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Algorithm synthesizes frictionlike limited reaction force in force-reflecting hand controller. Synthetic friction enhances operator's feel and improves control characteristics in two ways: handle of controller retains setting when operator releases it, and in case of multiple-axis controller, synthetic frictional force helps to hold control setting on one axis when handle pushed to command movement along another axis.
Apparatus measures torques, forces, and motions of hand, wrist, forearm, elbow, and shoulder and aids in reconditioning muscles involved. Used to determine strengths and endurances of muscles, ranges of motion of joints, and reaction times. Provides quantitative data used to assess extent to which disuse, disease, or injury causes deterioration of muscles and of motor-coordination skills. Same apparatus serves as exercise machine to restore muscle performance by imposing electronically controlled, gradually increasing loads on muscles. Suitable for training and evaluating astronauts, field testing for workers' compensation claims, and physical therapy in hospitals. With aid of various attachments, system adapted to measure such special motions as pinching, rotation of wrist, and supination and pronation of the forearm. Attachments are gloves, wristlets, and sleeves.
The results of this experimental comparison of filament wound control (unimpacted) cylinders loaded to failure in axial compression indicates that one fiber cross-over location has no effect on the failure mode or strain in thick walled filament wound graphite-epoxy specimens with stacking sequence (plus or minus 45/90) sub 3s. A comparison between filament wound and hand laid-up tape control cylinders indicates that there is little or no difference in the response of cylinders constructed by using two different fabrication methods, however, unimpacted panels with many fiber cross-overs fail at up to 15 percent lower strains than panels with no fiber cross-overs. A comparison of samples subjected to low speed impact damage prior to compressive loading indicates that impact damage reduces the strain at failure by over 60 percent in tape and filament wound graphite-epoxy cylinders and in tape flat panels. The presence of fiber cross-overs was observed to reduce the strength of filament wound impact-damaged panels, but to have no significant effect on the strength of filament wound impact-damaged cylinders.
A new method for analyzing the kinematics of joint motion using magnetic resonance imaging (MRI) is described. The reconstruction of the metacarpalphalangeal joint of the left index finger into a 3D graphic display is shown. From the reconstructed volumetric images, measurements of the angles of movement of the applicable bones are obtained and processed by analyzing the screw motion of the joint. Landmark positions are chosen at distinctive locations of the joint at fixed image threshold intensity levels to ensure repeatability. The primarily 2D planar motion of this joint is then studied using a method of constructing coordinate systems using three or more points. A transformation matrix based on a world coordinate system describes the location and orientation of the local target coordinate system. The findings show the applicability of MRI to joint kinematics for gaining further knowledge of the hand-glove design for EVA.
Design of a parallel force-reflecting hand controller that implements a friction- and inertia canceling control loop about the entire mechanism based on wrench sensing in the mechanism handgrip is discussed. Kinematics of the controller under consideration is analyzed and results are presented using a closed-form solution for the inverse kinematics and Newton-Raphson's method for the forward kinematics. Results indicate that the force control scheme based on a handgrip force sensor provides smaller steady-state errors than the scheme without a handigrip sensor.
During the first 10 years of the US Space Shuttle program, 26,736 high-quality, hand-held photographs have been acquired of the earth's ocean and coastal areas from orbit by astronauts during 40 missions. The photographs are cataloged and stored in the Space Shuttle Earth Observations Project (SSEOP) database. While the majority of photographs are of tropical and subtropical coastal areas, many open-ocean and high-latitude areas have also been photographed. The majority of space shuttle missions have permitted photographing northern hemisphere areas in daylight. As a result, the latitudinal distribution of photographs is biased toward the northern hemisphere, particularly in high latitudes. Coastal areas and islands are most frequently photographed, while photographs of central ocean areas are either infrequent or nonexistent.
