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NASA NTRSDate not supplied

Fabrication of Gecko Mobility Aids for Deep Space Exploration

Spacecraft large enough for crew to move around inside them have traditionally used handrails and foot restraints to enable crew mobility. The mass of this hardware can become significant in large spacecraft such as ISS or a Mars Transit Habitat. The Common Habitat study also determined that handrails and foot restraints in a multi-gravity habitat are trip hazards when the habitat is in a gravity environment. ISS crew have noted risks of breaking ankles and wrists when using handrails for translation and have noted places where not enough handrails are present. Robotic gecko-derived grippers developed by JPL to retrieve satellites can be adapted to crew-worn pads that can adhere to surfaces to enable crew translation in microgravity. This project will fabricate prototypes of crew clothing augmented with gecko pads.

Restraints and Mobility Aids↗

NASA NTRSDate not supplied

Gecko Mobility Aids for a Common Habitat Architecture

Spacecraft large enough for crew to move around inside them have traditionally used handrails and foot restraints to enable crew mobility. The mass of this hardware can become significant in large spacecraft such as the Common Habitat. Additionally, handrails and foot restraints in a multi-gravity habitat are trip hazards when the habitat is in a gravity environment. Further, ISS crew have noted risks of breaking ankles and wrists when using handrails for translation and have noted places where not enough handrails are present. Robotic gecko-derived grippers developed by JPL to retrieve satellites can be adapted to crew-worn pads that can adhere to surfaces to enable crew translation in microgravity. This technology will help to eliminate the need for handrails and foot restraints for mobility in crewed microgravity spacecraft cabins. It has the potential to achieve significant mass reductions in future space habitats, with application to suborbital flight, LEO, cislunar space, interplanetary space, the Moon, and Mars. Additionally, it can prevent crew injury and discomfort. Project goals and objectives are to prepare gecko uniform prototypes for use in multi-gravity testing and conduct initial investigations into human factors of postures and motions needed for intravehicular activity (IVA) translation and restraint in multiple gravity environments, without the use of handrails or foot restraints. Gecko grippers have been tested for use as robotic end effectors terrestrially, on microgravity aircraft, and aboard the ISS. Using the grippers as a body-mounted system to achieve IVA crew mobility is a new application that has not been pursued outside of this effort. This work will continue paper studies performed by NASA student interns by developing physical prototypes of spacecraft crew uniforms with gecko-derived body-mounted grippers. Clothing prototypes may include long sleeves, short sleeves, long pants, shorts, gloves, and/or booties equipped with gecko gripper pads. Forward work is to test these uniforms in a 1g environment to verify that the design does not introduce obstructions, trip hazards, or other consequences when used in terrestrial gravity. Based on the 1g test results, the uniform prototypes will be refined, and a test plan developed for testing at 0g, (1/6)g, and (3/8)g.

