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Signature Redacted a Uthor Evaluating Human-EVA Suit Injury Using Wearable Sensors MASS ACUS0 ILNSTITUTE )F TECHNOLOGY by JUN 28 2016 Ensign Sabrina Reyes, U.S. Navy IBRARIES B.S., Aerospace Engineering United States Naval Academy (2014) ARCHIVES Submitted to the Department of Aeronautics and Astronautics in partial fulfillment of the requirements for the degree of Master of Science in Aeronautics and Astronautics at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY June 2016 @ Massachusetts Institute of Technology 2016. All rights reserved. Signature redacted A uthor ............... ;....... Department of Aeronauticand Astronautics V~ \ %, \ May 19, 2016 am= Signature redacted-- Certified by.. ........... Jelfrey A. Hoffman, Ph.D. Professor of theractice, Aeronautics and Astronautics Siqnature redacted A ccepted by .................. I........ .............................. PauloI C Lozno7n PhDT Associate Professor of Aeronautics and Astronautics Chair, Graduate Program Committee 2 Evaluating Human-EVA Suit Injury Using Wearable Sensors by Ensign Sabrina Reyes, U.S. Navy Submitted to the Department of Aeronautics and Astronautics on May 19, 2016, in partial fulfillment of the requirements for the degree of Master of Science in Aeronautics and Astronautics Abstract All the current flown spacesuits are gas pressurized and require astronauts to exert a substantial amount of energy in order to move the suit into a desired position. The pressurization of the suit therefore limits human mobility, causes discomfort, and leads to a variety of contact and strain injuries. While suit-related injuries have been observed for many years and some basic countermeasures have been implemented, there is still a lack of understanding of how humans move within the spacesuit. The rise of wearable technologies is changing the paradigm of biomechanics and allowing a continuous monitoring of motion performance in fields like athletics or medical re- habilitation. Similarly, pressure sensors allow a sensing capability to better locate the areas and magnitudes of contact between the human and their interface and re- duce the risk of injuries. Coupled together these sensors allow a better understanding of the complex interactions between the astronaut and his suit, enhance astronauts performance through a real time monitoring and reducing the risk of injury. The first set of objectives of this research are: to gain a greater understanding of this human-spacesuit interaction and potential for injury by analyzing the suit-induced pressures against the body, to determine the validity of the particular sensors used with suggested alternatives, and to extend the wearable technology application to other relatable fields such as soldier armor and protective gear. An experiment was conducted in conjunction with David Clark Incorporated Company on the Launch Entry Development spacesuit analyzing the human-spacesuit system behavior for iso- lated and functional upper body movement tasks: elbow flexion/extension, shoulder flexion/extension, shoulder abduction/adduction and cross body reach, which is a complex succession of critical motions for astronaut and pilot task. The contact pres- sure between the person and the spacesuit was measured by three low-pressure sen- sors (the Polipo) over the arm, and one high-pressure sensor located on the shoulder (Novel). The same sensors were used in a separate experiment conducted in con- junction with Protect the Force Company on several different United States Marine Corps (USMC) protective gear configurations, which analyzed the human-gear in- teractions for: shoulder flexion/extension, horizontal shoulder abduction/adduction, vertical shoulder abduction/adduction, and the cross body reach. Findings suggest 3 that as suit pressurization increases, contact pressure across the top of the shoulder increases for all motion types. While it proved to be a perfectly acceptable method for gathering shoulder data, improvements can be made on the particular sensors used and the type of data collected and analyzed. In the future, human-suit interface data can be utilized to influence future gas-pressurized spacesuit design. Addition- ally, this thesis briefly explores the incompatibilities between Russian and U.S. EVA capabilities in order to make a case for equipment standardization. Thesis Supervisor: Jeffrey A. Hoffman, Ph.D. Title: Professor of the Practice, Aeronautics and Astronautics 4 Acknowledgments First and foremost, I would like to thank the wonderful advisors I had at MIT, without whom this thesis could have never happened. To Dr. Jeff Hoffman, thank you for all your honest guidance during the thesis process and regarding my aspirations to become an astronaut. To Dr. Dava Newman, thank you for introducing me to the world