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NASA NTRS2004

Gearing Up for the Big Game...and More

Bill Elkins, a member of the U.S. Space Foundation's Space Technology Hall of Fame, is using his experience in developing cooling garments for use in sports and medicine. His company, CoolSystems, has developed the Game Ready[TM] Accelerated Recovery System. Game Ready[TM] ergonomic wraps are designed to custom fit the ankle, knee, back, torso, shoulder, elbow, and wrist and provide deep tissue cooling therapy with intermittent compression to reduce pain, swelling, and tissue damage. Recharge[TM] cooling garments have been developed to lower core body temperature in people with heat-sensitive multiple sclerosis, reducing symptoms such as fatigue, decreased balance, impaired vision, and decreased endurance. The company currently is collaborating with Stanford University Medical Center's Stanford Stroke Center to investigate the effectiveness of discrete hypothermia in stroke and head trauma patients.

Source record↗

NASA NTRS2004

Special Purpose Crew Restraints for Teleoperation

With permanent human presence onboard the International Space Station (ISS), and long duration space missions being planned for the moon and Mars, humans will be living and working in microgravity over increasingly long periods of time. In addition to weightlessness, the confined nature of a spacecraft environment results in ergonomic challenges such as limited visibility, and access to the activity area. These challenges can result in prolonged periods of unnatural postures for the crew, ultimately causing pain, injury, and loss of productivity. Determining the right set of human factors requirements and providing an ergonomically designed environment is crucial to mission success. While a number of general purpose restraints have been used on ISS (handrails, foot loops), experience has shown that these general purpose restraints may not be optimal, or even acceptable for some tasks that have unique requirements. For example, some onboard activities require extreme stability (e.g., glovebox microsurgery), and others involve the use of arm, torso and foot movements in order to perform the task (e-g. robotic teleoperation); standard restraint systems will not work in these situations. The Usability Testing and Analysis Facility (WAF) at the NASA Johnson Space Center began evaluations of crew restraints for these special situations by looking at NASAs Robonaut. Developed by the Robot Systems Technology Branch, Robonaut is a humanoid robot that can be remotely operated through a tetepresence control system by an operator. It was designed to perform work in hazardous environments (e.g., Extra Vehicular Activities). A Robonaut restraint was designed, modeled for the population, and ultimately tested onboard the KC-135 microgravity aircraft. While in microgravity, participants were asked to get in and out of the restraint from different locations, perform maximum reach exercises, and finally to teleoperate Robonaut while in the restraint. The sessions were videotaped, and participants completed a questionnaire at the end of each flight day. Results from this evaluation are being used to develop the human factors design requirements for teleoperation tasks in microgravity.

Whitmore, Mihriban↗

NASA NTRS2006

Spacesuit Radiation Shield Design Methods

Meeting radiation protection requirements during EVA is predominantly an operational issue with some potential considerations for temporary shelter. The issue of spacesuit shielding is mainly guided by the potential of accidental exposure when operational and temporary shelter considerations fail to maintain exposures within operational limits. In this case, very high exposure levels are possible which could result in observable health effects and even be life threatening. Under these assumptions, potential spacesuit radiation exposures have been studied using known historical solar particle events to gain insight on the usefulness of modification of spacesuit design in which the control of skin exposure is a critical design issue and reduction of blood forming organ exposure is desirable. Transition to a new spacesuit design including soft upper-torso and reconfigured life support hardware gives an opportunity to optimize the next generation spacesuit for reduced potential health effects during an accidental exposure.

Wilson, John W.↗

NASA NTRS2006

Learning Grasp Context Distinctions that Generalize

Control-based approaches to grasp synthesis create grasping behavior by sequencing and combining control primitives. In the absence of any other structure, these approaches must evaluate a large number of feasible control sequences as a function of object shape, object pose, and task. This work explores a new approach to grasp synthesis that limits consideration to variations on a generalized localize-reach-grasp control policy. A new learning algorithm, known as schema structured learning, is used to learn which instantiations of the generalized policy are most likely to lead to a successful grasp in different problem contexts. Two experiments are described where Dexter, a bimanual upper torso, learns to select an appropriate grasp strategy as a function of object eccentricity and orientation. In addition, it is shown that grasp skills learned in this way can generalize to new objects. Results are presented showing that after learning how to grasp a small, representative set of objects, the robot's performance quantitatively improves for similar objects that it has not experienced before.

