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NASA NTRS2002

Intercalibration of Mars Global Surveyor Datasets

The calibration and validation of satellite soundings of atmospheric variables is always a difficult prospect, but this difficulty is greatly magnified when the measurements are made at a different planet, whose meteorology is poorly known and poorly constrained, and for which there are virtually no prospects of obtaining ground truth. The Mars Global Surveyor which has been circling Mars in its mapping orbit since early 1999 includes a variety of instruments capable of making atmospheric observations: the Thermal Emission Spectrometer (TES) which takes more than 100,000 nadir-view infrared spectra per day (although these observations are confined to the 2am - 2pm time of the sun-fixed orbit); much less frequent TES limb scans (still only at 2am and 2pm); the Mars Horizon Sensor Assembly measures side-looking broadband 15 micrometer radiation; Radio Science occultations at favorable seasons give high resolution temperature profiles; the Mars orbiter Camera and Mars Orbiter Laser Altimeter have made water, dust, and carbon dioxide cloud detections. These observations are now being supplemented by high-resolution 15 micron measurements by THEMIS on Mars Odyssey. Thus, all of these observations are made at different times and places. Data assimilation techniques are being used to fuse this vast array of observations into a single dataset that best represents our understanding of the Martian atmosphere, its current meteorological state, and the relevant instrumental properties.

Houben, Howard↗

NASA NTRS1979

High Efficiency Cell Development

The specific activity was to improve the tandem junction Cell (TJC) as a high efficiency solar cell. The TJC development was to be consistent with module assembly and should contribute to the overall goals of the Low-Cost Solar Array Project. During 1978, TJC efficiency improved from approximately 11 percent to approximately 16 percent (AMI). Photogenerated current densities in excess of 42 mA/sq cm were observed at AMO. Open circuit voltages as high as 0.615 V were measured at AMO. Fill factor was only 0.68 - 0.75 due to a nonoptimum metal contact design. A device model was conceived in which the solar cell is modelled as a transitor. There are virtually no interconnect or packaging factor systems and the TJC is compatible with all conventional module fabrication systems. A modification of the TJC, the Front Surface Field (FSF) cell, was also explored.

Carbajal, B. G.↗

NASA NTRS2002

Space Operations Analysis Using the Synergistic Engineering Environment

The Synergistic Engineering Environment has been under development at the NASA Langley Research Center to aid in the understanding of the operations of spacecraft. This is accomplished through the integration of multiple data sets, analysis tools, spacecraft geometric models, and a visualization environment to create an interactive virtual simulation of the spacecraft. Initially designed to support the needs of the International Space Station, the SEE has broadened the scope to include spacecraft ranging from low-earth orbit to deep space missions. Analysis capabilities within the SEE include rigid body dynamics, kinematics, orbital mechanics, and payload operations. This provides the user the ability to perform real-time interactive engineering analyses in areas including flight attitudes and maneuvers, visiting vehicle docking scenarios, robotic operations, plume impingement, field of view obscuration, and alternative assembly configurations. The SEE has been used to aid in the understanding of several operational procedures related to the International Space Station. This paper will address the capabilities of the first build of the SEE, present several use cases of the SEE, and discuss the next build of the SEE.

Angster, Scott↗

NASA NTRS1972

Analysis of a laterally loaded ring with a hinged cross section.

A ring assembly constructed by lacing together three elements into a basic channel cross section is analyzed. The ring is supported at three equidistant points and loaded by a uniform distribution of radial and transverse loads. Bulkheads may be introduced at discrete cross sections to prevent distortion. The purpose of this analysis is to determine the behavior of the deflection as the number and location of the bulkheads and the degree of rigidity of the supports are varied. The method of analysis is an application of the Principle of Virtual Work within the framework of small displacement theory. Numerical results are presented for the geometrical parameters of a model. An important result is the observation that bulkheads have virtually no effect on the deflections of the web.

