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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.

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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS1997

Effect of reduced gravity on the preferred walk-run transition speed

We investigated the effect of reduced gravity on the human walk-run gait transition speed and interpreted the results using an inverted-pendulum mechanical model. We simulated reduced gravity using an apparatus that applied a nearly constant upward force at the center of mass, and the subjects walked and ran on a motorized treadmill. In the inverted pendulum model for walking, gravity provides the centripetal force needed to keep the pendulum in contact with the ground. The ratio of the centripetal and gravitational forces (mv2/L)/(mg) reduces to the dimensionless Froude number (v2/gL). Applying this model to a walking human, m is body mass, v is forward velocity, L is leg length and g is gravity. In normal gravity, humans and other bipeds with different leg lengths all choose to switch from a walk to a run at different absolute speeds but at approximately the same Froude number (0.5). We found that, at lower levels of gravity, the walk-run transition occurred at progressively slower absolute speeds but at approximately the same Froude number. This supports the hypothesis that the walk-run transition is triggered by the dynamics of an inverted-pendulum system.

Non-NASA Center↗
NASA NTRS1972

Apollo 16 time and motion study

A time and motion study is presented of astronaut lunar surface activity on Apollo 16 which consists of five distinct analyses: an evaluation of lunar mobility, a comparison of task performance in 1-g training and lunar EVA, a study of metabolic costs and adaptation, a discussion of falls, and retrieval of fallen objects. Two basic mobility patterns, the hop or canter and the traditional walking gait, were consistently utilized in longer traverses. The metabolic rates associated with these two mobility types, each used by a different astronaut, were relatively equivalent. The time to perform tasks on the lunar surface was significantly longer (on the order of 70%) than the time to perform the same tasks during the last 1-g training session. These results corroborated the findings on Apollo 15 and were not significantly different from them. There was general improvement in lunar EVA performance upon repetition of tasks. Metabolic rate (BTU/hr.) and metabolic cost (BTU) decreased over successive EVAs. Specifically, the metabolic rate associated with riding the lunar roving vehicle (LRV) decreased by approximately 18% from EVA 1 to EVA 2 and by 15% from EVA 2 to EVA 3.

Kubis, J. F.↗
NASA NTRS1975

Walking in a rotating space station, an electromyographic and kinematic study

Biomechanics were studied of locomotion in a rotating environment like that of a space station at various gravity levels. Comparisons were made of the walking gait patterns and the amplitudes of various leg muscle electrical outputs at different gravity levels. The results of these tests are applicable to planning future space missions by providing a part of the information that will be needed to determine the type of vehicle and the gravity level to be provided for the astronauts if it is decided that artificial gravity is to be utilized.

Harris, R. L.↗
NASA NTRS1975

Loadcell supports for a dynamic force plate

An apparatus was developed to accurately measure components of force along three mutually perpendicular axes, torque, and the center of pressure imposed by the foot of a subject walking over its surface. The data obtained were used to supplement high-speed motion picture and electromyographic (EMG) data for in-depth studies of normal or abnormal human gait. Significant features of the design (in particular, the mechanisms used to support the loadcell transducers) are described. Results of the development program and typical data obtained with the device are presented and discussed.

Keller, C. W.↗
NASA NTRS1977

Rotational joint for prosthetic leg

Device is installed in standard 30 millimeter tubing used for lower leg prosthetics. Unit allows proper rotation (about 3 degrees) of foot relative to the hip, during normal walking or running. Limited rotational movement with restoring force results in a more natural gait.

Jones, W. C.↗
NASA NTRS1979

Wideband EMG telemetry system

Miniature, individual crystal-controlled RF transmitters located in EMG pressure sensors simplifies multichannel EMG telemetry for electronic gait monitoring. Transmitters which are assigned operating frequencies within 174 - 216 MHz band have linear frequency response from 20 - 2000 Hz and operate over range of 15 m.

Rosatino, S. A.↗
NASA NTRS1979

Computer design synthesis of a below knee-Syme prosthesis

A detailed design synthesis analysis of the BK Syme prosthesis is provided, to determine the socket's cutout orientation size and shape, cutout fillet shape, socket wall thickness distribution and the reinforced fiber distribution in the socket wall, for a minimally stressed structurally safe lightweight prosthesis. For analysis purposes, the most adverse socket loading is obtained at the push-off stage of gait; this loading is idealized as an axial in-plane loading on the bottom edge of the circular cylindrical socket shell whose top edge is considered fixed. Finite element stress analysis of the socket shell (with uniform and graded wall thickness) are performed for various orientations of the cutout and for various types of corner fillets. A lateral cutout with a streamline fillet is recommended. The wall material (i.e., thickness) distribution is determined so as to minimize the stresses, while ensuring that the wall material's stress limits are not exceeded. For such a maximally stressed lightweight socket shell, the panels in the neighborhood of the cutout are checked to ensure that they do not buckle under their acquired stresses. A fiber-reinforced laminated composite socket shell is also analyzed in order to recommend optimum variables in orientations and densities of reinforcing fibers.