Platt, Robert↗

NASA NTRS2006

A Hypothetical Perspective on the Relative Contributions of Strategic and Adaptive Control Mechanisms in Plastic Recalibration of Locomotor Heading Direction

We have previously shown that viewing simulated rotary self-motion during treadmill locomotion causes adaptive modification of the control of position and trajectory during over-ground locomotion, which functionally reflects adaptive changes in the sensorimotor integration of visual, vestibular, and proprioceptive cues (Mulavara et al., 2005). The objective of this study was to investigate how strategic changes in torso control during exposure to simulated rotary self-motion during treadmill walking influences adaptive modification of locomotor heading direction during over-ground stepping.

Richards, J. T.↗

NASA NTRS2007

Influence of Electrotactile Tongue Feedback on Controlling Upright Stance during Rotational and/or Translational Sway-referencing with Galvanic Vestibular Stimulation

Integration of multi-sensory inputs to detect tilts relative to gravity is critical for sensorimotor control of upright orientation. Displaying body orientation using electrotactile feedback to the tongue has been developed by Bach-y-Rita and colleagues as a sensory aid to maintain upright stance with impaired vestibular feedback. MacDougall et al. (2006) recently demonstrated that unpredictably varying Galvanic vestibular stimulation (GVS) significantly increased anterior-posterior (AP) sway during rotational sway referencing with eyes closed. The purpose of this study was to assess the influence of electrotactile feedback on postural control performance with pseudorandom binaural bipolar GVS. Postural equilibrium was measured with a computerized hydraulic platform in 10 healthy adults (6M, 4F, 24-65 y). Tactile feedback (TF) of pitch and roll body orientation was derived from a two-axis linear accelerometer mounted on a torso belt and displayed on a 144-point electrotactile array held against the anterior dorsal tongue (BrainPort, Wicab, Inc., Middleton, WI). Subjects were trained to use TF by voluntarily swaying to draw figures on their tongue, both with and without GVS. Subjects were required to keep the intraoral display in their mouths on all trials, including those that did not provide TF. Subjects performed 24 randomized trials (20 s duration with eyes closed) including four support surface conditions (fixed, rotational sway-referenced, translating the support surface proportional to AP sway, and combined rotational-translational sway-referencing), each repeated twice with and without GVS, and with combined GVS and TF. Postural performance was assessed using deviations from upright (peak-to-peak and RMS sway) and convergence toward stability limits (time and distance to base of support boundaries). Postural stability was impaired with GVS in all platform conditions, with larger decrements in performance during trials with rotation sway-referencing. Electrotactile feedback improved performance with GVS toward non-GVS levels, again with the greatest improvement during trials with rotation sway-referencing. These results demonstrate the effectiveness of tongue electrotactile feedback in providing sensory substitution to maintain postural stability with distorted vestibular input.