Restraints and Mobility Aids↗

NASA NTRSDate not supplied

Recent Improvements and Verification of A Full Body Model in Opensim

BACKGROUND: The dynamic feasibility [1,2] criterion, that the subject’s Center of Pressure (COP) be located within the Base of Support (BOS) which outlines the feet, has aided in assessing the stability of human motion recorded on earth while performing the recorded tasks in lunar gravity or as countermeasures exercises on a vibration isolation and stabilization system in microgravity. The convex hull of the BOS on the platform under the subject’s feet was estimated using virtual markers on the feet of the scaled subject model. The COP was calculated using the ground reaction forces and moments determined from motion capture data with biomechanical modeling tools [3]. Occasionally, large-amplitude oscillatory spikes or “artifacts” were observed in the subject’s linear and angular momentum derivatives, affecting some COP data derived from motion capture. The purpose of this investigation was to assess and improve the accuracy of model scaling and BOS estimation as well as to determine the efficacy of model adjustments in mitigating artifacts influencing motion capture-derived ground reaction force and COP results. METHODS: To aid evaluation of proposed process and model updates, motion capture data were collected for two subjects during unit test and range of motion trials, lunar tasks, and countermeasures exercise motions. Markers were added to the full body Plug-in Gait marker set [4] during data collection. New markers were placed on the front, back, sides, and top of the head to improve scaling using distances between marker pairs. Medial elbow markers were added to stabilize the upper arm during OpenSim Inverse Kinematics (IK) [5]. Finally, markers were added on the outer edge of the heels and on the outside edges of the first and last toes on each foot. These additional foot markers were made available to test new automated foot scaling techniques and to calculate the error between the subject’s estimated and recorded BOS. The modified unscaled OpenSim Full Body Rajagopal Model [6,7] was adjusted using some previously investigated techniques [8] to mitigate rapid shifts in joint angles occurring during IK, as these were found to cause the spike artifacts observed in subsequent stages of analysis. Since OpenSim models use Euler angles and rotation sequences, the arm axes of rotation were adjusted, and the pelvis order of rotation was changed to minimize the likelihood of encountering “gimbal lock” during common human motion. The model clavicle, arm, elbow, wrist, pelvis, and ankle angle limits were adjusted to better accommodate the full human range of motion seen in exercise and lunar data. The shoulder joint center was calculated using a “pivoting” algorithm [9], and both shoulder joint center and upper arm markers were included during IK to provide additional shoulder stability on a case-by-case basis. The quality of IK results was assessed by three criteria: minimizing error between recorded motion capture markers and model markers, checking for reasonable rates of change in joint angles between fames (i.e., no IK artifacts), and ensuring the absence of spikes in the inertial forces and angular momentum derivatives calculated using a custom OpenSim plugin [10]. RESULTS: The additional markers placed on the subject during data collection allowed the head and feet to be scaled more accurately using distances between new marker pairs. Scaling with BOS markers placed on the subject and removing the limit on subtalar angle resulted in more accurate BOS determination. Unrealistically large changes in joint angles between frames could be reduced by including clavicle, sternum, and medial elbow markers during IK. In cases with large arm ranges of motion, results could be further improved by running IK using medial elbow and virtual shoulder joint center markers. Model adjustments significantly improved the IK results affecting COP calculation and increased the accuracy of BOS estimation.

C A Bell↗

NASA NTRSDate not supplied

Functional Task Tests in Partial Gravity During Parabolic Flight

BACKGROUND Understanding how critical mission tasks are performed in partial gravity such as on the moon or Mars is necessary to define effective and comprehensive countermeasure strategies for preserving crew performance during exploration missions. We studied the performance of tasks such as standing, walking, and jumping during the partial gravity phases of parabolic flight. We hypothesized that the acute effects of partial gravity on vestibular, proprioceptive, and sensorimotor functions would negatively impact performance. METHODS Twelve subjects were tested over three flights of 30 parabolas each, including 10 parabolas at 0.25g, 10 parabolas at 0.5g, and 10 parabolas at 0.75g. Subjects also performed tests in 1g between parabolas. During the sit-to-stand with obstacle walk task, subjects rose from a seated position and walked as quickly as possible straight ahead towards a cone (4 m distance), walked around the cone making a 180° left turn, returned, and sat in the chair. On the way to and from the cone, subjects stepped over a 30 cm high obstacle. For the recovery from fall task, subjects lay prone for the pull-up phase and initial 10 sec of the parabola. Then they were asked to rise as quickly as possible and maintain a quiet stance for 10 sec. The tandem rail balance task involved standing with both feet on a 4.5 cm wide rail. The time ended when subjects either stepped off the rail or grabbed on to support straps. The jump down task started with the subjects standing on a 30 cm high platform, then the subjects were instructed to step off the platform, land with both feet simultaneously, and settle in a quiet stance. The cone of stability task involved subjects leaning about the ankles as far as they could in the anterior, posterior, and lateral directions without unfolding their arms or taking a step. The center of pressure distance between endpoints was calculated. Data were collected using inertial measurement units (Opal V2, APDM, Portland, OR) worn on the head and trunk, heart rate monitors (RS800CX, Polar, Kempele, Finland), and a force plate (Bertec, Columbus, OH). RESULTS Gravity level had a significant effect on performance, with the greatest changes from 1g tending to be at the 0.25g level (Table 1). Lower gravity levels were associated with increased times to complete the sit-to-stand obstacle walk task and the recovery from fall task, decreased change in heart rate during the recovery from fall task, decreased rail balance times, and increased cone of stability distance in the anterior-posterior direction. Table 1. Functional task performance at different gravity levels during parabolic flight. Measure0.25g0.5g0.75g1gp-valueSit-to-stand with obstacle walk time (sec)9.8 ±1.4*7.2 ±0.76.9 ±0.8*7.4 ±0.9<0.001Recovery from fall time to settle (sec)5.3 ± 0.9*4.6 ± 0.84.2 ± 0.64.3 ± 0.70.002Recovery from fall change in heart rate (bpm)6.0 ± 7.3*11.2 ± 6.5*14.9 ± 4.915.9 ± 6.5<0.001Rail balance with eyes open time (sec)2.7 ±0.8*4.8 ±2.16.6 ±4.78.4 ±6.70.031Rail balance with eyes closed time (sec)1.6 ±0.4*2.1 ±0.42.4 ±0.62.6 ±0.8<0.001Jump down time to settle (sec)2.1 ± 0.41.9 ± 0.42.0 ± 0.31.8 ± 0.30.328Cone of stability –anterior-posterior (cm)20.8 ±2.7*18.8 ±2.218.6 ±1.717.9 ±2.00.039Cone of stability –lateral (cm)26.8 ±6.624.4 ±2.123.0 ±2.123.8 ±2.30.215p-value: one-way repeated measures analysis of variance; *Significant pairwise difference from 1g (p<0.05). DISCUSSION These data suggest that there is a dose-response relationship between gravity level and functional task performance. The largest changes in performance were expected at the lowest gravity level (0.25g) because subjects would no longer be able to use the gravitational reference for the perception of upright. Understanding the extent of performance deficits informs the risks and design of countermeasures for exploration spaceflight missions. ACKNOWLEDGEMENT This work is supported by NASA’s Human Research Program Human Health Countermeasures Element.