Elangovan, P. T.↗
NASA NTRS1980

Computer coordination of limb motion for a three-legged walking robot

Coordination of the limb motion of a vehicle which could perform assembly and maintenance operations on large structures in space is described. Manipulator kinematics and walking robots are described. The basic control scheme of the robot is described. The control of the individual arms are described. Arm velocities are generally described in Cartesian coordinates. Cartesian velocities are converted to joint velocities using the Jacobian matrix. The calculation of a trajectory for an arm given a sequence of points through which it is to pass is described. The free gait algorithm which controls the lifting and placing of legs for the robot is described. The generation of commanded velocities for the robot, and the implementation of those velocities by the algorithm are discussed. Suggestions for further work in the area of robot legged locomotion are presented.

Klein, C. A.↗
NASA NTRS1982

Computer coordination of limb motion for locomotion of a multiple-armed robot for space assembly

Consideration is given to a possible robotic system for the construction of large space structures, which may be described as a multiple general purpose arm manipulator vehicle that can walk over the structure under construction to a given site for further work. A description is presented of the locomotion of such a vehicle, modeling its arms in terms of a currently available industrial manipulator. It is noted that for whatever maximum speed of operation is chosen, rapid changes in robot velocity create situations in which already-selected handholds are no longer practical. A step is added to the 'free gait' walking algorithm in order to solve this problem.

Klein, C. A.↗
NASA NTRS1989

Exercise countermeasures for bed rest deconditioning

The major objectives were to evaluate the efficiency of different modes of exercise (isotonic and isokinetic) for countering the effects of bed rest deconditioning on work capacity (peak oxygen uptake), muscular strength, orthostatic tolerance, posture, equilibrium and gait; and to collect additional data of a more fundamental nature to help understand how these deconditioning responses occur. These data will be used for writing prescriptions for exercise to be utilized by astronauts for maintaining work capacity and well-being on Freedom Station, and to determine what exercise devices should be place in the station.

Greenleaf, John↗
NASA NTRS1989

Distributed neural control of a hexapod walking vehicle

There has been a long standing interest in the design of controllers for multilegged vehicles. The approach is to apply distributed control to this problem, rather than using parallel computing of a centralized algorithm. Researchers describe a distributed neural network controller for hexapod locomotion which is based on the neural control of locomotion in insects. The model considers the simplified kinematics with two degrees of freedom per leg, but the model includes the static stability constraint. Through simulation, it is demonstrated that this controller can generate a continuous range of statically stable gaits at different speeds by varying a single control parameter. In addition, the controller is extremely robust, and can continue the function even after several of its elements have been disabled. Researchers are building a small hexapod robot whose locomotion will be controlled by this network. Researchers intend to extend their model to the dynamic control of legs with more than two degrees of freedom by using data on the control of multisegmented insect legs. Another immediate application of this neural control approach is also exhibited in biology: the escape reflex. Advanced robots are being equipped with tactile sensing and machine vision so that the sensory inputs to the robot controller are vast and complex. Neural networks are ideal for a lower level safety reflex controller because of their extremely fast response time. The combination of robotics, computer modeling, and neurobiology has been remarkably fruitful, and is likely to lead to deeper insights into the problems of real time sensorimotor control.

Beer, R. D.↗
NASA NTRS1992

Effects Of Exercise During Prolonged Bed Rest

Report describes experiment to investigate effects of isotonic and isokinetic leg exercises in counteracting effects of bed rest upon physical and mental conditions of subjects. Data taken on capacity for work, endurance and strength, tolerance to sitting up, equilibrium, posture, gait, atrophy, mineralization and density of bones, endocrine analyses concerning vasoactivity and fluid and electrolyte balances, intermediary metabolism of muscles, mood, and performance.

Arnaud, S.↗
NASA NTRS1991

A six-legged rover for planetary exploration

To survive the rigors and isolation of planetary exploration, an autonomous rover must be competent, reliable, and efficient. This paper presents the Ambler, a six-legged robot featuring orthogonal legs and a novel circulating gait, which has been designed for traversal of rugged, unknown environments. An autonomous software system that integrates perception, planning, and real-time control has been developed to walk the Ambler through obstacle strewn terrain. The paper describes the information and control flow of the walking system, and how the design of the mechanism and software combine to achieve competent walking, reliable behavior in the face of unexpected failures, and efficient utilization of time and power.

