Browse Topic: Foot

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Flexible Feet Help Robots Walk FasterTBMG-3739108/01/2020
Researchers have developed flexible feet that enable robots to walk fast and efficiently on natural, uneven surfaces. The work has applications for search-and-rescue missions as well as space exploration.
Cooling Insoles Reduce Foot Temperature, Tissue BreakdownTBMG-3724307/01/2020
A new cooling insole developed by UT Southwestern scientists reduced the foot temperature of patients with diabetic neuropathy by several degrees, diminishing a significant risk factor for diabetic foot ulcers. This new device, detailed in an article published in The Journal of Foot & Ankle Surgery, could eventually prevent thousands of amputations that take place worldwide each year because of this condition.
Biomechanics of Passenger Vehicle Underride: An Analysis of IIHS Crash Test Data2020-01-052504/14/2020
Occupant dynamics during passenger vehicle underride has not been extensively evaluated. The present study examined the occupant data from IIHS rear underride crash tests. A total of 35 crash tests were evaluated. The tests were classified as full-width (n = 9), 50% overlap (n = 11), and 30% overlap (n = 15). A 2010 Chevrolet Malibu impacted the rear underride guard of a stationary trailer at 35 mph. Several occupant kinematics and dynamics data including head accelerations, head injury criteria, neck shear and axial forces, neck moments, neck indices, chest acceleration, chest displacement, chest viscous criterion, sternum deflection rate, and left/right femur forces/impulses, knee displacements, tibia axial forces, upper/lower tibia moments, upper/lower tibia indices, and foot accelerations were measured. The vehicle accelerations, delta-Vs, and occupant compartment intrusions were also evaluated. The results indicated that the head and neck injury parameters were positively
Atarod, Mohammad
Biofidelity of THOR 5th Percentile Female ATD in Ankle Eversion and Inversion2020-01-052804/14/2020
Females have higher frequency and risk of foot and ankle injuries in motor vehicle collisions than similar-sized males. Therefore, lower extremity biofidelity and accurate injury prediction of female ATDs is critical. This paper aims to compare the THOR 5th percentile female (THOR-05F) anthropomorphic test device (ATD) response with male and female PMHS data of various sizes under ankle inversion and eversion. The THOR-05F lower extremity was subjected to dynamic inversion and eversion ankle loading with a constant 2000N axial force applied through the tibia. Twelve THOR-05F tests (3 inversion and 3 eversion on both, left and right legs) were performed with boundary conditions consistent with previous post-mortem human subject (PMHS) lower extremity tests. The biofidelity of THOR-05F ankle stiffness was evaluated via comparison of measured and equal-stress equal-velocity scaled data (using mass-based scale factors) from previous PMHS datasets with mid-size males, small females and
Kulkarni, Shubham, Roberts, Carolyn, Foltz, Patrick, Forman, Jason
Unpowered, Lightweight Ankle ExoskeletonTBMG-3571712/01/2019
A lightweight, low-profile, inexpensive ankle exoskeleton could be widely used among elderly people, those with impaired lower-leg muscle strength, and workers whose jobs require substantial walking or running.
Residual Injury Situation and Accident Characteristics of Severe Motorcycle Accidents2019-01-063804/02/2019
The total number of persons severely and fatally injured in road traffic accidents has reduced considerably in recent decades. However, the number of motorcyclists involved in accidents has not reduced to the same extent, and some countries have even recorded an increase. The aim of this study is to analyse the circumstances of motorcycle accidents in Germany involving vehicles with a cubic capacity of over 125 cm3 with particular reference to severely or fatally injured riders. An analysis is to be made of the characteristics and patterns of injuries suffered by the most severely injured motorcyclists and proposals developed for injury prevention. The study included accident data from 464 motorcycle accidents collected in Hanover and Dresden between 2010 and 2015 by an academic research team in the course of the GIDAS project (German In-Depth Accident Study). This data represents a statistically representative sample from real accidents occurring in Germany. The analysis of the
Otte, Dietmar
Foot Device Controls Video Game ActionTBMG-2515107/28/2016
A group of graduate students from Johns Hopkins University, Baltimore, MD, devised a sandal-like controller that allows a video game player to control the on-screen action with his feet. The team — dubbed GEAR, for Game Enhancing Augmented Reality — created the device for amputees or those with disabilities that inhibit use of their arms or hands.