Williams, H. E.↗

NASA NTRS2020

Global Data Assembly Center (gdac) Report to the GHRSST Science Team

In 2019-2020 the Global Data Assembly Center (GDAC) at NASA’s Physical Oceanography Distributed Active Archive Center (PO.DAAC) provided ingest, archive, distribution and user services for GHRSST operational data streams with improved and evolved tools, services, and tutorials, and interfaced with the user community to address technical inquiries. Several new GHRSST datasets including reprocessed MODIS Aqua/Terra L2P with improved cloud screening were made available. The PO.DAAC participated in the evolving GHRSST data management re architecture and development activities. GHRSST Science Team member Edward Armstrong assumed the role of co-leader of the CEOS SST Virtual Constellation. The following sections summarize and document the specific achievements of the GDAC to the GHRSST community.

Finch, Chris↗

NASA NTRS2002

FSW Implementation on the Space Shuttle's External Tank

The Friction Stir Welding process developed by The Welding Institute (TWI) has found application throughout the transportation industry. This technique has proven to be a viable joining process for aluminum alloys, producing virtually defect free welds with improved mechanical properties as compared to conventional fusion welding. Lockheed Martin Space Systems - Michoud Operations has been developing this technology for application on aluminum 2219 and 2195 cryogenic tankage since 1995. This effort will come to fruition with implementation on the longitudinal welds of the External Fuel Tank (ET) of the Shuttle. To this end, sub-and full-scale demonstration programs coupled with process development and optimization have been complete. Full size ET tool has been designed, fabricated and are being installed at the Michoud Assembly Facility. Upon completion of the tooling certification and materials allowables testing, production will commence. This implementation will result in increased reliability and safety of flight for the Shuttle.

Hartley, Paula J.↗

NASA NTRS2003

Algorithms for Haptic Rendering of 3D Objects

Algorithms have been developed to provide haptic rendering of three-dimensional (3D) objects in virtual (that is, computationally simulated) environments. The goal of haptic rendering is to generate tactual displays of the shapes, hardnesses, surface textures, and frictional properties of 3D objects in real time. Haptic rendering is a major element of the emerging field of computer haptics, which invites comparison with computer graphics. We have already seen various applications of computer haptics in the areas of medicine (surgical simulation, telemedicine, haptic user interfaces for blind people, and rehabilitation of patients with neurological disorders), entertainment (3D painting, character animation, morphing, and sculpting), mechanical design (path planning and assembly sequencing), and scientific visualization (geophysical data analysis and molecular manipulation).

Basdogan, Cagatay↗

NASA NTRS2009

Formation Flying of Components of a Large Space Telescope

A conceptual space telescope having an aperture tens of meters wide and a focal length of hundreds of meters would be implemented as a group of six separate optical modules flying in formation: a primary-membrane-mirror module, a relay-mirror module, a focal-plane-assembly module containing a fast steering mirror and secondary and tertiary optics, a primary-mirror-figure-sensing module, a scanning-electron-beam module for controlling the shape of the primary mirror, and a sunshade module. Formation flying would make it unnecessary to maintain the required precise alignments among the modules by means of an impractically massive rigid structure. Instead, a control system operating in conjunction with a metrology system comprising optical and radio subsystems would control the firing of small thrusters on the separate modules to maintain the formation, thereby acting as a virtual rigid structure. The control system would utilize a combination of centralized- and decentralized-control methods according to a leader-follower approach. The feasibility of the concept was demonstrated in computational simulations that showed that relative positions could be maintained to within a fraction of a millimeter and orientations to within several microradians.

Mettler, Edward↗

NASA NTRSDate not supplied

Revisiting Building-Block Approaches for Structures

The building-block approach is a method for building confidence in designs, working from lower-level components to more complex assemblies, using knowledge gained at each step to inform higher fidelity representations. The goals of this paper are to revisit the basic techniques of the building-block approach as it applies to structural design and analysis and illustrate some best practices that should be considered when developing structural analysis models. The paper demonstrates the process of leveraging existing information to build confidence in the design/development of analysis models, followed by examples of how the building-block approach for analysis was used in NASA hardware and spacecraft development efforts. The paper will also discuss virtual testing and hybrid simulation techniques, which are showing promise for more efficient/cost-effective verification of aerospace structures.

