[A robot measurement system for spacesuit joint torque].
OBJECTIVE
To measure the joint torque of spacesuit so as to evaluate its dynamic force/torque performance.


METHODS
A method for measuring the spacesuit joint torque by use of robot technology was proposed in this paper. The design of the measuring strategy and measuring robot was put forward and a mathematical model of the system was given. Then the working space of the robot was analyzed.


RESULTS
The robot designed is light, compact, easy to operate, and has a large working space. Experimental results demonstrated the effectiveness of the measuring principle and the reliability of the measuring system.


CONCLUSIONS
The system can satisfy the requirements of the spacesuit joint torque measurement.
Du
Li-Bin
LB
Robotics Research Institute, Harbin Institute of Technology, Harbin, China. dlb@mail.hitrobot.org
Gao
Xiao-Hui
XH
Liu
Hong
H
Li
Tan-qiu
TQ
D001696:Biomechanical Phenomena; D004867:Equipment Design; D006804:Ergonomics; D005069:Evaluation Studies as Topic; D018478:Extravehicular Activity; D006801:Humans; D007596:Joints; D008433:Mathematics; D008962:Models, Theoretical; D012371:Robotics; D013026:Space Flight / Q000295:instrumentation; D019442:Space Suits; D019415:Torque