Low-Cost Prosthetic Knee Mimics Walking MotionTBMG-2269508/04/2015
Researchers at the Massachusetts Institute of Technology designed a low-cost prosthetic knee that mimics normal walking motion. The MIT team's prototype generates a torque profile similar to that of able-bodied knees, using only simple mechanical elements like springs and dampers. The team is testing the prosthetic knee in India, an area with approximately 230,000 above-knee amputees.
An Improved Human Biodynamic Model Considering the Interaction between Feet and Ground2015-01-061204/14/2015
Nowadays, studying the human body response in a seated position has attracted a lot of attention as environmental vibrations are transferred to the human body through floor and seat. This research has constructed a multi-body biodynamic human model with 17 degrees of freedom (DOF), including the backrest support and the interaction between feet and ground. Three types of human biodynamic models are taken into consideration: the first model doesn't include the interaction between the feet and floor, the second considers the feet and floor interaction by using a high stiffness spring, the third one includes the interaction by using a soft spring. Based on the whole vehicle model, the excitation to human body through feet and back can be obtained by ride simulation. The simulation results indicate that the interaction between feet and ground exerts non-negligible effect upon the performance of the whole body vibration by comparing the three cases.
Zhang, Weiguo, Ma, Zeyu, Jin, Ankang, Yang, James, Zhang, Yunqing
Microprocessor-Controlled Prostheses Are a Step in the Right DirectionTBMG-2182904/01/2015
It’s not always easy to walk in someone else’s shoes. It’s even more difficult if those shoes belong to a person with an artificial leg. However, that’s exactly what a group of scientists, engineers, and clinicians at Orthocare Innovations are doing to help engineer prostheses that respond better to the physical needs of amputees.
User's Manual for the Small Adult Female Hybrid III Test DummyJ2862_201502 (Historical)02/03/2015
This user’s manual covers the small adult female Hybrid III test dummy. It is intended for technicians who work with this device. It covers the construction and clothing, disassembly and reassembly, available instrumentation, external dimensions and segment masses, as well as certification and inspection test procedures. It includes instructions for safe handling of the instrumented dummy, repairing dummy flesh, and adjusting the joints throughout the dummy.
Dummy Testing and Equipment Committee
2014 Create the Future Design: Consumer Products Category WinnerTBMG-2098411/01/2014
Michael Zach, Anirudha Sumant, and Jonathan Moritz EChem Nanowires Stevens Point, WI
Heavy-Duty Vehicle Rear-View Camera Systems2014-01-238109/30/2014
Transport Canada, through its ecoTECHNOLOGY for Vehicles program, retained the services of the National Research Council Canada to undertake a test program to examine the operational and human factors considerations concerning the removal of the side mirrors on a Class 8 tractor equipped with a 53 foot dry van semi-trailer. Full scale aerodynamic testing was performed in a 2 m by 3 m wind tunnel on a system component basis to quantify the possible fuel savings associated with the removal of the side mirrors. The mirrors on a Volvo VN780 tractor were removed and replaced with a prototype camera-based indirect vision system consisting of four cameras mounted in the front fender location; two cameras on either side of the vehicle. Four monitors mounted in the vehicle - two mounted on the right A-pillar and two mounted on the left A-pillar - provided indirect vision information to the vehicle operator. Four commercial drivers were asked to perform a series of tests simulating typical
McWha, Tyson
Bio-Inspired Robotic Rehabilitation DeviceTBMG-1901201/27/2014
A soft, wearable device that mimics the muscles, tendons, and ligaments of the lower leg could aid in the rehabilitation of patients with foot-ankle disorders such as drop foot, said Yong-Lae Park, an assistant professor of robotics at Carnegie Mellon University, Pittsburgh, PA.
Anklebot: A Robotic Walking CoachTBMG-1763701/01/2014
The ankle is a complex joint, supported by muscle, tendon, and bones, and maintaining stability and locomotion. Characterizing how it works, however, is not so straightforward says a group of researchers from the Newman Laboratory for Biomechanics and Human Rehabilitation at MIT, Cambridge, MA.
Operator Controls on Industrial EquipmentJ297_201307 (Current)07/09/2013
This SAE Standard is intended to improve operator efficiency and convenience by providing guidelines for the uniformity of location and direction of motion of operator controls used on industrial wheeled equipment. The controls covered are those centrally located at the operator's normal position.