Kenneth R. Hamm Jr.↗

NASA NTRS2010

Special Component Designs for Differential-Amplifier MMICs

Special designs of two types of electronic components transistors and transmission lines have been conceived to optimize the performances of these components as parts of waveguide-embedded differential-amplifier monolithic microwave integrated circuits (MMICs) of the type described in the immediately preceding article. These designs address the following two issues, the combination of which is unique to these particular MMICs: Each MMIC includes a differential double-strip transmission line that typically has an impedance between 60 and 100 W. However, for purposes of matching of impedances, transmission lines having lower impedances are also needed. The transistors in each MMIC are, more specifically, one or more pair(s) of InP-based high-electron-mobility transistors (HEMTs). Heretofore, it has been common practice to fabricate each such pair as a single device configured in the side-to-side electrode sequence source/gate/drain/gate/source. This configuration enables low-inductance source grounding from the sides of the device. However, this configuration is not suitable for differential operation, in which it is necessary to drive the gates differentially and to feed the output from the drain electrodes differentially. The special transmission-line design provides for three conductors, instead of two, in places where lower impedance is needed. The third conductor is a metal strip placed underneath the differential double-strip transmission line. The third conductor increases the capacitance per unit length of the transmission line by such an amount as to reduce the impedance to between 5 and 15 W. In the special HEMT-pair design, the side-to-side electrode sequence is changed to drain/gate/source/gate/ drain. In addition, the size of the source is reduced significantly, relative to corresponding sizes in prior designs. This reduction is justified by the fact that, by virtue of the differential configuration, the device has an internal virtual ground, and therefore there is no need for a low-resistance contact between the source and the radio-frequency circuitry. The source contact is needed only for DC biasing. These designs were implemented in a single-stage-amplifier MMIC. In a test at a frequency of 305 GHz, the amplifier embedded in a waveguide exhibited a gain of 0 dB; after correcting for the loss in the waveguide, the amplifier was found to afford a gain of 0.9 dB. In a test at 220 GHz, the overall gain of the amplifier- and-waveguide assembly was found to be 3.5 dB.

Kangaslahti, Pekka↗

NASA NTRS2019

Using Virtual Reality and Motion Capture as Tools for Human Factors Engineering at Nasa Marshall Space Flight Center

MSFC’s Human Factors Engineering (HFE) team is responsible for all worksite analyses performed for the SLS pre-launch integration activities at Kennedy Space Center (KSC). There is a wide variety of tasks associated with pre-launch integration activities and it is important to verify that vehicle integration will be successful early in the design process. The VR work performed by the HFE team at MSFC has allowed fast changing layouts to be analyzed by various departments with minimal impact to cost or schedule. Implementing these methods for SLS allows for VR use in early design cycles, saving time and budget. Utilizing the resulting HFE analyses improves usability and safety. Ultimately, the goal is to provide a safe environment for the technicians assembling the vehicle and the astronaut crew at launch.

