title: [Principles and experimental analysis of a measuring system for measuring spacesuit joint's damping parameters].
abstract: OBJECTIVE
  To measure the damping parameters of the spacesuit joint.
  
  
  METHODS
  The principles of the passive robot system for measuring spacesuit joint's damping parameters were presented. Basing on its special mechanical structure, a 3 DOF model of the flexible IVA (intra-vehicular activity) spacesuit's sleeve was built. The optimal approximation of inverse calculation based on 6 dimension space interval was described. The damping parameters of an actual IVA spacesuit's sleeve were measured on the actual testbed. Also, the potential application of the measuring system was discussed.
  
  
  RESULTS
  The model of spacesuit sleeve and the forward/inverse kinematics were proved by experimental measurements and real time 3D simulation.
  
  
  CONCLUSIONS
  The principles and the proposed method of the measurement were testified.
authors.affiliation: Robot Research Institute, Harbin Institute of Technology, Harbin, China. wanghao@robinst.hit.edu.cn
authors.forename: Hao
authors.initials: H
authors.lastname: Wang
authors.forename: Ming-he
authors.initials: MH
authors.lastname: Jin
authors.forename: Hong
authors.initials: H
authors.lastname: Liu
authors.forename: Xiao-hui
authors.initials: XH
authors.lastname: Gao
authors.forename: Tan-qiu
authors.initials: TQ
authors.lastname: Li
authors.forename: Yong-jun
authors.initials: YJ
authors.lastname: Zhao
mesh_terms: D003198:Computer Simulation; D004551:Elbow Joint; D006801:Humans; D007596:Joints; D018583:Pliability; D012371:Robotics; D012785:Shoulder Joint; D013026:Space Flight / Q000295:instrumentation*; D019442:Space Suits; D019415:Torque; D014955:Wrist Joint