Development of an Inertial Sensor-based Methodology for Spacesuited Geology Task Assessments during Simulated Lunar Extravehicular Activities
Lunar surface exploration during Artemis missions will require the specific skill set of geology sampling. Apollo astronauts had extensive training and used specialized tools to collect lunar rocks, core samples, pebbles, sand, and dust. The inflexibility of the pressurized Apollo spacesuits forced sampling to be taken at a standstill posture. However, new exploration spacesuits are expected to incorporate advanced materials and joint bearings, allowing for greater mobility and a wider range of functional postures. Thus, science and exploration during Artemis missions will likely involve a variety of standing, squatting, and kneeling postures. In preparation for future lunar exploration missions, NASA provides geologic training to astronauts and other mission personnel. This professional training with a spacesuit in simulated lunar environments will enhance performance and reduce risk of injury to astronauts on the lunar surface. However, anecdotally, untrained or newly trained people wearing prototype planetary spacesuits have been observed to performing motions differently than a trained geologist would when conducting the same geology sampling tasks. Therefore, a tool for evaluating geology postures at extravehicular activity (EVA) training facilities becomes required. In this paper, we introduce a novel inertial measurement unit (IMU)-based method of geology task assessments in spacesuited conditions during simulated lunar EVAs. As a case study, two subjects (one geologist and one non-geologist) participated and donned the Mark III prototype planetary spacesuit during offloading with the spreader bar gimbal in NASA’s Active Response Gravity Offload System (ARGOS). For automated geology task assessments, the spacesuit was instrumented with three wireless IMUs (APDM Opal, OR, USA): one on the chest and one each on the left and right ankle bearings. Then subjects performed geology tasks using various tools (rake, trench, hammer chisel, scoop, and drive tube) for 45 minutes each. The chest IMU measured the torso tilt angle in the sagittal plane. We used an ensemble learning method with the ankle IMUs to discriminate between standing and kneeling activities. IMU data were processed using custom MATLAB (Mathworks, MA, USA) software. In our case study, the developed method was able to discriminate differences in standing and kneeling activity levels between subjects who were all highly experienced with spacesuited testing. Our preliminary data showed one subject maintained the constant and lower range of the upper body tilt angle while both standing and kneeling, while the other subject showed more variation of the upper body tilt angle and preferred bending the upper body rather than changing from standing to kneeling posture and vice versa. While geology experience may be a factor, these results need further investigation as suit sizing and ARGOS offloading configurations have been proven to have a significant influence on suited ARGOS tasks. Also, more subjects will be needed to complete these tasks for validation. IMU-based geology task assessments can provide useful information for geology training programs. Additionally, our IMU-based posture analysis can provide new insights into how to evaluate spacesuited geology task characteristics of astronauts during simulated lunar EVAs.