Andrews, Tanya↗

NASA NTRS2013

Distributed Engine Control Empirical/Analytical Verification Tools

NASA's vision for an intelligent engine will be realized with the development of a truly distributed control system featuring highly reliable, modular, and dependable components capable of both surviving the harsh engine operating environment and decentralized functionality. A set of control system verification tools was developed and applied to a C-MAPSS40K engine model, and metrics were established to assess the stability and performance of these control systems on the same platform. A software tool was developed that allows designers to assemble easily a distributed control system in software and immediately assess the overall impacts of the system on the target (simulated) platform, allowing control system designers to converge rapidly on acceptable architectures with consideration to all required hardware elements. The software developed in this program will be installed on a distributed hardware-in-the-loop (DHIL) simulation tool to assist NASA and the Distributed Engine Control Working Group (DECWG) in integrating DCS (distributed engine control systems) components onto existing and next-generation engines.The distributed engine control simulator blockset for MATLAB/Simulink and hardware simulator provides the capability to simulate virtual subcomponents, as well as swap actual subcomponents for hardware-in-the-loop (HIL) analysis. Subcomponents can be the communication network, smart sensor or actuator nodes, or a centralized control system. The distributed engine control blockset for MATLAB/Simulink is a software development tool. The software includes an engine simulation, a communication network simulation, control algorithms, and analysis algorithms set up in a modular environment for rapid simulation of different network architectures; the hardware consists of an embedded device running parts of the CMAPSS engine simulator and controlled through Simulink. The distributed engine control simulation, evaluation, and analysis technology provides unique capabilities to study the effects of a given change to the control system in the context of the distributed paradigm. The simulation tool can support treatment of all components within the control system, both virtual and real; these include communication data network, smart sensor and actuator nodes, centralized control system (FADEC full authority digital engine control), and the aircraft engine itself. The DECsim tool can allow simulation-based prototyping of control laws, control architectures, and decentralization strategies before hardware is integrated into the system. With the configuration specified, the simulator allows a variety of key factors to be systematically assessed. Such factors include control system performance, reliability, weight, and bandwidth utilization.

DeCastro, Jonathan↗

NASA NTRS2011

Materials Science Research Rack Onboard the International Space Station

The Materials Science Research Rack (MSRR) allows for the study of a variety of materials including metals, ceramics, semiconductor crystals, and glasses onboard the International Space Station (ISS). MSRR was launched on STS-128 in August 2009, and is currently installed in the U. S. Destiny Laboratory Module. Since that time, MSRR has performed virtually flawlessly logging more than 550 hours of operating time. Materials science is an integral part of development of new materials for everyday life here on Earth. The goal of studying materials processing in space is to develop a better understanding of the chemical and physical mechanisms involved. Materials science research benefits from the microgravity environment of space, where the researcher can better isolate chemical and thermal properties of materials from the effects of gravity. With this knowledge, reliable predictions can be made about the conditions required on Earth to achieve improved materials. MSRR is a highly automated facility containing two furnace inserts in which Sample Cartridge Assemblies (SCAs), each containing one material sample, can be processed up to temperatures of 1400C. Once an SCA is installed by a Crew Member, the experiment can be run by automatic command or science conducted via telemetry commands from the ground. Initially, 12 SCAs were processed in the first furnace insert for a team of European and US investigators. The processed samples have been returned to Earth for evaluation and comparison of their properties to samples similarly processed on the ground. A preliminary examination of the samples indicates that the majority of the desired science objectives have been successfully met leading to significant improvements in the understanding of alloy solidification processes. The second furnace insert will be installed in the facility in January 2011 for processing the remaining SCA currently on orbit. Six SCAs are planned for launch summer 2011, and additional batches are planned for future processing. This facility is available to support additional materials science investigations through programs such as the US National Laboratory, Technology Development, NASA Research Announcements, ESA application oriented research programs, and others. The development of the research rack was a cooperative effort between NASA's Marshall Space Flight Center and the European Space Agency (ESA).

Frazier, Natalie C.↗

NASA NTRS1988

A TEOM (tm) particulate monitor for comet dust, near Earth space, and planetary atmospheres

