Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

In this paper, we present an electrically driven childlike android named ibuki equipped with a wheeled mobility unit that enables it to move in a real environment. Since the unit includes a vertical oscillation mechanism, the android can replicate the movements of the human center of mass and can express human-like upper-body movements even when moving by wheels. Moreover, providing 46 degrees of freedom enables it to perform various human-like physical expressions. The development of ibuki, as well as the implementation and testing of several functions, is described. Finally, we discuss the potential advantages and future research direction of a childlike mobile android.

The Partial Pressure of Inspired Carbon Dioxide Exposure Levels in the Extravehicular Mobility Unit

BACKGROUND: NASA has been making efforts to assess the carbon dioxide (CO2) washout capability of spacesuits using a standard CO2 sampling protocol. This study established the methodology for determining the partial pressure of inspired CO2 (PIco2) in a pressurized spacesuit. We applied the methodology to characterize PIco2 for the extravehicular mobility unit (EMU).METHODS: We suggested an automated and mathematical algorithm to find the end-tidal CO2 and the end of inspiration. We provided objective and standardized guidelines to identify acceptable breath traces, which are essential to accurate and reproducible calculation of the in-suit inhaled and exhaled partial pressure of CO2 (Pco2). The mouth guard-based method for measurement of inhaled and exhaled dry-gas Pco2 was described. We calculated all individual concentrations of PIco2 inhaled by 19 healthy subjects classified into 3 fitness groups. The transcutaneous Pco2 was monitored as a secondary measure to validate washout performance.RESULTS: Mean and standard deviation values for the data collection performance and the CO2 metrics were presented (e.g., minimum time weighted average Pco2 at suited workloads of resting, 1000, 2000, and 3000 (BTU h1) were 4.75 1.03, 8.09 1.39, 11.39 1.26, and 14.36 1.29 (mmHg s1). All CO2 metrics had a statistically significant association and all positive slopes with increasing metabolic rate. No significant differences in CO2 metrics were found between the three fitness groups.DISCUSSION: A standardized and automated methodology to calculate PIco2 exposure level is presented and applied to characterize CO2 washout in the EMU. The EMU has been operated successfully in over 400 extravehicular activities (EVAs) and is considered to provide acceptable CO2 washout performance. Results provide a basis for establishing verifiable Pco2 requirements for current and future EVA spacesuits.Kim KJ, Bekdash OS, Norcross JR, Conkin J, Garbino A, Fricker J, Young M, Abercromby AFJ. The partial pressure of inspired carbon dioxide exposure levels in the extravehicular mobility unit. Aerosp Med Hum Perform. 2020; 91(12):923931.

Path Planning Design for Boarding-Type Personal Mobility Unit Passing Pedestrians Based on Pedestrian Behavior

In this study, we consider a scenario in which a boarding-type personal mobility (BPM) unit navigates in a mixed environment with pedestrians. The BPM unit passenger is expected to pass pedestrians in a smooth manner without imparting anxiety to them. This is accomplished by selecting appropriate paths on a successively updated map of the surrounding environment. Based on a model that simulates a pedestrian’s path selection behavior, we design and investigate a path selection method that avoids sudden behavior changes in the BPM unit, which may cause apprehensiveness to the passenger.

Extravehicular Activity Micrometeoroid and Orbital Debris Risk Assessment Methodology

A well-known hazard associated with exposure to the space environment is the risk of vehicle failure due to an impact from a micrometeoroid and orbital debris (MMOD) particle. Among the vehicles of importance to NASA is the extravehicular mobility unit (EMU) “spacesuit” used while performing a US extravehicular activity (EVA). An EMU impact is of great concern as a large leak could prevent an astronaut from safely reaching the airlock in time resulting in a loss of life. For this reason, a risk assessment is provided to the EVA office at the Johnson Space Center (JSC) prior to certification of readiness for each US EVA. This paper will detail the methodology for an ISS EVA risk assessment. The soft goods regions (multilayer fabric over a pressurized bladder) are the highest contributors of risk for an ISS EVA. The gloves, due to reduced fabric layers to allow for improved dexterity, carry the highest risk per area. ISS EVA risk can be reduced by minimizing the exposure of the front of the suit and gloves to the orbital debris flux.

Shape Programming Using Triangular and Rectangular Soft Robot Primitives

This paper presents fabric-based soft robotic modules with primitive morphologies, which are analogous to basic geometrical polygons—trilateral and quadrilateral. The two modules are the inflatable beam (IB) and fabric-based rotary actuator (FRA). The FRA module is designed with origami-inspired V-shaped pleats, which creates a trilateral outline. Upon pressurization, the pleats unfold, which enables propagation of angular displacement of the FRA module. This allows the FRA module to be implemented as a mobility unit in the larger assembly of pneumatic structures. In the following, we examine various ways by which FRA modules can be connected to IB modules. We studied how different ranges of motion can be achieved by varying the design of the rotary joint of the assemblies. Using a state transition-based position control system, movement of the assembled modules could be controlled by regulating the pneumatic pressurization of the FRA module at the joint. These basic modules allow us to build different types of pneumatic structures. In this paper, using IB and FRA modules of various dimensions, we constructed a soft robotic limb with an end effector, which can be attached to wheelchairs to provide assistive grasping functions for users with disabilities.

Preliminary Assessment of Ergonomic Injury Risk Factors in the Extravehicular Mobility Unit Spacesuit Glove

Injuries to the hands and fingers are commonly reported among astronauts who perform and train for Extravehicular Activities in the Extravehicular Mobility Unit Spacesuit. In an effort to better understand the physical and environmental ergonomic injury risk factors associated with spacesuit glove use, a custom built carrier glove with multiple integrated sensors was developed to be worn within the spacesuit glove with the purpose of measuring the physical and environmental variables acting on the fingers and hand, and the physiological response, within two pressurized glove conditions in a 1G laboratory setting. One male subject performed multiple dynamic and functional tasks in a pressurized EMU. Results indicate that the sensor glove is capable of measuring multiple physical and environmental variables associated the development of finger and hand injuries observed in astronauts.