HFTC1, Controls, Visibility, Anthropometrics, Accessibility
Hybrid III 50 th Dummy Ankle Performance Study and Proposed Design Modification2013-01-066404/08/2013
The Hybrid III 50th male dummy[1] is used globally in vehicle safety for measuring the damage index of dummy components. This paper focuses on the dummy's ankle structures which have a great effect on its tibia index (TI). It is found that the ankle shaft can be damaged during the regular EURO and China NCAP[2] [3] front offset deformable barrier (ODB) test, which affects the accuracy of TI and the corresponding evaluation score. This paper studies the ankle structure and the component material properties and proposes a design modification to prevent damage to the ankle shaft.
Li, Lihua, Zhao, Youmei, Shen, Guangyong
Navigation Aids Enhance Foot Control UsabilityTBMG-1569702/01/2013
The ever-increasing functional capabilities of emerging medical de vices have precipitated new requirements for the multi-function foot controls used to operate the equipment. These foot controls typically consist of multiple actuators, one for each required control function.
The Eyes of the Mars Curiosity RoverTBMG-1536412/01/2012
On August 6, 2012, the Mars Curiosity rover successfully landed on the floor of Gale Crater on Mars. The Curiosity rover is about the size of a small SUV — 10 feet (3 meters) long, not including the arm, 9 feet (2.7 meters) wide, and 7 feet (2.2 meters) tall.
Equivalent Temperature - Truck and BusJ2234_201211 (Current)11/09/2012
The scope of this SAE Information Report is to: a Define the Equivalent temperature. b Describe how it can be used to evaluate the performance of a heating and/or air-conditioning system in a vehicle. c Describe how it can be measured.
Truck and Bus Windshield Wipers and Climate Control Comm
Medical Category WinnerTBMG-1511511/01/2012
The Medical winner was simply named Prosthetic Leg Connector. Its simplistic name belies the amount of thought and care that went into the creation of a device to replace the traditional silicone rubber “sock” that is pulled very snugly over a residual limb before attaching an artificial leg.
User's Manual for the Hybrid III Large Male Test DummyJ2860_201209 (Historical)09/27/2012
This SAE Surface Vehicle Information Report identifies and defines the assembly/disassembly and certification procedures relating to the use of the Hybrid III Large Male Test Dummy.
Dummy Testing and Equipment Committee
User's Manual for the Hybrid III Large Male Test DummyJ2860_201209-TEST-REC (Historical)09/27/2012
This SAE Surface Vehicle Information Report identifies and defines the assembly/disassembly and certification procedures relating to the use of the Hybrid III Large Male Test Dummy.
Dummy Testing and Equipment Committee
Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance OrgansTBMG-1461809/01/2012
Crewmembers returning from long duration space flight face significant challenges due to the microgravity induced inappropriate adaptations in balance/sensorimotor function. The Neuroscience Laboratory at JSC is developing a method based on stochastic resonance to enhance the brain’s ability to detect signals from the balance organs of the inner ear and use them for rapid improvement in balance skill, especially when combined with balance training exercises. This method involves a stimulus delivery system that is wearable/ portable providing imperceptible electrical stimulation to the balance organs of the human body.
External Cooling Coupled to Reduced Extremity Pressure DeviceTBMG-1136710/01/2011
Although suited astronauts are currently cooled with a Liquid Cooled Ventilation Garment (LCVG), which can remove up to 85 percent of body heat, their effectiveness is limited because cooling must penetrate layers of skin, muscle, fat, bone, and tissue to reach the bloodstream, where its effect is prominent. Vasoconstriction further reduces the effectiveness by limiting arterial flow when exposed to cold (the frostbite response), resulting in a time constant on the order of 20 minutes from application to maximum effect. This delay can be crucial in severe exposure to hypo- or hyper-thermic conditions, compromising homeostasis.
Orthotic Dynamically Adjusts to Changes in Foot Structure and MovementTBMG-813907/01/2010
Kinesthotic© orthotics are made to adapt to the foot by replicating, within footwear, an explicit quality of beach-sand surface dynamics on whatever surface the footwear is used. The resulting support complies with the biomechanically sound and functional supportive principles and demands of each foot. The proprietary semi-fluid One-MinuteFit© molding composite is hermetically sealed within the Kinesthotic retaining envelope aligned on top of the pre-molded dynamic molding chassis.
