Investigation of the Harada robot hand for space
We report on the Harada hand, a 5 degree of freedom (DOF) robotic hand designed and constructed by Harada Electric Industry Inc. of Japan.
prosthetic hand robotics extra vehicular activites↗
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Thinking Inside the Box: A Hands-on Student Activity for Building a Contamination Containment Glovebox to Encourage Problem Solving in a Collaborative Environment
Engineers from the National Aeronautics and Space Administration (NASA) and education experts from the Virginia Space Grant Consortium (VSGC) partnered together to create a hands-on student activity to teach students about problem solving, working in a collaborative environment, and about the unique career fields of contamination control and planetary protection. The activity focuses on contamination containment gloveboxes, which are sealed containers where operators outside the glovebox can safely manipulate hazardous or contamination-sensitive materials inside the glovebox through glove ports on the container. The activity utilizes common household materials and teams of students work together to design and build a glovebox using the materials provided. Once the glovebox has been constructed, students perform a task under a time constraint by using their glovebox to assemble a puzzle “contaminated” with corn starch. In a post-activity debrief, teams discuss lessons learned such as how the actual built glovebox differed from the sketched design, the challenge of managing a budget for materials, how the team dealt with surprises, and if their glovebox allowed enough room for the operator to perform the task. This activity has been part of VSGC’s Virginia Earth System Science Scholars (VESSS) summer academy program for high school students since 2016, and has been an engaging method to teach students teamwork, creativity, hands-on experimentation, communication, and reasoning skills while also teaching them about unique engineering fields such as contamination control and planetary protection.
Student activity↗
Limited tactile stimulus for prosthetic hands
Heat and pressure transducers mounted in prosthetic hand permit wearer to sense temperature and pressure to which hand is subjected.
Scott, W. L.↗
Design of a terminal pointer hand controller for teleoperator applications
The design is described of a hand controller intended to achieve the highest possible compatibility with the hand of the human operator in a teleoperator system. Concepts drawings and model development are discussed along with the development of a prototype, and the mathematical control laws.
Saenger, E. L.↗
Variation of forearm, hand, and finger blood flow indices with ambient temperature
Forearm, hand, and finger blood flow (impedance) changes are measured by impedance rheography on seven healthy male subjects aged 20-35 yr during exposure to ambient temperatures ranging from 10 to 46 C. All observations are made in an environmental chamber at a dew point temperature of 13 + or - 0.25 C. It is shown that impedance rheography is suitable for quantifying peripheral circulatory responses to thermal stress. The measured blood flow indices are found to be consistent with previously reported values for the forearm, hand, and fingers obtained using air or water displacement plethysmography. In particular, the more distal body segments exhibit relatively larger vasomotor responses to changes in ambient temperature than do the more proximal body segments.
Montgomery, L. D.↗
Design for a three-fingered hand
This paper describes the construction of a prototype mechanical hand or 'end effector' for use on a remotely controlled robot, but with possible application as a prosthetic device. An analysis of hand motions is reported, from which it is concluded that the two most important manipulations (apart from grasps) are to be able to pick up a tool and draw it into a nested grip against the palm, and to be able to hold a pistol-grip tool such as an electric drill and pull the trigger. One of our models was tested and found capable of both these operations.
Crossley, F. R. E.↗
Hand-held radiometer red and photographic infrared spectral measurements of agricultural crops
Red and photographic infrared radiance data, collected under a variety of conditions at weekly intervals throughout the growing season using a hand-held radiometer, were used to monitor crop growth and development. The vegetation index transformation was used to effectively compensate for the different irradiational conditions encountered during the study period. These data, plotted against time, compared the different crops measured by comparing their green leaf biomass dynamics. This approach, based entirely upon spectral inputs, closely monitors crop growth and development and indicates the promise of ground-based hand-held radiometer measurements of crops.
Tucker, C. J.↗
Multi-axis hand controller for the shuttle remote manipulator system
The Shuttle Remote Manipulator System, has a articulated arm of 50 ft. length with six motor-driven joints. The basic purpose is to establish physical contact with various space hardware items and maneuver these to the desired position and attitude with respect to the Orbiter, nulling out relative velocities and stabilizing the free-body system by managing residual energies. The normal operating mode is resolved-motion end-point rate control by man-in-loop command. The translational freedoms are defined so that the End Effector (EEFTR) of the arm will move in planes parallel to the principal translational planes of the Orbiter, at a rate commanded by the displacement of the Translation Hand Controller in the corresponding freedom and direction. The rotational freedoms are rate-controlled by the Rotation Hand Controller about pivot axes parallel to Orbiter roll, pitch and yaw, originating at the EEFTR reference point.
Lippay, A. L.↗
Gage for evaluating rheumatoid hands
Two-axis goniometer accurately measures movements of fingers about knuckle joints, diagnosing hands structurally changed by rheumatoid arthritis. Instrument measures lateral movement which is small in normal knuckles but increased in diseased joints. Goniometer is two connected protractors that simultaneously measure angles in perpindicular planes. Dials are offset to clear bony protuberances; extension and offset adjustments span any hand size.
Houge, J. C.↗
The GSFC Mark-2 three band hand-held radiometer
A self-contained, portable, hand-radiometer designed for field usage was constructed and tested. The device, consisting of a hand-held probe containing three sensors and a strap supported electronic module, weighs 4 1/2 kilograms. It is powered by flashlight and transistor radio batteries, utilizes two silicon and one lead sulfide detectors, has three liquid crystal displays, sample and hold radiometric sampling, and its spectral configuration corresponds to LANDSAT-D's thematic mapper bands. The device was designed to support thematic mapper ground-truth data collection efforts and to facilitate 'in situ' ground-based remote sensing studies of natural materials. Prototype instruments were extensively tested under laboratory and field conditions with excellent results.