Scientific missions to comets, near earth space, and planetary atmospheres require particulate and mass accumulation instrumentation for both scientific and navigation purposes. The Rupprecht & Patashnick tapered element oscillating microbalance can accurately measure both mass flux and mass distribution of particulates over a wide range of particle sizes and loadings. Individual particles of milligram size down to a few picograms can be resolved and counted, and the accumulation of smaller particles or molecular deposition can be accurately measured using the sensors perfected and toughened under this contract. No other sensor has the dynamic range or sensitivity attained by these picogram direct mass measurement sensors. The purpose of this contract was to develop and implement reliable and repeatable manufacturing methods; build and test prototype sensors; and outline a quality control program. A dust 'thrower' was to be designed and built, and used to verify performance. Characterization and improvement of the optical motion detection system and drive feedback circuitry was to be undertaken, with emphasis on reliability, low noise, and low power consumption. All the goals of the contract were met or exceeded. An automated glass puller was built and used to make repeatable tapered elements. Materials and assembly methods were standardized, and controllers and calibrated fixtures were developed and used in all phases of preparing, coating and assembling the sensors. Quality control and reliability resulted from the use of calibrated manufacturing equipment with measurable working parameters. Thermal and vibration testing of completed prototypes showed low temperature sensitivity and high vibration tolerance. An electrostatic dust thrower was used in vacuum to throw particles from 2 x 10(exp 6) g to 7 x 10(exp -12) g in size. Using long averaging times, particles as small as 0.7 to 4 x 10(exp 11) g were weighted to resolutions in the 5 to 9 x 10(exp -13) g range. The drive circuit and optics systems were developed beyond what was anticipated in the contract, and are now virtually flight prototypes. There is already commercial interest in the developed capability of measuring picogram mass losses and gains. One area is contamination and outgassing research, both measuring picogram losses from samples and collecting products of outgassing.

Source record↗

NASA NTRS2009

Differential InP HEMT MMIC Amplifiers Embedded in Waveguides

Monolithic microwave integrated-circuit (MMIC) amplifiers of a type now being developed for operation at frequencies of hundreds of gigahertz contain InP high-electron-mobility transistors (HEMTs) in a differential configuration. The differential configuration makes it possible to obtain gains greater than those of amplifiers having the single-ended configuration. To reduce losses associated with packaging, the MMIC chips are designed integrally with, and embedded in, waveguide packages, with the additional benefit that the packages are compact enough to fit into phased transmitting and/or receiving antenna arrays. Differential configurations (which are inherently balanced) have been used to extend the upper limits of operating frequencies of complementary metal oxide/semiconductor (CMOS) amplifiers to the microwave range but, until now, have not been applied in millimeter- wave amplifier circuits. Baluns have traditionally been used to transform from single-ended to balanced configurations, but baluns tend to be lossy. Instead of baluns, finlines are used to effect this transformation in the present line of development. Finlines have been used extensively to drive millimeter- wave mixers in balanced configurations. In the present extension of the finline balancing concept, finline transitions are integrated onto the affected MMICs (see figure). The differential configuration creates a virtual ground within each pair of InP HEMT gate fingers, eliminating the need for inductive vias to ground. Elimination of these vias greatly reduces parasitic components of current and the associated losses within an amplifier, thereby enabling more nearly complete utilization of the full performance of each transistor. The differential configuration offers the additional benefit of multiplying (relative to the single-ended configuration) the input and output impedances of each transistor by a factor of four, so that it is possible to use large transistors that would otherwise have prohibitively low impedances. Yet another advantage afforded by the virtual ground of the differential configuration is elimination of the need for a ground plane and, hence, elimination of the need for back-side metallization of the MMIC chip. In turn, elimination of the back-side metallization simplifies fabrication, reduces parasitic capacitances, and enables mounting of the MMIC in the electric-field plane ("E-plane") of a waveguide. E-plane mounting is consistent with (and essential for the utility of) the finline configuration, in which transmission lines lie on a dielectric sheet in the middle of a broad side of the waveguide. E-plane mounting offers a combination of low loss and ease of assembly because no millimeter-wave wire bonds or transition substrates are required. Moreover, because there is no ground plane behind the MMIC, the impedance for the detrimental even (single-ended) mode is high, suppressing coupling to that mode. Still another advantage of E-plane mounting is that the fundamental waveguide mode is inherently differential, eliminating the need for a balun to excite the differential mode.