Implants and Prosthetic Devices: Helping the Body Reach its Full PotentialTBMG-786205/01/2010
Medical technology is currently capable of treating such physical hardships as loss of limb, eyelid paralysis, and chronic osteoarthritis – but researchers are continually finding ways to improve upon the effectiveness of these and other implanted and prosthetic device technologies. What follows is a sample of new technologies and research efforts that hold promise for a future in which human beings are able not just to survive, but thrive in the face of any conceivable physical difficulty.
User's Manual for the 50th Percentile Male Hybrid III DummyJ2856_200909 (Historical)09/17/2009
The purpose of this document is to provide the user with the procedures needed to properly assemble and disassemble the 50th percentile male Hybrid III dummy, certify its components and verify its mass and dimensions. Also within this manual are guidelines for handling accelerometers, repairing flesh and setting joints.
Dummy Testing and Equipment Committee
User's Manual for the 50th Percentile Male Hybrid III DummyJ2856_200909-TEST-REC (Historical)09/17/2009
The purpose of this document is to provide the user with the procedures needed to properly assemble and disassemble the 50th percentile male Hybrid III dummy, certify its components and verify its mass and dimensions. Also within this manual are guidelines for handling accelerometers, repairing flesh and setting joints.
Dummy Testing and Equipment Committee
Inverse Dynamic Reconstruction of Truck Cabin Ingress/Egress Motions2009-01-228606/09/2009
This paper investigates the feasibility of calculating joint forces and moments during a whole body truck cabin ingress/egress motion. For such a task, it is difficult to evaluate a future truck instep as the influences of the architecture parameters are complex over the motion and the discomfort feeling. In order to evaluate the future product at an early stage of the design process, Digital Human Models (DHMs) are interesting tools. However, most existing DHM simulation packages can only efficiently evaluate the kinematics of postures where the dynamics of the whole motion is necessary for such a task. The enhancement of DHMs towards a dynamic analysis and modeling is therefore necessary. In this study, the motions of subjects entering and exiting an adjustable truck cabin were measured by mean of an opto-electronic motion capture system and six load sensors. The joint angles were then calculated using an inverse kinematics method. And the joint loads were calculated using a
Monnier, Gilles, Chateauroux, Elodie, Wang, Xuguang, Roybin, Christophe
Formulation of the Degree of Postural Instability Based on the COP and EMG Data2009-01-230806/09/2009
The purpose of this study is to formulate the degree of postural instability in working based on the data acquisition of center of pressure (COP) and surface electromyography (EMG). In the previous studies [1]-[4], the limits to which we could move the COP such as the functional stability limits and the balance limits were obtained. In this study experiments were carried out for ten male subjects to measure the COP displacements and EMG signals of leg muscles when the subjects leaned as far as possible while taking every four brief pauses in four directions. As a result, it was found that the muscle load increased exponentially with the COP displacement. Therefore we considered that postural instability also increased exponentially with the COP displacement. Finally we formulated the degree of postural instability. By installing the formulation into a digital human model Jack (Siemens), proactive evaluation of working postural stability could be conducted.
Kawano, Tsuneo, Ueda, Tomoaki, Fukui, Yutaka, Sugimura, Nobuhiro
Characterization of Foot Morphology through 3D Optical Measures2008-01-188006/17/2008
The aims of this work were: the definition of an experimental protocol for foot shape anthropometry characterization through advanced 3D scanning technologies; the assessment of the effects of load and position on foot morphology; the creation of a consistent database of both anatomical and standard shoemaking measures. 3D foot shapes from 89 subjects were captured by using a stereophotogrammetric scanning system. A set of dedicated measures were extracted from each individual foot in 5 different conditions in terms of lower limbs position and load. Results gave some interesting indications concerning foot morphology and suggested that position and load do not seem to deeply affect foot measures.
Preatoni, Ezio, Rodano, Renato, Squadrone, Roberto, Cazzola, Dario, Mazzola, Marco, Moroni, Giancarlo, Andreoni, Giuseppe, Pedotti, Antonio
Laser Scanning System Helps Validate Method for Repairing Space Shuttle Heat ShieldTBMG-147904/01/2007
SLP-330 Laser Scanning Probe Laser Design Minneapolis, MN 952-884-9648 www.laserdesign.com
Stationary Apparatus Would Apply Forces of Walking to FeetTBMG-29010/01/2006
A proposed apparatus would apply controlled cyclic forces to both feet for the purpose of preventing the loss of bone density in a human subject whose bones are not subjected daily to the mechanical loads of normal activity in normal Earth gravitation. The apparatus was conceived for use by astronauts on long missions in outer space; it could also be used by bedridden patients on Earth, including patients too weak to generate the necessary forces by their own efforts.
