Gaits and Locomotion -...

of 31 /31
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

Embed Size (px)

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

    1

    © 2013 David L. Akin - All rights reservedhttp://spacecraft.ssl.umd.edu

    http://spacecraft.ssl.umd.eduhttp://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

    2

    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

    3

    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

    4

    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

    5

    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,

    6

    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

    7

    Fr ≡ V2

    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

    8

    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

    9

    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

    10

    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

    11

    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

    12

    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

    13

    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

    14

    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

    15

    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

    16

    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

    17

  • 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

    18

  • 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

    19

  • 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

    20

  • 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)

    21

  • 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

    22

  • 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

    23

  • 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

    24

  • 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

    25

  • 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

    26

  • Gaits and LocomotionENAE 697 - Space Human Factors and Life Support

    U N I V E R S I T Y O FMARYLAND

    Test Subject Performing 10 km Traverse

    27

  • 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 Lunar Locomotion

    28

  • Gaits and LocomotionENAE 697 - Space Human Factors and Life Support

    U N I V E R S I T Y O FMARYLAND

    O2 Transport Cost of Lunar Locomotion

    29

  • Gaits and LocomotionENAE 697 - Space Human Factors and Life Support

    U N I V E R S I T Y O FMARYLAND

    Cooling and Energy Use in Lunar Run

    30

  • 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

    31