T R Macaulay↗

NASA NTRSDate not supplied

Validation of A Sensorimotor Disorientation Ground Analog

INTRODUCTION Simulating the sensorimotor disorientation effects of gravity transitions after prolonged stays in microgravity is exceedingly challenging on Earth. In a previous study [1], a Sensorimotor Disorientation Analog (SDA) was developed based on subjective feedback from previously flown astronauts. The purpose of this study was to validate this SDA by comparing performance in movement tasks that have a wealth of spaceflight data against task performance while using the SDA. METHODS Thirty healthy non-astronaut subjects (17 males, 13 females; Mean ± SD, Age: 33.5 ± 7.2 years, Height: 68.0 ± 3.4 in, Weight: 164 ± 26 lbs.) volunteered to participate in this study. Subjects performed three movement tasks: computerized dynamic posturography (CDP), obstacle walk, and tandem walk. For CDP, subjects maintained an upright stance for 20s with eyes closed on an unstable pitch sway-referenced platform with head erect (sensory organization test (SOT)-5) and with head pitch ±20° to an auditory cue(SOT-5M). The obstacle walk involved a sit-to-stand with 10s of quiet stance followed by walking to and around a cone placed 4m away while navigating a 30cm obstacle to the cone and back. The tandem walk involved walking heel-to-toe for approximately 10-12 steps with eyes open and eyes closed. Subjects performed the three movement tasks under three levels of the SDA replicating different time points of recovery: none (preflight), low (Return (R)+24- 48hours), and high (R+0- 24hours). The SDA included galvanic vestibular stimulation (GVS) to disorient the vestibular system and a weighted suit (trunk, wrists, and ankles) to alter proprioceptive feedback and replicate subjective heaviness. RESULTS As the SDA magnitude increased, overall performance outcomes decreased. However, the ability of the SDA to replicate the range of astronaut postflight performance was task dependent. CDP SOT-5 performance across SDA levels closely replicated astronaut performance at all time points. SOT-5M, however, had minimal performance changes across SDA levels and was unable to replicate astronaut performance. The obstacle walk showed performance changes across SDA levels and matched astronaut performance preflight and at R+24-48hrs (low). Obstacle walk performance at the high SDA level was reduced in comparison to the low level; however, it was not replicative of astronaut performance immediately after landing. Last, tandem walk had distinct groupings of performance across SDA levels and was able to elicit a high level of disorientation consistent with R+0-24 hours (high) postflight performance for eyes open and eyes closed. The low SDA level for both eyes open and eyes closed was more disruptive than previous crewmember performance at the R+24-48 hours timepoint. CONCLUSION The SDA was developed to replicate postflight sensorimotor disruptions. However, it is well-known that immediately post-landing, astronauts can experience motion sickness, dehydration, fatigue, orthostatic intolerance, illusory sensations, lumbar pain, etc. This multi-system response to return to 1G varies widely across astronauts and, as such, it was not unexpected that the extreme ends of responses in the R+0-24hrs time period were the most difficult to replicate. These results suggest that the SDA levels are able to elicit distinct performance groupings and, although not able to perfectly replicate R+0-24hrs, the SDA did replicate a large range of performance after return to Earth.