Wood, Scott J.↗

NASA NTRS2007

Medical Monitoring during Short Radius Centrifugation in Bed-rested Subjects

The artificial gravity pilot project was designed to investigate the efficacy of daily exposure to a Gz acceleration gradient for counteracting the physiologic decrements induced by prolonged bed rest. A short radius centrifuge was used to produce a Gz gradient such that 1 g was applied at the level of the subject s heart and 2.5 g at the feet. For inclusion in the study, subjects were required to complete a 75-minute screening spin on the centrifuge. During the study, each active treatment subject was scheduled for a 60-minute spin each day for 20 consecutive days. During centrifugation, subjects were continuously monitored by a physician for signs and symptoms of pre-syncope, motion sickness, arrhythmias, joint/muscle pain and any other unanticipated problems. The physician was also present to provide emergency care in the case of a medical emergency. Cameras mounted on the centrifuge were used to provide a means of observing the subject s face and torso. Audio communication was continuously maintained. Other monitoring tools included two-lead EKG tracings, pulse oximetry, intermittent sphygmomanometer readings, lights in the peripheral visual field, and continuous blood pressure readout from a tonometry device. Thirty screening runs were attempted using twenty-seven subjects. Seven of these runs were terminated early for symptoms of pre-syncope, motion sickness, or GI distress. A total of eight subjects completed the active treatment arm of the study. Of the 160 centrifuge runs that were scheduled for these eight treatment subjects, 152 were completed, seven were terminated early, and one was not attempted. Of the seven early terminations, four were related to symptoms of pre-syncope, one to leg pain, one to GI discomfort, and one to equipment failure. Three terminations for adverse symptoms occurred on the first treatment day. Three terminations occurred on day nineteen of treatment and within 24 hours after scheduled soleus and quadriceps muscle biopsies. We have summarized the relative usefulness of the information obtained by the various monitoring modalities in making a decision to terminate a centrifuge run. The video and audio communication information was essential to the decision-making process. Heart rate and EKG tracings are considered valuable, even though no spins were terminated due to significant arrhythmias. The tonometer device was generally not reliable in this application. Our observations suggest that subjects may be less tolerant of centrifugation just after starting bed rest and after invasive procedures.

Reinertson, Randal↗

NASA NTRS1989

Don/Doff support stand for use with rear entry space suits

A don/doff support stand for use with rear entry space suits is disclosed. The support stand is designed for use in one-g environments; however, certain features of the stand can be used on future space-craft, lunar or planetary bases. The present invention has a retainer which receives a protruding lug fixed on the torso section of the space suit. When the lug is locked in the retainer, the space suit is held in a generally upright position. In a one-g environment a portable ladder is positioned adjacent to the rear entry of the space suit supported by the stand. The astronaut climbs up the ladder and grasps a hand bar assembly positioned above the rear entry. The astronaut then slips his legs through the open rear entry and down into the abdominal portion of the suit. The astronaut then lowers himself fully into the suit. The portable ladder is then removed and the astronaut can close the rear entry door. The lug is then disengaged from the retainer and the astronaut is free to engage in training exercises in the suit. When suit use is over, the astronaut returns to the stand and inserts the lug into the retainer. A technician repositions the ladder. The astronaut opens the rear entry door, grasps the hand bar assembly and does a chin-up to extricate himself from the suit. The astronaut climbs down the movable ladder while the suit is supported by the stand.

Kosmo, Joseph J.↗

NASA NTRS2008

Functional Mobility Testing: A Novel Method to Create Suit Design Requirements

This study was performed to aide in the creation of design requirements for the next generation of space suits that more accurately describe the level of mobility necessary for a suited crewmember through the use of an innovative methodology utilizing functional mobility. A novel method was utilized involving the collection of kinematic data while 20 subjects (10 male, 10 female) performed pertinent functional tasks that will be required of a suited crewmember during various phases of a lunar mission. These tasks were selected based on relevance and criticality from a larger list of tasks that may be carried out by the crew. Kinematic data was processed through Vicon BodyBuilder software to calculate joint angles for the ankle, knee, hip, torso, shoulder, elbow, and wrist. Maximum functional mobility was consistently lower than maximum isolated mobility. This study suggests that conventional methods for establishing design requirements for human-systems interfaces based on maximal isolated joint capabilities may overestimate the required mobility. Additionally, this method provides a valuable means of evaluating systems created from these requirements by comparing the mobility available in a new spacesuit, or the mobility required to use a new piece of hardware, to this newly established database of functional mobility.