Stationary Apparatus Would Apply Forces of Walking to FeetTBMG-TB-00029010/01/2006
The forces would be tailored to prevent loss of bone density. A proposed apparatus would apply controlled cyclic forces to both feet for the purpose of preventing the loss of bone density in a human subject whose bones are not subjected daily to the mechanical loads of normal activity in normal Earth gravitation. The apparatus was conceived for use by astronauts on long missions in outer space; it could also be used by bedridden patients on Earth, including patients too weak to generate the necessary forces by their own efforts.
Strength and Balance Guided Posture Selection during a Battery Maintenance Task2006-01-069804/03/2006
Posture selection during standing exertions is a complex process involving tradeoffs between muscle strength and balance. Bodyweight utilization reduces the amount of upper-body strength required to perform a high force push/pull exertion but shifts the center-of-gravity towards the limits of the functional stability region. Thus balance constraints limit the extent to which bodyweight can be used to generate push/pull forces. This paper examines a two-handed sagittal plane pulling exertion performed during a battery maintenance task on a member of the family of medium-sized tactical vehicles (FMTV). Percent capable strength predictions and functional balance capabilities were determined for various two-handed pulling postures using the University of Michigan's 3D Static Strength Prediction Program (3DSSPP). Through this simulation study, preferred postures that minimize joint torques while maintaining balance were identified. Such preferred postures are important in redesigning the
Hoffman, Suzanne G., Chaffin, Don B., Wagner, David W.
Ankle Skeletal Injury Predictions Using Anisotropic Inelastic Constitutive Model of Cortical Bone Taking into Account Damage Evolution2005-22-000711/09/2005
The most severe ankle skeletal injury called pilon fractures can cause long term disability and impairment. Based on previous experimental studies, the pilon fractures are regarded as caused by a high-energy compressive force in the ankle joint and affected by a muscular tension force generated by emergency braking. However, quantitative injury criteria for the pilon fractures are still unknown. More accurate prediction of bone fractures in the distal tibia using a FE model of human lower leg can help us know the quantitative injury criteria. Therefore we newly proposed an anisotropic inelastic constitutive model of cortical bone including damage evolution and then implemented it to a FE code, LS-DYNA. The proposed model successfully reproduced most of anisotropy, strain rate dependency, and asymmetry of tension and compression on material and failure properties of human femoral cortical bone. However, the simplified model using an isotropic elasto-viscoplastic material, which has been
Iwamoto, Masami, Miki, Kazuo, Tanaka, Eiichi
Universal Horizontal Field Maintenance Stand for 10,000 pound Weight Class Propulsion Units (48 inch and 30 inch Rail Gage)ARP581A (Historical)10/28/2005
This recommended practice covers a rail concept stand that may be used for horizontal disassembly and reassembly, and maintenance, incorporating certain design features which are defined herein. These features include the rail dimensions and width, length and height of stand to insure compatibility with rail concept type transport and positioning trailers.
AGE-4 Packaging, Handling and Transportability Committee
Stairs on the Moon2005-01-304607/11/2005
This paper is an adaptation from a master’ thesis about the architectural design responses to the body's adaptations to a reduced gravity environment. The thrust of this extraction is to study the architectural and biomechanics of stairs in a 1/6 g environment as opposed to a 1 g environment. This paper discusses the ramifications of going up stairs, ramps, and loping considerations such as head height adjustments. Forces, center of gravity, friction, momentum, biomechanics of the knee and hip, and the height from the ground achieved by loping on the moon are discussed. There is also a discussion of stairs vs. ladders as well as the synthesizing of the two modes of vertical circulation.
Barnes, Annette M.
Estimation of Five Anatomical Landmarks on a Foot Model's Toes Based on Surface Shape2005-01-273006/14/2005
We propose producing a body model consisting of anatomical landmarks used in product design from point clouds from a three-dimensional scanner. We previously proposed producing a foot model automatically by deforming the template of known landmarks using free-form deformation (FFD), but shapes of actual toe tips vary widely from the template. Here we propose extracting five landmarks on the toes of a foot model.
