This slide presentation reviews the particle impact ignition test of a stainless steel hand valve. The impact of particles is a real fire hazard with stainless steel hand valves, however 100 mg of particulate can be tolerated. Since it is unlikely that 100 mg of stainless steel contaminant particles can be simultaneously released into this type of valve in the WSTF configuration, this is acceptable and within statistical confidence as demonstrated by testing.

Peralta, Stephen↗

Durable Tactile Glove for Human or Robot Hand

A glove containing force sensors has been built as a prototype of tactile sensor arrays to be worn on human hands and anthropomorphic robot hands. The force sensors of this glove are mounted inside, in protective pockets; as a result of this and other design features, the present glove is more durable than earlier models.

Butzer, Melissa↗

Robot Forearm and Dexterous Hand

An electromechanical hand-and-forearm assembly has been developed for incorporation into an anthropomorphic robot that would be used in outer space. The assembly is designed to offer manual dexterity comparable to that of a hand inside an astronaut s suit; thus, the assembly may also be useful as a prosthesis or as an end effector on an industrial robot.

Lovchik, Christopher S.↗

Hand-Eye Calibration Using Active Vision

The project described in this paper designed and implemented a hand-eye calibration method for manipulators under observation by stereo cameras. This method has been utilized on Johnson Space Center's Robonaut, and on a planetary manipulator mock-up at the Jet Propulsion Laboratory. The intent of this calibration is to improve the manipulator's hand-eye coordination.

manipulation↗

Hands-Free Control Interfaces for an Extra Vehicular Jetpack

The National Aeronautics and Space Administration (NASA) strategic vision includes, as part of its long-term goals, the exploration of deep space and Near Earth Asteroids (NEA). To support these endeavors, funds have been invested in research to develop advanced exploration capabilities. To enable the human mobility necessary to effectively explore NEA and deep space, a new extravehicular activity (EVA) Jetpack is under development at the Johnson Space Center. The new design leverages knowledge and experience gained from the current astronaut rescue device, the Simplified Aid for EVA Rescue (SAFER). Whereas the primary goal for a rescue device is to return the crew to a safe haven, in-space exploration and navigation requires an expanded set of capabilities. To accommodate the range of tasks astronauts may be expected to perform while utilizing the Jetpack, it was desired to offer a hands-free method of control. This paper describes the development and innovations involved in creating two hands-free control interfaces and an experimental test platform for a suited astronaut flying the Jetpack during an EVA.

Zumbado, Jennifer Rochlis↗

Development and Optical Testing of the Camera, Hand Lens, and Microscope Probe with Scannable Laser Spectroscopy (CHAMP-SLS)

Conducting high resolution field microscopy with coupled laser spectroscopy that can be used to selectively analyze the surface chemistry of individual pixels in a scene is an enabling capability for next generation robotic and manned spaceflight missions, civil, and military applications. In the laboratory, we use a range of imaging and surface preparation tools that provide us with in-focus images, context imaging for identifying features that we want to investigate at high magnification, and surface-optical coupling that allows us to apply optical spectroscopic analysis techniques for analyzing surface chemistry particularly at high magnifications. The camera, hand lens, and microscope probe with scannable laser spectroscopy (CHAMP-SLS) is an imaging/spectroscopy instrument capable of imaging continuously from infinity down to high resolution microscopy (resolution of approx. 1 micron/pixel in a final camera format), the closer CHAMP-SLS is placed to a feature, the higher the resultant magnification. At hand lens to microscopic magnifications, the imaged scene can be selectively interrogated with point spectroscopic techniques such as Raman spectroscopy, microscopic Laser Induced Breakdown Spectroscopy (micro-LIBS), laser ablation mass-spectrometry, Fluorescence spectroscopy, and/or Reflectance spectroscopy. This paper summarizes the optical design, development, and testing of the CHAMP-SLS optics.

Fluorescence↗

User interface for a tele-operated robotic hand system

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

42 ENGINEERING↗

Surgical guidance system using hand-held probe with accompanying positron coincidence detector

A surgical guidance system offering different levels of imaging capability while maintaining the same hand-held convenient small size of light-weight intra-operative probes. The surgical guidance system includes a second detector, typically an imager, located behind the area of surgical interest to form a coincidence guidance system with the hand-held probe. This approach is focused on the detection of positron emitting biomarkers with gamma rays accompanying positron emissions from the radiolabeled nuclei.