A hand-held Global Positioning System receiver was used to determine the precise locations of villages, houses, gardens, and other cultural and environmental features in poorly mapped South American rain forests. The Magellan NAV 1000 unit profides extremely accurate latitude and longitude information, but determination of altitude is problematical. Overall, the receiver effectively allows anthropologists to obtain essential locational data useful for categorizing land uses, mapping tribal boundaries, and other applications in regions where environmental conditions are harsh and/or accessibility is difficult.
A proof-of-concept hand controller for controlling lateral and longitudinal cyclic pitch, collective pitch and tail rotor thrust was developed. The purpose of the work was to address problems of operator fatigue, poor proprioceptive feedback and cross-coupling of axes associated with many four-axis controller designs. The present design is an attempt to reduce cross-coupling to a level that can be controlled with breakout force, rather than to eliminate it entirely. The cascaded design placed lateral and longitudinal cyclic in their normal configuration. Tail rotor thrust was placed atop the cyclic controller. A left/right twisting motion with the wrist made the control input. The axis of rotation was canted outboard (clockwise) to minimize cross-coupling with the cyclic pitch axis. The collective control was a twist grip, like a motorcycle throttle. Measurement of the amount of cross-coupling involved in pure, single-axis inputs showed cross coupling under 10 percent of full deflection for all axes. This small amount of cross-coupling could be further reduced with better damping and force gradient control. Fatigue was not found to be a problem, and proprioceptive feedback was adequate for all flight tasks executed.
Human capabilities such as dexterity, manipulability, and tactile perception are unique and render the hands as a very versatile, effective and a multipurpose tool. This is especially true for environments such as the EVA environment. However, with the use of the protective EVA gloves, there is much evidence to suggest that human performance decreases. In order to determine the nature and cause of this performance decrement, several performance tests were run which studied the effects of gloves on strength, tactile feedback, and range of motion. Tactile sensitivity was measured as a function of grip strength, and the results are discussed. Equipment which was developed to measure finger range of motion along with corresponding finger strength values is discussed. The results of these studies have useful implications for improved glove design.
To counter problems inherent in extravehicular activities (EVA) and complex space operations, an exoskeleton, a unique adaptive structure, has been designed. The exoskeleton fits on the hand and powers the proximal and middle phalanges of the index finger, the middle finger, and the combined ring and little finger. A kinematic analysis of the exoskeleton joints was performed using the loop-closure method. This analysis determined the angular displacement and velocity relationships of the exoskeleton joints. This information was used to determine the output power of the exoskeleton. Three small DC motors (one for each finger) are used to power the exoskeleton. The motors are mounted on the forearm. Power is transferred to the exoskeleton using lead screws. The control system for the exoskeleton measures the contact force between the operator and the exoskeleton. This information is used as the input to drive the actuation system. The control system allows the motor to rotate in both directions so that the operator may close or open the exoskeleton.
Engineers at Hercules Aerospace, a rocket motor manufacturer in Utah, have worked closely with chemists at Glidco Organics to study the feasibility of using terpenes for zero-residue wipe cleaning. The result of this work is a technological breakthrough, in which the barrier to ultra-low non-volatile residue formation has been broken. After 2 years of development and testing, SCM Glidco Organics has announced the availability of Glidsafe(registered trademark) Prepsolv(TM): a state-of-the-art ultra-low residue terpene wipe cleaning agent that does not require rinsing. Prepsolv(TM) can successfully be used in simple hand-wipe cleaning processes without fear of leaving surface residues. Industry testing has confirmed that Prepsolv(TM) is not only highly effective, but can even be less expensive to use than traditional cleaning solvents like methyl chloroform. This paper addresses the features and benefits of Prepsolv(TM), and presents performance and material compatibility data that characterizes this unique cleaning agent. Since its commercialization, Hercules Aerospace has chosen Prepsolv(TM) as the optimum cleaning agent to replace ozone-depleting solvents in their weapons factory in Magna, UT. Likewise, Boeing has approved Prepsolv(TM) for cleaning components in the manufacture of commercial aircraft at their facilities in Seattle, WA and Wichita, KS. Additional approvals are forthcoming for this uniquely safe and effective solvent.