of human spaceflight and reigniting my passion for aerospace. My MIT experience would not have been the same without such a wonderful person in my life to give me incredible opportunities like meeting Buzz Aldrin, skiing in Montana for a conference, or working with spacesuits and other fantastic people for my research. Thank you both for all the opportunities and the unwavering support. To the EVA team, Pierre, Alexandra, and Allie, I cannot thank you enough for all your help on this thesis. It seriously would not have happened without you. Thanks for all the fun meetings, for being some of my first friends at MIT, and for being incredibly patient and helpful with all my questions even after you had moved on to bigger and better things! To Tony, John, and Grant, thank you guys for being my Navy partners in crime. You guys understand and tolerate my awful mood swings, humor, and personality probably more than anybody else, and for that I am so grateful. I am happy I had you all to provide advice and/or sounding boards for weird Navy situations like P-codes, disappearing without leave, etc. Tony and Grant, I guess I'm sort of happy we will all be in the same pipeline so I can see your ugly faces even after we leave MIT, and John, I am going to miss you so much but I know that you'll kick butt in flight school! To Hannah, thanks for being the sweetest roommate, officemate, classmate, etc. Our weird cookie binges, burger quests, lunch runs, and wonderful conversations kept me from insanity (seriously). Thank you for being such a wonderful and patient friend. To Conor, Richard, Lynn, Forrest, Eddie, and the rest of the MVLers, you guys are seriously the most amazing people ever! I am highly convinced that the Man Vehicle Lab is the coolest, funnest lab at MIT, plus we produce some darn good 5 research. Thanks for letting me waste all your time because I don't feel like doing any of my own work. Thanks for lab lunches, lab dog-sitting adventures, IEEE skiing, HST formal shenanigans, Captain America movie nights, and all the other incredible memories that I will cherish forever. I will miss you all so much, please come visit me wherever I am in the Navy! To the close friendships: Macauley, Anne, Parker, Patricia, Mark, and Emily, thank you guys for random dinners, drink nights, and for distracting each other from research and life. I love you guys to the moon and back. A special thanks to Liz Zotos, Barb DeLaBarre, Ed Ballo, and Beth Marois for providing advice, help, and friendship throughout my stay at MIT. Finally, I would like to thank my family for their incredible prayers, love, support, and encouragement. To Elizabeth, thank you for adopting my family into your own, because you have become such an important part of our family. Thank you for all your spot-on advice in all areas of life, because no one else seems to understand my way of thinking quite like you do. I love all of you very much and would not have gotten to where I am without you. 6 Contents 1 Introduction 13 2 Literature Review 16 2.1 Extravehicular Activity .. ......... ......... ..... 16 2.2 EVA Training and Injury ....... ........ ....... .. 19 2.3 Previous Work on Development of a Quantitative Understanding of Human-Spacesuit Interaction ......... .......... ... 23 3 Sensor Systems and Experimental Design 25 3.1 Sensor System s .............. ............... 25 3.1.1 Low Pressure Sensing System, the "Polipo" ........... 25 3.1.2 Novel High-Pressure Shoulder Sensor ............. 28 3.1.3 APDM Inertial Measurment Units ............... 29 3.2 Spacesuit Testing Experimental Design ..... ........... 30 3.3 Marine Protective Gear Experimental Design ............. 32 4 Novel System Results and Discussion 36 4.1 David Clark Experiment . .. .. ... 36 4.1.1 Pressure Distributions ............. .. .. 37 4.1.2 Pressure Profiles ................ ..... 41 4.1.3 Statistical Analysis ............... .... 47 4.2 Protect the Force Armor Gear Prototype Experiments . .... 53 4.3 Conclusions and Future Work . ............ .. ... 55 7 5 International EVA Capabilities 58 5.1 A Case for EVA Standardization .. ............ ...... 58 6 Conclusions 66 A Human-Suit Interface Pressure Evaluation 68 8 List of Figures 2-1 Extravehicular Mobility Unit and Exploded View Diagram. (Image Sources: NASA, Hamilton Sustrand) . ............ ..... 17 2-2 Pivoted HUT on left and Planar HUT on right. Note the different angles of the scye bearings in the two HUTs. (Image Source: NASA) 18 2-3 David Clark Launch and Entry Development Suit ..... ...... 18 2-4 Astronaut training in the NBL in an inverted position (Image Source: N A SA ) . ............ ............ ..... 20 3-1 Printed carbon-grease sensor with electrode extensions. (Image Source: W yss at Harvard, 2014) ...... ........... ........ 27 3-2 AMOHR
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