Modeling human-spacesuit interactions

Dynamic simulations can provide an important, cost saving tool for the purpose of Extravehicular Activity (EVA) planning and training. One important shortcoming of current EVA models is that they lack an accurate representation of the significant torques that are required to bend spacesuit joints. The main objective of this thesis is to quantify the interaction between the human and the Extravehicular Mobility Unit (EMU) spacesuit by developing data-driven models of the joint torque characteristics. An extensive joint torque database was compiled by utilizing an instrumented robot to act as a human surrogate. The EMU spacesuit was installed on the robot and joint torques were measured for a large number of angular trajectories. The measured torque data were then used to derive mathematical hysteresis models of the torque versus angle characteristics of each joint that are appropriate for implementation into dynamic simulations of suited astronauts. A comparison of the model predictions to experimental data showed that the torque models fit the data well, with r2 values greater than 0.6 in most cases. Thesis Supervisor: Dava J. Newman Title: Professor of Aeronautics and Astronautics Thesis Supervisor: Jeffrey A. Hoffman Title: Professor of the Practice of Aerospace Engineering Acknowledgements I'd like to thank a few of the people who have contributed greatly to the completion of this work as well as to the quality of my MIT experience in general. First and foremost I need to thank my advisors, Dava Newman and Jeff Hoffman: Dava, thanks for giving me the opportunity to come here and work in this field. You are a definite inspiration both as a mentor and, quite frankly, as just a supercool person in general. I really appreciate your guidance, support, and understanding. I owe a huge debt of gratitude to Jeff Hoffman for stepping up to take the reins when Dava set sail. Your direction, wealth of experience, and wisdom are all greatly appreciatedand a huge thanks for all of the thesis edits, especially those last minute ones. Thanks to all the folks in the Man Vehicle Lab: To Chuck and Larry for allowing me to be a part of this group. To Patricia Schmidt for her help during the beginning stages of this research. To Chris and Phil for being the gurus that you arethanks for all of your knowledge and willingness to provide help as well as distractions when I needed them. To Brad for being a great officemate and demonstrating that there can be engineers who actually "see." Additionally I'd like to thank all the friends who have kept me distracted and made sure my experience in Boston was a good one. Jennifer, thank you for the constant support and companionship over the past few years; I owe you big time. Neilie and Craig, thanks for keeping me centered and for making me cookies when things got too crazy. Thanks to Travis, Ajit, and Carlos for making sure I got out of my office on occasion and for visiting me when I couldn't get out of the office. To all the lgbt@mit and Rainbow Coffeehouse folksit has been a privilege to work with you all during my time here. Thank you for providing me with an outlet through which I could give back to the MIT community. A big thanks to the Coca-Cola Company, Erasure, Madonna, and Buena Vista Social Club for helping me stay awake for the past few weeks so that I could finish this thing. And of course, most importantly, I need to thank all of my family back in SC, especially my mom and dad who have continually stood behind me for the past 25 yearI really appreciate all of your support and could not imagine better parents. This work funded by NASA Grant NAG9-1089