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Spacesuit and Portable Life Support System Center of Gravity Influence on Astronaut Kinematics, Exertion and Efficiency

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Spacesuit and Portable Life Support System Center of Gravity Influence on Astronaut Kinematics, Exertion and Efficiency Spacesuit and Portable Life Support System Center of Gravity Influence on Astronaut Kinematics, Exertion and Efficiency A thesis submitted to the Graduate School of the University of Cincinnati in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE In the Department of Aerospace Engineering and Engineering Mechanics of the College of Engineering and Applied Science November 2015 by SIDDHARTH SRIDHAR B.Tech Mechatronics SRM University, May 2013 Committee Chair: Grant Schaffner, Ph.D. i Spacesuit and Portable Life Support System Center of Gravity Influence on Astronaut Kinematics, Exertion and Efficiency Abstract NASA has initiated a series of tests aimed at understanding human physiological and biomechanical effects of spacesuits under a variety of conditions. Though these tests include metabolic rates, ground reaction forces, biomechanics, subjective workload and controllability feedback, the influences (kinematics, exertion and efficiency) of a combined spacesuit and portable life support system (PLSS) center of gravity (CG) during an astronaut’s extravehicular task performance has not been completely understood. The work described in this thesis was aimed at developing a quantitative means of evaluating the influence of space suit and PLSS CG location on astronaut EVA task performance in terms of kinematics (joint angular ranges), exertion (joint torques and muscle forces), and efficiency (comparative work performed). Four CG locations, representing approximate CG extremes for the NASA MK III and Z1 space suits, were evaluated using a combined experimental and computational approach. Three common EVA tasks were studied: object translation, climbing and walking. It was found that the Low-Aft CG was the best for object translation, the High-Forward CG for walking and the Low-Forward CG for climbing. ii iii Acknowledgements I would like to thank Dr. Grant Schaffner for his guidance and patience in helping me throughout my Master’s research at the Human Systems and Simulation Laboratory, UC. I would like to thank Shane M. McFarland at the NASA Johnson Space Center for his constant support throughout this project. Many thanks to Protostar Engineering Inc., Cincinnati for supporting my project partially and helping me design and build the CG variation fixture. My heartfelt appreciation to Dr. Kelly Cohen and Dr. Kristin Yvonne Rozier for serving on my thesis committee. I would like to acknowledge Eric Stetz, my lab mate for all the NASA spacesuit calculations. I owe you one! Thanks to the Department of Aerospace Engineering and the Department of Physics for providing me teaching assistantship that helped cover my tuition and living expenses partially, Gaurav Mukherjee for teaching me on how to use the motion capture system, OpenSim and taking me out for beer many times and encouraging me with all his positive energy. Cheers to my HSSL lab mates Prashanth, Satya, Brandon and Anang for bearing with my sense of humor and working together on Open Sim. Special thanks to Rob Ogden and Curtis Fox of Aerospace Engineering for helping us fix anything that broke. I would like to extend my thanks to Dr. Kristin Yvonne Rozier for offering me a PhD position in her lab at UC and sending me to the fifth summer school on formal techniques, CA. Much appreciation to the organizations in UC in which I was/am a part of – the Indian Students Association, the Aerospace Graduate Students Association, the Administrative Review Committee, Accelerating Racial Justice. Most importantly, I would like to thank my parents, my sister and all my family in India and abroad for their love, motivation and support. Also, I would like to thank my extended family and buddies at Cincinnati: Anusha, Anudeep, Suprabh, Abinaya, Kshitij, Navneet, Santosh, Deepthi, Devesh, iv Pallavi, Selva, Anoop, Sarthak, Shishir, Rohit, Rohan, Vishakh, Abhay, Rajit, Robins, Vamshi, Bhargav, Ranjan, Rohit Dureja, Madhumitha, Supriya, Hari, Bala and Vishwa to name a few, without whom, my grad life wouldn’t have been the same. Lastly, thanks Starbucks for all the coffee that kept me awake and Zipcar that took me places. v Table of Contents Abstract ........................................................................................................................................... ii Acknowledgements ........................................................................................................................ iv Table of Contents ............................................................................................................................ 1 List of Figures ................................................................................................................................. 2 List of Tables .................................................................................................................................. 4 List of Acronyms ............................................................................................................................ 5 1 Introduction ............................................................................................................................. 6 1.1 Background and Motivation ............................................................................................. 6 1.2 Research Goals and Approach ......................................................................................... 7 1.3 Thesis Outline .................................................................................................................. 8 2 Literature Review.................................................................................................................... 9 2.1 Spacesuits ......................................................................................................................... 9 2.2 Related NASA Studies ................................................................................................... 12 3 Experimental Design ............................................................................................................. 16 3.1 Center of Gravity Variation Fixture ............................................................................... 16 3.2 Methods .......................................................................................................................... 20 3.2.1 Subject Preparation ................................................................................................. 21 3.2.2 Experimental Protocol ............................................................................................ 25 3.3 Post Experimental Analysis ........................................................................................... 32 3.3.1 Tracking the Motion Capture Data ......................................................................... 32 3.3.2 OpenSim Analysis .................................................................................................. 33 4 Results ................................................................................................................................... 37 4.1 Differences in kinematics ............................................................................................... 37 4.2 Exertion .......................................................................................................................... 43 4.2.1 Joint Torques ........................................................................................................... 43 4.2.2 Joint Power.............................................................................................................. 49 4.2.3 Muscle Force ........................................................................................................... 52 4.3 Efficiency of task performance ...................................................................................... 57 4.4 Combined Results .......................................................................................................... 60 4.5 Rate of Perceived Exertion ............................................................................................. 61 5 Discussions and Conclusions ................................................................................................ 63 6 Future Work .......................................................................................................................... 65 References ..................................................................................................................................... 66 Appendix A ................................................................................................................................... 68 1 List of Figures Figure 2.1: Extravehicular Mobility Unit………………………….……………………………..12 Fig. 3.1: A subject wearing the CG variation fixture……………………….……………………19 Fig. 3.2: CG variation fixture……………………………………………….……………………19 Fig 3.3: Comparison of Target CG and fixture + subject CG……………….…………………...19 Fig 3.4: Four CG locations of interest……………………………………….…………………...20 Fig. 3.5: Frontal and left side view of the model with the markers……….…………………….....22 Fig. 3.6: Rectus femoris sensor placement………………………………………………………..24 Fig. 3.7: Vastus lateralis sensor placement……………………………………………………….24 Fig. 3.8: Tibialis anterior sensor placement……………………………………………………....24 Fig. 3.9: Gastrocnemius medialis sensor placement……………………………………………...24 Fig. 3.10: Biceps femoris captus long sensor placement……………………………………….....25 Fig. 3.11: Erector spinae ileocostalis sensor
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