Majewski, Stanislaw↗

Design of Nuclear Criticality Safety Framework for Hands-on Construction of Fast Systems Over Ranges of Multiplication

Since 1945, Los Alamos National Laboratory (LANL) has performed critical experiments, primarily at the Los Alamos Critical Experiments Facility (LACEF) at Technical Area 18 (TA-18). Since 2011, these experiments have been conducted by the National Criticality Experiments Research Center (NCERC), operated by LANL, at the Device Assembly Facility (DAF) in the Nevada National Security Site (NNSS). These experiments utilize various types of Special Nuclear Material (SNM). Some of these experiments utilize what is referred to as the Rocky Flat Shells, which are called such as they came from the Rocky Flats Plant. These concentric hemi-shells are made of Highly Enriched Uranium (HEU), which is 93 w/o 235U. Fig. 1. Subset of the Rocky Flat Shells LANL is designing a new subcritical hands-on experiment with the goal of achieving a neutron multiplication in the range of 50 to 200, which correlates to Keff values of 0.98 to 0.995. ANSI/ANS-1 is the standard for Conduct of Critical Experiments which governs critical operations at NCERC. Section 3.9 of ANSI/ANS-1 states that when manipulating a critical assembly by hand, the predicted k eff of a known configuration should not exceed 0.95 (a neutron multiplication of 20). This presents a challenge, as this system would have a higher multiplication than 20 and the assembly would have to remain subcritical in normal and credible accident scenarios. To ensure the safety of such an assembly, the different normal and abnormal conditions that could alter the criticality 1 MCNP® and Monte Carlo N-Particle® are registered trademarks owned by Triad National Security, LLC, manager and operator of Los Alamos National Laboratory. Any third party use of such registered marks should be properly of the system must be considered and analyzed. If such a condition is deemed to be credible, it will be further investigated using the Monte Carlo N-Particle (MCNP) transport code. If the results of these simulations show that a k eff larger than one could be possible, modifications to the assembly will be made until such an event is deemed no longer possible.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Ir-192 radioisotope replacement with a hand-portable 1 MeV Ku-band electron linear accelerator

Although linear accelerators are used in many security, industrial and medical applications, the existing technologies are too large and expensive for several critical applications such as radioactive source replacement, field radiography and mobile cargo scanners. Here, one of the main requirements for these sources is to be highly portable to allow field operation. In response to this problem, RadiaBeam has designed a hand-portable 1 MeV X-ray source, scalable to higher energies, based on Ku-band split electron linac, that can be used for Ir-192 radioisotope replacement. In this paper, we present its multiphysics and engineering design studies, as well as an accelerating structure prototype along with RF measurements.

43 PARTICLE ACCELERATORS↗

Novel use of a hand-held laser induced breakdown spectroscopy instrument to monitor hydride corrosion in uranium

With a compact hand-held laser-induced breakdown spectroscopy (LIBS) instrument, studies were performed on specimens of uranium charged with controlled hydrogen concentrations for a qualitative evaluation of hydride corrosion. Four samples of depleted uranium with two different starting microstructures (cast and rolled) were used for this study. The hydrogen charged samples (rolled 1.8 wppm H and cast 14 wppm H by weight) are representative of the pre-corrosion states with hydrides distributed throughout the bulk. In-depth LIBS measurements were carried out, after the thick surface corrosion layer was removed, by applying 100 laser pulses from sample surface into the bulk on five different sample locations. Three additional areas on each sample were investigated by laser ablation using a 12-point grid approach. The atomic emission signals of elemental uranium, carbon, hydrogen, and oxygen were identified and analyzed. All four samples showed similar uranium and carbon concentrations, as expected. Hydrogen content was consistent with each sample's specification, such that the hydrogen charged samples exhibited higher hydrogen concentration than their references. Both specimens charged with hydrogen showed elevated oxygen content as well, due to rapid oxidation of uranium and uranium hydrides. The oxidation process was facilitated by the laser ablation and plasma plume's high temperature effects on the sample combined with the glovebox environment. The uranium surface damage produced by laser ablation was quantitatively evaluated by optical microscopy.

36 MATERIALS SCIENCE↗

Chemistry Science Investigation: Dognapping Workshop, An Outreach Program Designed To Introduce Students to Science through a Hands-On Mystery

The Chemistry Science Investigation: Dognapping Workshop was designed to (i) target and inspire fourth grade students to view themselves as Junior Scientists before their career decisions are solidified; (ii) enable hands-on experience in fundamental scientific concepts; (iii) increase public interaction with science, technology, engineering, and mathematical personnel by providing face-to-face opportunities; (iv) give teachers a pathway forward for scientific resources; (v) meet the New Mexico K–5 Science Benchmark Performance Standards; (vi) most importantly, ensure everyone has fun! For this workshop, the students are told they will be going to see a Chemistry Magic Show, but the performance is stopped when the Chemistry Dog is reportedly stolen. The students first clear their names using a series of interactive stations and then apply a number of science experiments to solve the mystery. This report describes the workshop in detail, which is suitable for large (~100 students per day) audiences but has flexibility to be modified for much smaller groups. An identical survey was given three times (before, immediately after, and 2 months after the workshop) to determine the impact on the students’ perception of science and scientists as well as determine the effectiveness in relaying scientific concepts through retention time. As a result, survey responses indicate that scientific information pertaining to the workshop is retained for up to 2 months.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