Simmons, Reid↗
NASA NTRS1992

Space flight and changes in spatial orientation

From a sensory point of view, space flight represents a form of stimulus rearrangement requiring modification of established terrestrial response patterns through central reinterpretation. Evidence of sensory reinterpretation is manifested as postflight modifications of eye/head coordination, locomotor patterns, postural control strategies, and illusory perceptions of self or surround motion in conjunction with head movements. Under normal preflight conditions, the head is stabilized during locomotion, but immediately postflight reduced head stability, coupled with inappropriate eye/head coordination, results in modifications of gait. Postflight postural control exhibits increased dependence on vision which compensates for inappropriate interpretation of otolith and proprioceptive inputs. Eye movements compensatory for perceived self motion, rather than actual head movements have been observed postflight. Overall, the in-flight adaptive modification of head stabilization strategies, changes in head/eye coordination, illusionary motion, and postural control are maladaptive for a return to the terrestrial environment. Appropriate countermeasures for long-duration flights will rely on preflight adaptation and in-flight training.

Reschke, Millard F.↗
NASA NTRS1992

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

A method is presented to generate motions for a class of multilimb robotic systems enabling them to apply large static forces over large ranges of motion without saturating actuator effort limits, system-environment friction constraints, kinematic joint limits, or geometric workspace obstacles. The approach, termed the force-workspace (FW) approach, maps these constraints into the system C-space to form constraint obstacles using a recursive subdivision process. To generate motions along which actuator efforts can be specified without violating system constraints, paths are planned that avoid these constraint obstacles. The method permits the shape of the paths to be controlled using any configuration-dependent performance criterion. The FW approach was applied to a proposed three-limb planar climbing robot whose task is to climb upwards between two vertical walls by pushing outwards to generate frictional support. Motions were planned automatically within the system FW, enabling it to lift itself upwards using two limbs at a time, and a gait was planned to enable it to switch limbs and climb continuously.

Madhani, Akhil↗
NASA NTRS1993

Exercise countermeasures for bed-rest deconditioning

The purpose for this 30-day bed rest study was to investigate the effects of short-term, high intensity isotonic and isokinetic exercise training on maintenance of working capacity (peak oxygen uptake), muscular strength and endurance, and on orthostatic tolerance, posture and gait. Other data were collected on muscle atrophy, bone mineralization and density, endocrine analyses concerning vasoactivity and fluid-electrolyte balance, muscle intermediary metabolism, and on performance and mood of the subjects. It was concluded that: The subjects maintained a relatively stable mood, high morale, and high esprit de corps throughout the study. Performance improved in nearly all tests in almost all the subjects. Isotonic training, as opposed to isokinetic exercise training, was associated more with decreasing levels of psychological tension, concentration, and motivation; and improvement in the quality of sleep. Working capacity (peak oxygen uptake) was maintained during bed rest with isotonic exercise training; it was not maintained with isokinetic or no exercise training. In general, there was no significant decrease in strength or endurance of arm or leg muscles during bed rest, in spite of some reduction in muscle size (atrophy) of some leg muscles. There was no effect of isotonic exercise training on orthostasis, since tilt-table tolerance was reduced similarly in all three groups following bed rest. Bed rest resulted in significant decreases of postural stability and self-selected step length, stride length, and walking velocity, which were not influenced by either exercise training regimen. Most pre-bed rest responses were restored by the fourth day of recovery.

Greenleaf, John↗
NASA NTRS1994

The value of electrical stimulation as an exercise training modality

Voluntary exercise is the traditional way of improving performance of the human body in both the healthy and unhealthy states. Physiological responses to voluntary exercise are well documented. It benefits the functions of bone, joints, connective tissue, and muscle. In recent years, research has shown that neuromuscular electrical stimulation (NMES) simulates voluntary exercise in many ways. Generically, NMES can perform three major functions: suppression of pain, improve healing of soft tissues, and produce muscle contractions. Low frequency NMES may gate or disrupt the sensory input to the central nervous system which results in masking or control of pain. At the same time NMES may contribute to the activation of endorphins, serotonin, vasoactive intestinal polypeptides, and ACTH which control pain and may even cause improved athletic performances. Soft tissue conditions such as wounds and inflammations have responded very favorably to NMES. NMES of various amplitudes can induce muscle contractions ranging from weak to intense levels. NMES seems to have made its greatest gains in rehabilitation where directed muscle contractions may improve joint ranges of motion correct joint contractures that result from shortening muscles; control abnormal movements through facilitating recruitment or excitation into the alpha motoneuron in orthopedically, neurologically, or healthy subjects with intense sensory, kinesthetic, and proprioceptive information; provide a conservative approach to management of spasticity in neurological patients; by stimulation of the antagonist muscle to a spastic muscle stimulation of the agonist muscle, and sensory habituation; serve as an orthotic substitute to conventional bracing used with stroke patients in lieu of dorsiflexor muscles in preventing step page gait and for shoulder muscles to maintain glenohumeral alignment to prevent subluxation; and of course NMES is used in maintaining or improving the performance or torque producing capability of muscle. NMES in exercise training is our major concern.

Currier, Dean P.↗