S C Moudy↗

NASA NTRS2024

Safe Exploration: Sensorimotor Assessments for Early Extravehicular Activities

BACKGROUND: Artemis missions will require a new level of crew autonomy around periods of gravitational transition, where sensorimotor disturbances are at their highest. There is a need to define performance thresholds for key sensorimotor assessments that indicate when performance in early extravehicular activities (EVAs) might be impacted or unsafe. This panel presentation will discuss the development of sensorimotor assessments for determining crew preparedness of early EVAs by utilizing a novel portable sensorimotor disorientation analog and other spaceflight analogs. OVERVIEW: To define performance thresholds, a proposed set of sensorimotor assessment tasks must be validated under various spaceflight analogs. A Sensorimotor Disorientation Analog (SDA) was developed that could induce varying levels of disorientation through combined vestibular (galvanic vestibular stimulation (GVS)) and proprioceptive (weighted chest, ankles, and wrists) disruptions. The SDA was first pilot tested using subjective feedback from previously flown astronauts to determine the levels of disorientation that mimic motor performance immediately (R+0) and +24 hours (R+1) postflight. A second study was performed using healthy non-astronaut ground subjects to validate the SDA levels by comparing to astronaut postflight data. The validated SDA was utilized in a third study to map performance in the proposed set of sensorimotor assessment tasks to operational tasks. The assessment tasks were defined based on lessons learned from Apollo and subject matter experts (e.g., flight surgeons) to include the following: 1) aid in progressive adaptation to the novel gravitational environment; 2) provide opportunities to develop strategies to recover from off-nominal body positions; and 3) mimic operational tasks such that crew can self-assess their potential ability to complete their missions. This presentation will conclude with a discussion on future validation studies of the proposed assessment tasks using other spaceflight analogs such as centrifugation and gravity offload systems. DISCUSSION: Exploration class missions will require crew to be able to self-assess and treat their sensorimotor dysfunction after gravity transitions, and in off-nominal situations they may be required to perform provocative, challenging tasks soon after landing. This panel presentation will discuss current and ongoing research strategies to address the sensorimotor risk on safe exploration during Artemis missions.

Sarah Moudy↗

NASA NTRSDate not supplied

Development and Validation of Sensorimotor Assessment Tasks Using Spaceflight Analogs