England, Scott A.↗

NASA NTRS2008

Strategies of Healthy Adults Walking on a Laterally Oscillating Treadmill

We mounted a treadmill on top of a six degree-of-freedom motion base platform to investigate locomotor responses produced by healthy adults introduced to a dynamic walking surface. The experiment examined self-selected strategies employed by participants when exposed to continuous, sinusoidal lateral motion of the support surface while walking. Torso translation and step width were used to classify responses used to stabilize gait in a novel, dynamic environment. Two response categories emerged. Participants tended to either fix themselves in space (FIS), allowing the treadbelt to move laterally beneath them, or they fixed themselves to the base (FTB), moving laterally as the motion base oscillated. The degree of fixation in both extremes varied across participants. This finding suggests that normal adults have innate and varied preferences for reacquiring gait stability, some depending more heavily on vision (FIS group) and others on proprioception (FTB group). Keywords: Human locomotion, Unstable surface, Treadmill, Adaptation, Stability

Brady, Rachel A.↗

NASA NTRS2008

Ambiguous Tilt and Translation Motion Cues in Astronauts after Space Flight

Adaptive changes during space flight in how the brain integrates vestibular cues with visual, proprioceptive, and somatosensory information can lead to impaired movement coordination, vertigo, spatial disorientation, and perceptual illusions following transitions between gravity levels. This joint ESA-NASA pre- and post-flight experiment is designed to examine both the physiological basis and operational implications for disorientation and tilt-translation disturbances in astronauts following short-duration space flights. The first specific aim is to examine the effects of stimulus frequency on adaptive changes in eye movements and motion perception during independent tilt and translation motion profiles. Roll motion is provided by a variable radius centrifuge. Pitch motion is provided by NASA's Tilt-Translation Sled in which the resultant gravitoinertial vector remains aligned with the body longitudinal axis during tilt motion (referred to as the Z-axis gravitoinertial or ZAG paradigm). We hypothesize that the adaptation of otolith-mediated responses to these stimuli will have specific frequency characteristics, being greatest in the mid-frequency range where there is a crossover of tilt and translation. The second specific aim is to employ a closed-loop nulling task in which subjects are tasked to use a joystick to null-out tilt motion disturbances on these two devices. The stimuli consist of random steps or sum-of-sinusoids stimuli, including the ZAG profiles on the Tilt-Translation Sled. We hypothesize that the ability to control tilt orientation will be compromised following space flight, with increased control errors corresponding to changes in self-motion perception. The third specific aim is to evaluate how sensory substitution aids can be used to improve manual control performance. During the closed-loop nulling task on both devices, small tactors placed around the torso vibrate according to the actual body tilt angle relative to gravity. We hypothesize that performance on the closed-loop tilt control task will be improved with this tactile display feedback of tilt orientation. The current plans include testing on eight crewmembers following Space Shuttle missions or short stay onboard the International Space Station. Measurements are obtained pre-flight at L-120 (plus or minus 30), L-90 (plus or minus 30), and L-30, (plus or minus 10) days and post-flight at R+0, R+1, R+2 or 3, R+4 or 5, and R+8 days. Pre-and post-flight testing (from R+1 on) is performed in the Neuroscience Laboratory at the NASA Johnson Space Center on both the Tilt-Translation Device and a variable radius centrifuge. A second variable radius centrifuge, provided by DLR for another joint ESA-NASA project, has been installed at the Baseline Data Collection Facility at Kennedy Space Center to collect data immediately after landing. ZAG was initiated with STS-122/1E and the first post-flight testing will take place after STS-123/1JA landing.

Clement, G.↗

NASA NTRS2005

Estimation of Effective Doses for Radiation Cancer Risks on ISS, Lunar, and Mars Missions with Space Radiation Measurement

