Embedding an Exoskeleton Hand in the Astronaut's EVA Glove: Feasibility and Ideas

Abstract

This paper investigates the key factors associated to the realization of a hand exoskeleton to be embedded in an astronaut's EVA glove, in order to overcome the stiffness of the pressurized space suit. An overview regard ing the main constraints related to the realization of a hand exoskeleton for EVA suits is provided, as well as a preliminary concept analysis of possible solutions in terms of mechanical structure, actuators and sensors. Furthermore, analyses of human hand kinemat ics and of the characteristics of the EVA glove's stiffness are presented, as a basis for design and dimensioning of the exoskeleton. The future exoskeleton will be a co mp lex mechatronic system detecting the operator's movement through sensors, processing the acquired data and generating the motion through its actuation system.