INTRODUCTION Exploration class missions will require a new level of crew autonomy to self-assess and treat their sensorimotor dysfunction around periods of gravitational transition, where sensorimotor disturbances are at their highest. There is a need to define sensorimotor assessment thresholds that indicate when performance in early extravehicular activities (EVAs) might be impacted or unsafe. The purpose of this study was to develop and validate a set of assessment tasks using sensorimotor spaceflight analogs including the Sensorimotor Disorientation Analog (SDA) and +3G x sustained centrifugation. METHODS For the SDA, forty-one healthy non-astronaut subjects (21 males, 20 females; Mean ± SD, Age: 34.0 ± 7.8 years) volunteered to participate in this study. Subjects attended two testing sessions: 1) familiarization to the tasks and baseline data collection, and 2) tasks completed under two levels of sensorimotor disorientation. Subjects performed a series of seven sensorimotor assessment tasks followed by two operationally relevant EVA analog tasks. The sensorimotor assessments tasks, ordered from least to most provocative of the sensorimotor system, included: postural stability, step test, prone/supine recovery from fall (RFF), four-square-step-test, obstacle negotiation with turns (OTT), kneel-and-reach, and augmented reality full-body coordination. The operational analog tasks included a top-hatch capsule egress and a 5-minute EVA traversal. Disorientation was applied via the SDA which utilized galvanic vestibular stimulation and weighted trunk, wrists, and ankles to target the vestibular and proprioceptive systems such that performance while wearing the SDA mimicked astronaut postflight performance at R+0 and R+1. Sixteen healthy non-astronaut subjects (10 males, 6 females; Age: 35.0 ± 9.5 years) completed +3G x 60-minute sustained centrifugation as an established spaceflight analog replicating the vestibular disruptions seen postflight. Subjects completed a pre-session which included familiarization to the tasks and a 5-minute centrifuge spin. The data collection session included, in order, a baseline data collection, 60-minute centrifuge spin, immediate post-centrifuge data collection, 45-minute seated recovery, and a final data collection. The same assessment and operational analog tasks were conducted as described above. RESULTS Pearsons’ correlation r-values were calculated between assessment and operational analog tasks. The two assessment tasks with the strongest correlations to the operational analog tasks were the RFF (SDA: r≥ 0.57, Centrifuge: r ≥0.55) and OTT (SDA: r≥ 0.66, Centrifuge: r ≥ 0.49). For brevity, repeated measures ANOVA with follow-up paired t-tests are discussed for these two assessment tasks. The SDA found significant differences between all three levels of disorientation for both RFF and OTT (p < 0.001). Significant differences were also found between baseline and immediate post centrifuge testing for both the RFF (p≤ 0.011) and OTT (p = 0.001). Additional results are forthcoming for both disorientation paradigms. DISCUSSION These validation studies provide evidence for down-selection of the assessment tasks that were able to distinguish between levels of sensorimotor disorientation and correlate to performance in operationally relevant tasks for use in upcoming Artemis missions.

S C Moudy↗

NASA NTRS2025

Magnetic Resonance Imaging (MRI) to Assess Changes to Trabecular Microarchitecture (Trb µArch) of the Hip

BACKGROUND . Calculated loss rates in trabecular (Trb) volumetric bone mineral density (vBMD), in astronauts after return from 6-month long-duration (LD) spaceflight, are rapid relative to menopause-induced loss rates and could contribute to the observed lack of recovery. Perforations in the Trb bony struts, skeletal fragility and fractures [5] have been associated with the rapid rate of bone loss in women due to menopause. The more rapid loss rate observed in astronauts could be inducing similar, irreversible losses of trabecular connectivity as seen in cadaver studies of female skeletons. These changes are not detectable by DXA technology and would not be discovered in astronauts during scheduled, triennial DXA testing for primary osteoporosis. High-resolution-peripheral quantitative computed tomography (HR-pQCT) of the lower leg have detected losses in Trb vBMD (vBMD) and changes in Trb microarchitecture (µArch) in astronauts immediately following routine 6-month spaceflights and continuing in some individuals for 1 or more years postflight with no signs of recovery. Resolution of these microarchitectural changes by whole body QCT, especially in the deeply embedded hip bone, is prohibitive due to excessive and unsafe radiation exposures. While HR-pQCT has sufficient resolution to study Trb µArch at safe and lower radiation exposure testing is restricted only to the lower leg and wrist. Hence, a technology to detect detrimental changes to Trb µArch in astronauts, especially of the hip, is needed to inform type and timing of countermeasures to irreversible deficits (preflight, inflight and postflight). METHODS . This HRP-funded study (2023-2027) will verify the sensitivity of a protocol for MRI scanning (on a 3T Siemens Vida) to detect changes to hip Trb µArch in persons following spinal cord injury (SCI); skeletal immobilization below the spinal lesion will serve as an analog for non-weight-bearing during spaceflight. The study period has been extended by 1 yr due to delayed Richmond IRB approval in Y1. A 3T MRI protocol will characterize serial changes in hip Trb µArch in SCI patients from time of admission at the Richmond VA Medical Center to their scheduled annual exam 12-months later. SCI patients with age, sex, and physical characteristics like ISS astronauts will be consented. The ability of 3T MRI hip scan to discriminate loss of trabecular connectivity subjects with SCI will be compared to age- and sex-matched ambulatory controls. A comparison between HR-pQCT and MRI measurements at the ankle (distal tibia) of study subjects will also be performed. A modified DXA scan analysis (3D-Shaper) will also be verified as a potential method for monitoring concurrent changes in hip Trb bone over 12-month. SIGNIFICANCE . Deliverables: a surveillance method for assessing for irreversible losses of connectivity and how skeletal changes after LD spaceflight(s) would modify the terrestrial risk of primary osteoporosis.