Kangaslahti, Pekka↗

NASA NTRS1999

Rotationally Adaptive Flight Test Surface

Research on a new design of flutter exciter vane using adaptive materials was conducted. This novel design is based on all-moving aerodynamic surface technology and consists of a structurally stiff main spar, a series of piezoelectric actuator elements and an aerodynamic shell which is pivoted around the main spar. The work was built upon the current missile-type all-moving surface designs and change them so they are better suited for flutter excitation through the transonic flight regime. The first portion of research will be centered on aerodynamic and structural modeling of the system. USAF DatCom and vortex lattice codes was used to capture the fundamental aerodynamics of the vane. Finite element codes and laminated plate theory and virtual work analyses will be used to structurally model the aerodynamic vane and wing tip. Following the basic modeling, a flutter test vane was designed. Each component within the structure was designed to meet the design loads. After the design loads are met, then the deflections will be maximized and the internal structure will be laid out. In addition to the structure, a basic electrical control network will be designed which will be capable of driving a scaled exciter vane. The third and final stage of main investigation involved the fabrication of a 1/4 scale vane. This scaled vane was used to verify kinematics and structural mechanics theories on all-moving actuation. Following assembly, a series of bench tests was conducted to determine frequency response, electrical characteristics, mechanical and kinematic properties. Test results indicate peak-to-peak deflections of 1.1 deg with a corner frequency of just over 130 Hz.

Barrett, Ron↗

NASA NTRS2020

X-HAB 2020: AR Field Treks Summary and Conclusions

As part of the FY20 X-Hab Challenge, BLiSS sought to create an Augmented Reality (AR) toolkit to help with analog field trek operations under the supervision of the Solar System Exploration Research Virtual Institute (SSERVI). These treks are operational and technical demonstrations at space-like destinations on Earth to test current extra-vehicular activity (EVA) techniques. While BLiSS as an organization has experience studying operational tasks such as this, it has never developed AR software at this scale. For that reason, another team at the University was brought on to work in parallel. The Collaborative Lab for Advancing Work in Space (CLAWS) is a veteran group of the NASA Spacesuit User Interface Technologies for Students (SUITS) challenge in which Hololens displays for astronauts are created within a year. The operational and technological pairing was ideally suited for tackling this problem. The team divided its responsibilities so that BLiSS would handle the research required to shape the project. As this deliverable had an end user, it was decided that interviewing these field geologists and operations specialists would provide the best insight. These interviews paired with literature review would reveal niche applications for AR that remained within feasible bounds. These science-driven EVAs in unknown terrain require more flexible tools than the current generation of EVA assistants. Rather than focus on sequential instructions, there instead needs to be a broad toolkit that's only called upon in specific instances. This AR Toolkit for Lunar Astronauts and Scientists (ATLAS) became the development goal of the project: create a non-intrusive assembly of tools that could be accessed in AR on the field. The current ATLAS design makes use of a geospatially and temporally annotated eld note system called GeoNotes. This allows for data to be collected and coordinated in a way that's synchronized across time, space, and different users. A Mission Control Center (MCC) and Mobile Support Equipment (MSE) were all needed to transport the AR headset into the field with the user. A network infrastructure was designed and set up within the University to enable this functionality. The software is based on a Protocol-Module structure that allows for modular development of each capability. A Protocol Manager coordinates different protocols that make use of modules. Each module tackles a different individual task while the protocol puts each one to use. The protocol manager coordinates when these are called to be used. This software is hosted on a head-mounted display (HMD) with the MCC acting as support from afar. While the software would be unit-tested at each level and each hardware component verified, a final demonstration would serve to prove the system's capabilities: an analog field trek. The team would prepare to support a user in a remote location from the MCC back at the University. A local area near campus would be tested before going out to do sample field geology further away. This unfortunately became impossible with the arrival of COVID-19. Access to all of the facilities to complete the project as planned were shut down. Our team was scattered across the globe and forced to complete the rest virtually. Adjustments were made to produce a small virtual concept in Adobe XD in the meantime. Even digital surveys were created based on the NASA task-load index (TLX) originally intended for testing actual users. The goal shifted towards completing software and getting feedback on the user interfaces (UI) and user experiences (UX). This team has reformed in response to COVID and its focus has shifted to what can be done remotely. There is still an intention to finish the original deliverable described in this report. The work has been expanded beyond the original X-Hab challenge and has instead become its own research e ort to be continued afterwards. This report collects the processes and knowledge gained from a year of studying and working at this problem with two teams. It should preserve it for the time until the world returns to normal and work can resume. CLAWS will be taking over full responsibility from that point forward, eventually surpassing the original needs of the project. While this document captures the work done towards an eventual end, the CLAWS team has written their own proposal alongside it. It outlines a new future for ATLAS beyond X-Hab, BLiSS, and hopefully beyond COVID-19. This project began as a vague goal hoping to place a new technology into the unique setting of exploration science. The project has since comfortably taken root and will hopefully bloom over the next year.