Yahara, Hiroki, Inou, Shinpei, Fukui, Yukio, Nishihara, Seiichi, Mochimaru, Masaaki, Kouchi, Makiko
An Inverse Model Based on Optimization in order to Simulate the Automobile Accessibility Movement – A Pilot Study2004-01-217406/15/2004
An experimental protocol and device were setup in order to record the automobile accessibility movement and a biomechanical human model composed of articulated rigid bodies was proposed to reproduce it. From the trajectories of the hands and the feet, an optimization method is applied to each kinematic chain of the model to find the joint angles. It minimizes, for each phase of the automobile accessibility movement, the Euclidian distance between the real and simulated trajectories of the hands and the feet. The constraints take into account the extremes of the experimental joint angles values and the maximum joint variation between two consecutive instants. The first results show that the simulated trajectories of the end effectors fit to the real trajectories but a difference between the computed and simulated joint angles remains.
Lempereur, M., Pudlo, P., Lepoutre, F.-X., Gorce, P.
Automatic Landmarking based on 3-D Foot Database using the FFD Method2004-01-219706/15/2004
An auto-landmarking method for foot measurement was developed. With most of the conventional methods, landmarks of the face and the body were estimated using the curvature, textures and statistics information of body dimensions. In this method, landmarks of the foot were estimated by deformation of the generic foot model. Variation of foot shape was represented by the spatial distortion based on the Free Form Deformation (FFD). The generic foot model was deformed and fit into a new measured foot. Landmarks on the deformed generic foot model were projected to the surface of the measured foot. The mean absolute error of the estimated landmarks was 2.8 [mm]. The error of this method is appropriate to distinguish foot shapes for selecting shoes on a retail store, however it is insufficient for anthropometric database.
Mochimaru, Masaaki, Kouchi, Makiko, Yahara, Hiroki, Fukui, Yukio
Improvement of Foot FE Model Based on the Movement of Bones during Heel Impact2004-01-031303/08/2004
Frontal vehicle collisions often result in foot injury of the front seat occupant. Therefore, it is very important to understand the mechanism of the foot injury. For that purpose, several impact experiments have been conducted using a partial human lower extremity. In addition, recently several impact response analyses using a human FE model have been conducted to understand the mechanism. In the present circumstances, a verified FE model is needed, and the verification of kinematical biofidelity is very important in the first place. In this connection, a foot FE model (based on an existing human FE model) was improved to create a foot FE model, which can be used for study of foot injury mechanism in this research. And the kinematics of foot bones of the model was verified by comparing the bone movements of the FE model with the movement of human foot during heel impact. The sequential X-ray pictures were used to verify the movement of bones, and the bone locations in the improved FE
Morimoto, Junya, Yamazaki, Kunio
The Effects of Axial Preload and Dorsiflexion on the Tolerance of the Ankle/Subtalar Joint to Dynamic Inversion and Eversion2002-22-001311/11/2002
Forced inversion or eversion of the foot is considered a common mechanism of ankle injury in vehicle crashes. The objective of this study was to model empirically the injury tolerance of the human ankle/subtalar joint to dynamic inversion and eversion under three different loading conditions: neutral flexion with no axial preload, neutral flexion with 2 kN axial preload, and 30° of dorsiflexion with 2 kN axial preload. 44 tests were conducted on cadaveric lower limbs, with injury occurring in 30 specimens. Common injuries included malleolar fractures, osteochondral fractures of the talus, fractures of the lateral process of the talus, and collateral ligament tears, depending on the loading configuration. The time of injury was determined either by the peak ankle moment or by a sudden drop in ankle moment that was accompanied by a burst of acoustic emission. Characteristic moment-angle curves to injury were generated for each loading configuration. Neutrally flexed ankles with no
Funk, James R., Srinivasan, Sreebala C. M., Crandall, Jeff R., Khaewpong, Nopporn, Eppinger, Rolf H., Jaffredo, Anna S., Potier, Pascal, Petit, Philippe Y.
Rotary Tool and Retractable Foot for Walking RobotTBMG-727511/01/2002
A mechanism has been developed to serve as an end effector for one of the legs of the Legged Excursion Mechanical Utility Robot (LEMUR) — a walking robot designed for demon- strating robotic cap- abilities for maintenance and repair. [The LEMUR was described in “Six-Legged Experimental Robot” (NPO-20897), NASA Tech Briefs, Vol. 25, No. 12 (December 2001), page 58.] Through controlled actuation of this mechanism, the tip of the leg can become either (1) a foot for stable support during walking or (2) the robotic equivalent of a simple hand tool — a ballend hexagonal driver for a standard hexagonal-socket machine screw. More specifically, the foot can be extended to enable walking, or can be retracted to enable cameras that are parts of the robot to view the insertion of the tool bit in a socket. Retraction of the foot also enables the tool to be used in confined spaces in which the foot cannot fit.