Spinal Cord Injury↗

NASA NTRS2025

Magnetic Resonance Imaging (MRI) to Assess Changes to Trabecular Microarchitecture (Trb µArch) of the Hip

Risk Surveillance↗

NASA NTRS2001

Effects of long-duration bed rest on structural compartments of m. soleus in man

Magnetic resonance imaging (MRI), histomorphometry and electron microscopy of muscle demonstrate that long-term exposure to actual or simulated weightlessness (including head down bed rest) leads to decreased volume of antigravity muscles in mammals. In muscles interbundle space is occupied by the connective tissue. Rat studies show that hindlimb unloading induces muscle fiber atrophy along with increase in muscle non-fiber connective tissue compartment. Beside that, usually 20% of the muscle fiber volume is comprised by non-contractile (non-myofibrillar) compartment. The aim of the present study was to compare changes in muscle volume, and in muscle fiber size with alterations in myofibrillar apparatus, and in connective tissue compartment in human m. soleus under conditions of 120 day long head down bed rest (HDBR).

Non-NASA Center↗

NASA NTRS2000

Thermal regulation in Macaca mulatta during space flight

The results of studies of body temperature and thermal regulation in Macaca mulatta flown on biosatellites Bion 6-11 are presented. The effect of microgravity on deep body temperature as compared to skin temperature was investigated. In most animals, deep body temperature declined moderately and then tended to return to normal. Brain temperature/ankle temperature correlation changed. The system of thermal regulation was found to function adequately in space.

short duration↗

NASA NTRS2000

Fingertip contact suppresses the destabilizing influence of leg muscle vibration

Touch of the hand with a stationary surface at nonmechanically supportive force levels (<1 N) greatly attenuates postural sway during quiet stance. We predicted such haptic contact would also suppress the postural destabilization caused by vibrating the right peroneus brevis and longus muscles of subjects standing heel-to-toe with eyes closed. In experiment 1, ten subjects were tested under four conditions: no-vibration, no-touch; no-vibration, touch; vibration, no-touch; and vibration, touch. A hand-held physiotherapy vibrator (120 Hz) was applied approximately 5 cm above the malleolous to stimulate the peroneus longus and brevis tendons. Touch conditions involved contact of the right index finger with a laterally positioned surface (<1 N of force) at waist height. Vibration in the absence of finger contact greatly increased the mean sway amplitude of the center of pressure and of the head relative to the no-vibration, no-touch control condition (P < 0.001). The touch, no-vibration and touch-vibration conditions were not significantly different (P > 0.05) from each other and both had significantly less mean sway amplitude of head and of center of pressure than the other conditions (P < 0.01). In experiment 2, eight subjects stood heel-to-toe under touch and no-touch conditions involving 40-s duration trials of peroneus tendon vibration at different duty cycles: 1-, 2-, 3-, and 4-s ON and OFF periods. The vibrator was attached to the subject's leg and remotely activated. In the no-touch conditions, subjects showed periodic postural disruptions contingent on the duty cycle and mirror image rebounds with the offset of vibration. In the touch conditions, subjects were much less disrupted and showed compensations occurring within 500 ms of vibration onset and mirror image rebounds with vibration offset. Subjects were able to suppress almost completely the destabilizing influence of the vibration in the 3- and 4-s duty cycle trials. These experiments show that haptic contact of the hand with a stable surface can suppress abnormal proprioceptive and motor signals in leg muscles.

NASA Discipline Neuroscience↗