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The EVA Spacesuit POLITECNICO DI TORINO Repository ISTITUZIONALE Glove Exoskeleton for Extra-Vehicular Activities: Analysis of Requirements and Prototype Design Original Glove Exoskeleton for Extra-Vehicular Activities: Analysis of Requirements and Prototype Design / Favetto, Alain. - (2014). Availability: This version is available at: 11583/2546950 since: Publisher: Politecnico di Torino Published DOI:10.6092/polito/porto/2546950 Terms of use: openAccess This article is made available under terms and conditions as specified in the corresponding bibliographic description in the repository Publisher copyright (Article begins on next page) 04 August 2020 POLITECNICO DI TORINO DOCTORATE SCHOOL Ph. D. In Informatics and Systems – XXV cycle Doctor of Philosophy Thesis Glove Exoskeleton for Extra-Vehicular Activities Analysis of Requirements and Prototype Design (Part One) Favetto Alain Advisor: Coordinator: Prof. Giuseppe Carlo Calafiore Prof. Pietro Laface kp This page is intentionally left blank Dedicato a mio Padre... Al tuo modo ruvido di trasmettere le emozioni. Al tuo senso del dovere ed al tuo altruismo. Ai tuoi modi di fare che da piccolo non capivo e oggi sono parte del mio essere. A tutti i pensieri e le parole che vorrei averti detto e che sono rimasti solo nella mia testa. A te che mi hai sempre trattato come un adulto. A te che te ne sei andato prima che adulto lo potessi diventare davvero. opokp This page is intentionally left blank Index INDEX Index .................................................................................................................................................5 Extra Vehicular Activities ....................................................................................................................8 Brief EVAs History ..................................................................................................................................... 9 The EVA Spacesuit ................................................................................................................................... 10 Brief U.S. Spacesuit History ................................................................................................................. 12 Brief Soviet Union/Russian Spacesuit History ..................................................................................... 13 New Concepts of Spacesuit ................................................................................................................. 14 The EVA Glove ......................................................................................................................................... 14 The Future of EVAs .................................................................................................................................. 16 Tomorrow’s EVA needs ....................................................................................................................... 16 Tomorrow’s EVA Glove needs ............................................................................................................. 18 The Smart EVA Glove Project .................................................................................................................. 19 State of The Art ................................................................................................................................ 20 Exoskeletons ........................................................................................................................................... 21 Rehabilitation Exoskeleton .................................................................................................................. 22 Haptic Exoskeleton .............................................................................................................................. 29 Assistive Exoskeleton........................................................................................................................... 34 Robotic Hands ......................................................................................................................................... 37 Sensors .................................................................................................................................................... 40 Actuators ................................................................................................................................................. 42 The Human Hand ............................................................................................................................. 45 Human Hand Anatomy ............................................................................................................................ 45 Anthropometric Dimensions ............................................................................................................... 47 Finger Constraints ............................................................................................................................... 49 Static constraints ............................................................................................................................. 49 Dynamic Intra-Finger constraints .................................................................................................... 49 Dynamic Inter-Finger constraints.................................................................................................... 51 Hand Grasp Taxonomy ............................................................................................................................ 53 Hand Tasks and the Number of Fingers .............................................................................................. 54 5 Index Hand Capabilities .................................................................................................................................... 55 Finger Joint’s Force and Torque .......................................................................................................... 55 Finger Joint’s Velocity .......................................................................................................................... 60 Finger Joint’s Power ............................................................................................................................ 60 Human Hand Model ................................................................................................................................ 60 Human Hand Kinematics ..................................................................................................................... 61 Direct Kinematics ............................................................................................................................ 63 Inverse Kinematics .......................................................................................................................... 65 Human Hand Dynamics ....................................................................................................................... 69 Test on EVA Glove ............................................................................................................................ 76 Test EVA Glove ........................................................................................................................................ 77 Glove Box ................................................................................................................................................ 78 Test on Human Hand Performances ....................................................................................................... 81 Test Subjects........................................................................................................................................ 81 Experimental Measurement Setup...................................................................................................... 81 Test Protocol ....................................................................................................................................... 82 Test Results ......................................................................................................................................... 84 Discussion of the results ...................................................................................................................... 87 Measuring of Glove Stiffness .................................................................................................................. 89 First Test: Experimental Measurement Setup ..................................................................................... 89 First Test: The Protocol ........................................................................................................................ 92 First Test: Results ................................................................................................................................ 93 Second Test: Experimental Measurement Setup ................................................................................ 97 Second Test: The Protocol ................................................................................................................ 100 Second Test: Results .......................................................................................................................... 101 The Exoskeleton ............................................................................................................................. 109 Main idea and overview of the possibilities ........................................................................................
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