Tucker, C. J.↗
Effect of hand-arm exercise on venous blood constituents during leg exercise
Contributions by ancillary hand and arm actions to the changes in blood constituents effected by leg exercises on cycle ergometer were assessed. Static or dynamic hand-arm exercises were added to the leg exercise (50 percent VO2 peak)-only control regimens for the subjects (19-27 yr old men) in the two experimental groups. Antecubital venous blood was analyzed at times 0, 15, and 30 min (T0, T15, and T30) for serum Na(+), K(+), osmolality, albumin, total CA(2+), and glucose; blood hemoglobin, hematocrit, and lactic acid; and change in plasma volume. Only glucose and lactate values were affected by additional arm exercise. Glucose decreased 4 percent at T15 and T30 after static exercise, and by 2 percent at T15 (with no change at T30) after dynamic arm exercise. Conversely, lactic acid increased by 20 percent at T30 after static exercise, and by 14 percent by T15 and 6 percent at T30 after dynamic arm exercise. It is concluded that additional arm movements, performed usually when gripping the handle-bar on the cycle ergometer, could introduce significant errors in measured venous concentrations of glucose and lactate in the leg-exercised subjects.
Wong, N.↗
Survey of Hand Controllers for Teleoperation
Report surveys handgrip designs, control-input devices, and control strategies. 83-page report presents comprehensive survey of hand-controller technology in three major categories: handgrip design, control-input devices, and control strategies. Approach taken in review to identify and describe existing handgrips, control-input devices and control strategies, and new components and techniques that become elements of advanced hand controllers to satisfy increasing performance requirements for teleoperation in future.
Brooks, T. L.↗
Robot Hand Grips Cylinders Securely
Jaws and linkage accommodate various sizes. Robot hand includes two pairs of parallel jaws that grasp rods, pipes, tubes, struts, and other long, heavy cylindrical objects. Hand features compact rotary drive and butterfly configuration simplifying approach and gripping maneuvers of robot. Parallelogram linkages maintain alignment of each jaw with other jaws. One bar of each linkage connected to one of two concentric, counterrotating shafts; rotation of shafts moves jaws in each pair toward or away from each other to grasp or release workpiece. Each jaw includes rigid gripping pad lined with rubber to give firm grip and to prevent damage to workpiece. Inner cylindrical surface (corner) of each jaw tapers off to flat sides. Enables jaw to grasp workpieces with diameters larger than or equal to twice the corner radius.
Parma, George F.↗
Robot Hand Would Adapt To Contours
Conceptual device uses hydraulic pressure to activate fingers. Projections on opposing fingers of proposed robot hand automatically conform to contours of object on contact. Pistons connected to common reservoir provide gentle, firm grip. Fingers communicate with each other via hydraulic pressure, without elaborate control system. Pistons move in and out, and tips slope to match contour of object. Their action tends to center object on finger. Hand used to grasp objects of various shapes and sizes. Conforming process passive; pressure of object on one or several pad elements forces other pad elements to touch it. Would not use elaborate mechanisms involving motors, cams, and cables.
Collins, Earl R., Jr.↗
Development of a multipurpose hand controller for JEMRMS
A prototype multipurpose hand controller for the JEMRMS (Japanese Experiment Module Remote Manipulator System) was developed. The hand controller (H/C) is an orthogonal type, with 6 degrees of freedom (DOF) and small size. The orthogonal type H/C is very simple for coordinate transformations and can easily control any type of manipulators. In fact, the JEMRMS is planned to have two manipulators controlled by a common H/C at this stage. The H/C was able to be used as a rate control joystick and a force reflection master arm, using an experimental 6 DOF manipulator. Good maneuverability was confirmed in the verification test. The orthogonal type H/C is suitable for use as a common H/C for the two manipulators of the JEMRMS.
Matsuhira, Nobuto↗
Redundant sensorized arm+hand system for space telerobotized manipulation
An integrated system, composed of an arm, a wrist, and a mechanical multifingered hand is treated. The hand is on development for possible application in telemanipulation, and is realized in separate parts. The redundancy of the degrees of freedom of the system, the sensors, the application of logical rules, and the supervision of teleoperators may be applied in order to have an optimum of reliability of the system in space telemanipulations.
Rovetta, Alberto↗
Teleoperation experiments with a Utah/MIT hand and a VPL DataGlove
A teleoperation system capable of controlling a Utah/MIT Dextrous Hand using a VPL DataGlove as a master is presented. Additionally the system is capable of running the dextrous hand in robotic (autonomous) mode as new programs are developed. The software and hardware architecture used is presented and the experiments performed are described. The communication and calibration issues involved are analyzed and applications to the analysis and development of automated dextrous manipulations are investigated.
Clark, D.↗
The effect of pressure suit gloves on hand performance
The effects of pressure gloves on human hand capabilities is a major concern in the performance of extravehicular activity (EVA) for space maintenance and construction missions. The effects of EVA gloves on six hand performance domains was investigated in this NASA sponsored research. They were range of motion, strength, tactile perception, dexterity, fatigue, and comfort. All tests were designed to be performed in a glove box using the barehand as well as the glove at 0 and 4.3 pressure differentials. Ten subjects participated in the test in a repeated measures design. The results of the experiments are summarized in this paper.
O'Hara, John M.↗