A hand-held, portable gas chromatography-ion mobility spectrometer (GC-IMS) device was used to detect the presence of volatile amine compounds in the headspace of decomposing fish. The Food and Drug Administration (FDA) largely relies on olfactory discrimination with respect to fresh and spoiled, frozen and unfrozen fish. The fish are delivered at ship docks on pallets, and each pallet of fish can range from 30-40 thousand dollars in value. Fresh fish were placed in a teflon bag and the direct headspace was interrogated. In the first three days, only low molecular weight volatile amines were detected. On the fourth day, a number of spectral signatures were observed which indicated the presence of 1,5-diaminopentane, cadaverine. Analyses typically took from 0.5-1 minute.
Hand-operated tool expands end portion of narrow metal or plastic tube to slightly larger diameter. Used on tubes with original inner diameters as small as 0.060 in. Includes replaceable tip comprising ferrule and tubular expansion sleeve sized for sliding fit into tube to be expanded. Expansion sleeve swells in response to internal hydraulic pressure generated by turning handle and thereby advancing piston.
Prosthetic hand with quick-grip/quick-release lever broadens range of specialized functions available to lower-arm amputee by providing improved capabilities for gripping rods, tools, handles, and like. Includes two stationary lower fingers opposed by one pivoting upper finger. Lever operates in conjunction with attached bracket.
In 1994, Inframetrics introduced the InfraCAM(TM), a high resolution hand-held thermal imager. As the world's smallest, lightest and lowest power PtSi based infrared camera, the InfraCAM is ideal for a wise range of industrial, non destructive testing, surveillance and scientific applications. In addition to numerous commercial applications, the light weight and low power consumption of the InfraCAM make it extremely valuable for adaptation to space borne applications. Consequently, the InfraCAM has been selected by NASA Lewis Research Center (LeRC) in Cleveland, Ohio, for use as part of the DARTFire (Diffusive and Radiative Transport in Fires) space borne experiment. In this experiment, a solid fuel is ignited in a low gravity environment. The combustion period is recorded by both visible and infrared cameras. The infrared camera measures the emission from polymethyl methacrylate, (PMMA) and combustion products in six distinct narrow spectral bands. Four cameras successfully completed all qualification tests at Inframetrics and at NASA Lewis. They are presently being used for ground based testing in preparation for space flight in the fall of 1995.
This paper deals with two hand-held antenna types operating with geostationary and medium earth orbit (GEO and MEO) satellite systems. They could be applied to the low earth orbit (LEO) and highly elliptical orbit (HEO) systems respectively doing the appropriate frequency scale designs. The first one is a lambda/2 (1/2 turn) quadrifilar helix (quasi-hemispherical coverage), and the second one is a self-diplexed antenna made of a circular patch and a short-circuited ring patch in stacked configuration (zenithal coverage).
The objective of this study is to investigate the effects of cold only, commercially available gloves only, and the combination of gloves and cold on the blood flow and surface (skin) temperature of the medial and proximal phalanxes of digit 3, the metacarpal region of the hand, and the forearm.
The measurement of direction of gaze (d.o.g.) has been used for clinical purposes to detect illness, such as nystagmus, unusual fixation movements and many others. It also is used to determine the points of interest in objects. In this study we employ a measurement of d.o.g. as a computer interface. The interface provides a full keyboard as well as a mouse function. Such an interface is important to computer users with paralysis or in environments where hand-free machine interface is required. The study utilizes the commercially available (ISCAN Model RK426TC) headset which consists of an InfraRed (IR) source and an IR camera to sense deflection of the illuminating beam. It also incorporates image processing package that provides the position of the pupil as well as the pupil size. The study shows the ability of implementing a full keyboard, together with some control functions, imaged on a head mounted monitor screen. This document is composed of four sections: (1) The Nature of the Equipment; (2) The Calibration Process; (3) Running Process; and (4) Conclusions.