Gaits and Locomotion -...
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Gaits and Locomotion ENAE 697 - Space Human Factors and Life Support U N I V E R S I T Y O F MARYLAND Gaits and Locomotion • Metabolic Energy • Locomotion • Gaits 1 © 2013 David L. Akin - All rights reserved http://spacecraft.ssl.umd.edu
Transcript of Gaits and Locomotion -...
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Gaits and Locomotion• Metabolic Energy • Locomotion• Gaits
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© 2013 David L. Akin - All rights reservedhttp://spacecraft.ssl.umd.edu
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Metabolic Costs of Physical Exertion
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from Roth, Bioenergetics of Space Suits for Lunar Exploration, NASA SP-84, 1966
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Maximum Sustained Work Output
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from Roth, Bioenergetics of Space Suits for Lunar Exploration, NASA SP-84, 1966
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Energy Expenditure in Walking
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from Roth, Bioenergetics of Space Suits for Lunar Exploration, NASA SP-84, 1966
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Walking and Running Gaits
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from Rader, Newman, and Carr, Loping: A Strategy for Reduced Gravity Human Locomotion? ICES 2007-01-3134, International Conference on Environmental Systems, Chicago, IL, July 2007
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Implications of Pendulum Motion• Basic period of a pendulum
• Inertias of point and distributed masses
• For 0.75 m leg length,
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P ≈ 2π
�L
g
I = mL2 I =13mL2
Pwalking ≈ 1.0 sec (on Earth)
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Walking Froude Number• Froude number is ratio between inertial and
gravitational forces• Primary application is boat speed (transition
between displacement and planing motion)• Walking Froude number
• Feet leave the ground at Fr=1• Walk-run transition typically occurs ~Fr=0.5
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Fr ≡ V 2
gL
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
O2 Requirement to Walk and Run
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from Roth, Bioenergetics of Space Suits for Lunar Exploration, NASA SP-84, 1966
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
O2 Requirement to Walk and Run
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from Roth, Bioenergetics of Space Suits for Lunar Exploration, NASA SP-84, 1966
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Effect of Stride and Cadence
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from Roth, Bioenergetics of Space Suits for Lunar Exploration, NASA SP-84, 1966
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Body Inclination in Variable Gravity
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from Partial Gravity Habitat Study, Sasakawa International Center for Space Architecture, University of Houston, 1989
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Body Inclination in Variable Gravity
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from Partial Gravity Habitat Study, Sasakawa International Center for Space Architecture, University of Houston, 1989
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Skipping and Loping Gaits
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from Rader, Newman, and Carr, Loping: A Strategy for Reduced Gravity Human Locomotion? ICES 2007-01-3134, International Conference on Environmental Systems, Chicago, IL, July 2007
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Gait Footfalls
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from Rader, Newman, and Carr, Loping: A Strategy for Reduced Gravity Human Locomotion? ICES 2007-01-3134, International Conference on Environmental Systems, Chicago, IL, July 2007
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
MIT Gravity Offset System
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from Rader, Newman, and Carr, Loping: A Strategy for Reduced Gravity Human Locomotion? ICES 2007-01-3134, International Conference on Environmental Systems, Chicago, IL, July 2007
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
MIT Exoskeletal Suit Joint Simulator
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from Rader, Newman, and Carr, Loping: A Strategy for Reduced Gravity Human Locomotion? ICES 2007-01-3134, International Conference on Environmental Systems, Chicago, IL, July 2007
Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
JSC Walkback Tests (2006-2007)• Testing to verify metabolic cost of 10 km walkback
from failed rover in lunar gravity• Extra-large treadmill• Pogo (pneumatic suspension) gravity offset device• Mk. III suit• Vicon motion tracking system• Six test subjects (astronauts)• Measured VO2, RPE, MCH
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
JSC ARGOS Gravity Offset System
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
ARGOS Suspension and Tracks
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
ARGOS Suspension System
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Borg Rating of Perceived Exertion (RPE)
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Corlett & Bishop Discomfort Scale
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Speeds Used for Testing
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Shirt-Sleeve Suspension
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Suited Partial-Gravity Suspension
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
Details of Gimbal Mount to Pogo System
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
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Test Subject Performing 10 km Traverse
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
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Metabolic Costs of Lunar Locomotion
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
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O2 Transport Cost of Lunar Locomotion
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
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Cooling and Energy Use in Lunar Run
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Gaits and LocomotionENAE 697 - Space Human Factors and Life Support
U N I V E R S I T Y O FMARYLAND
References for This Lecture• Gernhardt, Norcross, and Vos, Integrated Suit Test 1 - A Study to Evaluate
Effects of Suit Weight, Pressure, and Kinematics on Human Performance During Lunar Ambulation ICES 2008-01-1951, International Conference on Environmental Systems, San Francisco, CA, July 2008
• Vos, Gernhardt, and Lee, The Walkback Test: A Study to Evaluate Suit and Life Support System Performance Requirements for a 10 Kilometer Lunar Traverse in a Planetary Suit ICES 2007-01-3133, International Conference on Environmental Systems, Chicago, IL, July 2007
• Rader, Newman, and Carr, Loping: A Strategy for Reduced Gravity Human Locomotion? ICES 2007-01-3134, International Conference on Environmental Systems, Chicago, IL, July 2007
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