Alex Sena↗

NASA NTRS2004

Sensory-Feedback Exoskeletal Arm Controller

An electromechanical exoskeletal arm apparatus has been designed for use in controlling a remote robotic manipulator arm. The apparatus, called a force-feedback exoskeleton arm master (F-EAM) is comfortable to wear and easy to don and doff. It provides control signals from the wearer s arm to a robot arm or a computer simulator (e.g., a virtual-reality system); it also provides force and torque feedback from sensors on the robot arm or from the computer simulator to the wearer s arm. The F-EAM enables the wearer to make the robot arm gently touch objects and finely manipulate them without exerting excessive forces. The F-EAM features a lightweight design in which the motors and gear heads that generate force and torque feedback are made smaller than they ordinarily would be: this is achieved by driving the motors to power levels greater than would ordinarily be used in order to obtain higher torques, and by providing active liquid cooling of the motors to prevent overheating at the high drive levels. The F-EAM (see figure) includes an assembly that resembles a backpack and is worn like a backpack, plus an exoskeletal arm mechanism. The FEAM has five degrees of freedom (DOFs) that correspond to those of the human arm: 1. The first DOF is that of the side-to-side rotation of the upper arm about the shoulder (rotation about axis 1). The reflected torque for this DOF is provided by motor 1 via drum 1 and a planar four-bar linkage. 2. The second DOF is that of the up-and-down rotation of the arm about the shoulder. The reflected torque for this DOF is provided by motor 2 via drum 2. 3. The third DOF is that of twisting of the upper arm about its longitudinal axis. This DOF is implemented in a cable remote-center mechanism (CRCM). The reflected torque for this DOF is provided by motor 3, which drives the upper-arm cuff and the mechanism below it. A bladder inflatable by gas or liquid is placed between the cuff and the wearer s upper arm to compensate for misalignment between the exoskeletal mechanism and the shoulder. 4. The fourth DOF is that of flexion and extension of the elbow. The reflected torque for this DOF is provided by motor 4 and drum 4, which are mounted on a bracket that can slide longitudinally by a pin-and-slot engagement with the upper-arm cuff to compensate for slight variations in the position of the kinematic center of the elbow. Attached to drum 4 is an adapter plate to which is attached a CRCM for the lower arm. 5. The lower-arm CRCM implements the fifth DOF, which is the twist of the forearm about its longitudinal axis. Motor 5 provides the reflected torque for this DOF by driving the lower-arm cuff. A rod transmits twist and torsion between the lower-arm cuff and the hand cuff. With this system, the motion of the wearer s joints and the reflected torques applied to these joints can be measured and controlled in a relatively simple manner. This is because the anthropomorphic design of the mechanism imitates the kinematics of the human arm, eliminating the need for kinematic conversion of joint-torque and joint-angle data.

An, Bin↗