Radiation protection practices define the effective dose as a weighted sum of equivalent dose over major sites for radiation cancer risks. Since a crew personnel dosimeter does not make direct measurement of effective dose, it has been estimated with skin-dose measurements and radiation transport codes for ISS and STS missions. The Phantom Torso Experiment (PTE) of NASA s Operational Radiation Protection Program has provided the actual flight measurements of active and passive dosimeters which were placed throughout the phantom on STS-91 mission for 10 days and on ISS Increment 2 mission. For the PTE, the variation in organ doses, which is resulted by the absorption and the changes in radiation quality with tissue shielding, was considered by measuring doses at many tissue sites and at several critical body organs including brain, colon, heart, stomach, thyroid, and skins. These measurements have been compared with the organ dose calculations obtained from the transport models. Active TEPC measurements of lineal energy spectra at the surface of the PTE also provided the direct comparison of galactic cosmic ray (GCR) or trapped proton dose and dose equivalent. It is shown that orienting the phantom body as actual in ISS is needed for the direct comparison of the transport models to the ISS data. One of the most important observations for organ dose equivalent of effective dose estimates on ISS is the fractional contribution from trapped protons and GCR. We show that for most organs over 80% is from GCR. The improved estimation of effective doses for radiation cancer risks will be made with the resultant tissue weighting factors and the modified codes.

Kim, M.Y.↗

NASA NTRS2010

Sensory Bias Predicts Postural Stability, Anxiety, and Cognitive Performance in Healthy Adults Walking in Novel Discordant Conditions

We designed a gait training study that presented combinations of visual flow and support surface manipulations to investigate the response of healthy adults to novel discordant sensorimotor conditions. We aimed to determine whether a relationship existed between subjects visual dependence and their scores on a collective measure of anxiety, cognition, and postural stability in a new discordant environment presented at the conclusion of training (Transfer Test). A treadmill was mounted to a motion base platform positioned 2 m behind a large visual screen. Training consisted of three walking sessions, each within a week of the previous visit, that presented four 5-minute exposures to various combinations of support surface and visual scene manipulations, all lateral sinusoids. The conditions were scene translation only, support surface translation only, simultaneous scene and support surface translations in-phase, and simultaneous scene and support surface translations 180 out-of-phase. During the Transfer Test, the trained participants received a 2-minute novel exposure. A visual sinusoidal roll perturbation, with twice the original flow rate, was superimposed on a sinusoidal support surface roll perturbation that was 90 out of phase with the scene. A high correlation existed between normalized torso translation, measured in the scene-only condition at the first visit, and a combined measure of normalized heart rate, stride frequency, and reaction time at the transfer test. Results suggest that visually dependent participants experience decreased postural stability, increased anxiety, and increased reaction times compared to their less visually dependent counterparts when negotiating novel discordant conditions.

Brady, Rachel A.↗

NASA NTRS2009

Preliminary Results of the Effect of Spinal Elongation in Microgravity on Seated Height

The Constellation Program is designing a new vehicle for future space travel to the International Space Station and to the Moon and beyond. One major accommodation and design issue that needs to be addressed with the current seat layout design is spinal elongation. Spinal elongation is the spinal growth that occurs due to straightening of the spinal curve and expansion of the inter-verbal discs in microgravity. Spinal elongation is critical to the design of the seats, seat layout, suit fit, and crew accommodation because of the implications it can have on the a safe return of the crewmembers or during the mission. Inadequate clearance between crewmembers and/or between crewmember hardware interfaces may potentially result in injury during the mission or upon returning to earth. Therefore, design requirements need to be determined that will allow for the elongation of the spine. The current requirement as specified in the Human Systems Integration Requirement (HSIR) document states that a 3% increase in standing height must be accommodated. However, it cannot be assumed that the amount of standing height growth is equivalent to the amount of spinal elongation because of the variation in body proportions between the lower body and torso. Thus, the purpose of this study was to determine the amount of spinal elongation for a seated posture for 6 Shuttle and 7 ISS missions. Crewmembers seated heights were collected before, during, and after spaceflight to determine the change in seated height and the amount of spinal growth that occurs due to microgravity. The changes in seated height will provide the designers with a design requirement that will allow for change in spinal growth for a seated posture. Preliminary results have shown that increase in seated height is greater than the 3% increase currently stated in the requirement.