Intuitive Control System for a Dexterous RobotTBMG-719510/02/2002
The Full Immersion Telepresence Testbed (FITT) is an experimental anthropomorphic-robot remote-control system that is so named because it gives a human control operator some of the sensations of the remote environment as though the operator were in that environment in place of the robot. In comparison with older telerobotic control systems, the FITT provides robotic sensory feedback better suited to the operator’s senses and enables the operator and robot acting together to respond, with more nearly natural, humanlike motions, to changes in the remote environment. In particular, correlating the operator’s movements (principally of the head, arms, and hands) with movements of the robot creates a more intuitive method of teleoperating robotic manipulators. Moreover, the use of an operator’s own movements to control the robot provides the operator with useful kinesthetic feedback. The FITT and other systems like it are expected to reduce training time and costs, task-completion times, and
Comfort Management in Rest and Exercise Conditions in an Innovative Shortened Liquid Cooling/Warming Garment2002-01-241107/15/2002
Comfort management in extreme environments is complex, requiring temperature stabilization of the body core and distal parts of the extremities. Examination of the capability of body zones to absorb and release heat can facilitate a solution to this problem. Using an experimental shortened liquid cooling/warming garment (LCWG), heat transfer effectiveness of different body zone combinations was assessed in rest and exercise conditions, at different levels of body heat deficit and intensities of physical exertion. Comfort stabilization in terms of minimum changes in core (Tc) and finger (Tfing) temperatures was achieved in exercise (200-400 W) at 18-22°C inlet water temperature in the following zonal combination: a portion of the torso, the internal thigh area covering the femoral artery, the forearm, neck, and part of the head.
Coca, Aitor, Koscheyev, Victor S., Leon, Gloria R.
Three-Fingered Robot Hand With Self-Adjusting GripTBMG-2952712/01/2001
The figure depicts a tendon-driven, three-fingered robot hand (or foot, depending on one's perspective) designed to be installed on the end of the left front leg of the six-legged robot described in the preceding article. This hand, which was undergoing development at the time of reporting the information for this article, is intended to satisfy the need for a small, lightweight mechanism that can grasp objects of various shapes (e.g., balls or cylinders of differing diameters), without need for an elaborate electronic control system or for multiple actuators. The hand also houses rudimentary sensors: the terminal optics of a fiber-optic camera are incorporated into the palm of the hand, and the housing for the optics doubles as a contact-sensor switch.
Elbow Strength in Reference to Various Shoulder Positions2001-01-214807/09/2001
The objective of this study was to accurately characterize the elbow strength capabilities of humans, which is critical for supporting crewmember on-orbit activities. Space crewmembers depend heavily on their arm strength, it is essential to provide elbow/joint strength data when the shoulder is in various positions within a three dimensional space. This study measured six individuals’ elbow strengths at 12 shoulder positions using a standard LIDO Multi-Joint II isokinetic dynamometer and LabView data acquisition system. Findings showed that elbow strength decreased with outward shoulder joint rotation and with decreased shoulder flexed position compared to other possible shoulder positions.
Dhutia, Maitri, Ruttley, Tara, Rajulu, Sudhakar
Development and Validation of a Pedestrian Lower Limb Non-Linear 3- D Finite Element Model2000-01-SC2111/01/2000
Lower limb injury is becoming an increasingly important concern in vehicle safety for both occupants and pedestrians. To enable vehicle manufacturers to better understand the biomechanical effects of design changes, it is deemed beneficial to employ a biomechanically fidelic finite element model of the human lower limb. The model developed in this study includes long bones (tibia, fibula, femur) and flat bone (patella) as deformable bodies. The pelvis and foot bones are modeled as rigid bodies connected to the femur and tibia/fibula via rotational spring-dashpots. The knee is defined by scanned bone surface geometry and is surrounded by the menisci, major ligaments, and patellar tendon. Finite elements used to model include 6- and 8-node solids for cartilage, menisci, surrounding muscles, and cancellous bone; 3- and 4-node shells for skin and cortical bone; and nonlinear spring-dashpots for ligaments. Anatomical, physiological, and material properties data are from the literature while
Schuster, Peter J., Chou, Clifford C.
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