Rajulu, Sudhakar↗

NASA NTRS2009

Space Flight Orthostatic Intolerance Protection

This paper summarizes investigations conducted on different orthostatic intolerance protection garments. This paper emphasizes on the engineering and operational aspects of the project. The current Shuttle pneumatic Anti-G Suit or AGS at 25 mmHg (0.5 psi) and customized medical mechanical compressive garments (20-30 mmHg) were tested on human subjects. The test process is presented. The preliminary results conclude that mechanical compressive garments can ameliorate orthostatic hypotension in hypovolemic subjects. A mechanical compressive garment is light, small and works without external pressure gas source; however the current garment design does not provide an adjustment to compensate for the loss of mass and size in the lower torso during long term space missions. It is also difficult to don. Compression garments that do not include an abdominal component are less effective countermeasures than garments which do. An early investigation conducted by the Human Adaptation and Countermeasures Division at Johnson Space Center (JSC) has shown there is no significant difference between the protection function of the AGS (at 77 mmHg or 1.5 psi) and the Russian anti-g suit, Kentavr (at 25 mmHg or 0.5 psi). Although both garments successfully countered hypovolemia-induced orthostatic intolerance, the Kentavr provided protection by using lower levels of compression pressure. This more recent study with a lower AGS pressure shows that pressures at 20-30 mmHg is acceptable but protection function is not as effective as higher pressure. In addition, a questionnaire survey with flight crewmembers who used both AGS and Kentavr during different missions was also performed.

Luty, Wei↗

NASA NTRS2010

Space Life Sciences Directorate's Position on the Physiological Effects of Exposing the Crewmemeber to Low-Voltage Electrical Hazards During Extravehicular Activity

The models predict that, for low voltage exposures in the space suit, physiologically active current could be conducted across the crew member causing catastrophic hazards. Future work with Naval Health Research Center Detachment Directed Energy Bio-effects Laboratory is being proposed to analyze additional current paths across the human torso and upper limbs. These models may need to be verified with human studies.

Hamilton, Douglas↗

NASA NTRS2010

Vestibular Stochastic Resonance as a Method to Improve Balance Function: Optimization of Stimulus Characteristics

Stochastic resonance (SR) is a mechanism by which noise can assist and enhance the response of neural systems to relevant sensory signals. Application of imperceptible SR noise coupled with sensory input through the proprioceptive, visual, or vestibular sensory systems has been shown to improve motor function. Specifically, studies have shown that that vestibular electrical stimulation by imperceptible stochastic noise, when applied to normal young and elderly subjects, significantly improved their ocular stabilization reflexes in response to whole-body tilt as well as balance performance during postural disturbances. The goal of this study was to optimize the characteristics of the stochastic vestibular signals for balance performance during standing on an unstable surface. Subjects performed a standardized balance task of standing on a block of 10 cm thick medium density foam with their eyes closed for a total of 40 seconds. Stochastic electrical stimulation was applied to the vestibular system through electrodes placed over the mastoid process behind the ears during the last 20 seconds of the test period. A custom built constant current stimulator with subject isolation delivered the stimulus. Stimulation signals were generated with frequencies in the bandwidth of 1-2 Hz and 0.01-30 Hz. Amplitude of the signals were varied in the range of 0- +/-700 micro amperes with the RMS of the signal increased by 30 micro amperes for each 100 micro amperes increase in the current range. Balance performance was measured using a force plate under the foam block and inertial motion sensors placed on the torso and head segments. Preliminary results indicate that balance performance is improved in the range of 10-25% compared to no stimulation conditions. Subjects improved their performance consistently across the blocks of stimulation. Further the signal amplitude at which the performance was maximized was different in the two frequency ranges. Optimization of the frequency and amplitude of the signal characteristics of the stochastic noise signals on maximizing balance performance will have a significant impact in its development as a unique system to aid recovery of function in astronauts after long duration space flight or for people with balance disorders.

Mulavara, Ajitkumar↗

NASA NTRS2004

Primate Anatomy, Kinematics, and Principles for Humanoid Design

The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

Ambrose, Robert O.↗