Thesis (Sc. D.)--Harvard-MIT Division of Health Sciences and Technology, 2005. / Includes bibliographical references (p. 185-195). / Space-suited activity is critical for human spaceflight, and is synonymous with human planetary exploration. Space suits impose kinematic and kinetic boundary conditions that affect movement and locomotion, and in doing so modify the metabolic cost of physical activity. Metabolic requirements, found to be significantly elevated in space-suited activity, are a major driver of the allowable duration and intensity of extravehicular activity. To investigate how space suited locomotion impacts the energetics of walking and running, I developed a framework for analyzing energetics data, derived from basic thermodynamics, that clearly differentiates between muscle efficiency and energy recovery. The framework, when applied to unsuited locomotion, revealed that the human run-walk transition in Earth gravity occurs when energy recovery for walking and running are approximately equal. The dependence of muscle efficiency on gravity -during locomotion and under a particular set of assumptions- was derived as part of the framework. Next, I collected and transformed data from prior studies of suited and unsuited locomotion into a common format, and performed regression analysis. This analysis revealed that in reduced gravity environments, running in space suits is likely to be more efficient, per unit mass and per unit distance, than walking in space suits. Second, the results suggested that space suits may behave like springs during running. To investigate the spring-like nature of space suit legs, I built a lower-body exoskeleton to simulate aspects of the current NASA spacesuit, the Extravehicular Mobility Unit (EMU). / (cont.) Evaluation of the exoskeleton legs revealed that they produce knee torques similar to the EMU in both form and magnitude. Therefore, space suit joints such as the EMU knee joint behave like non-linear springs, with the effect of these springs most pronounced when locomotion requires large changes in knee flexion such as during running. To characterize the impact of space suit legs on the energetics of walking and running, I measured the energetic cost of locomotion with and without the lower-body exoskeleton in a variety of simulated gravitational environments at specific and self- selected Froude numbers, non-dimensional parameters used to characterize the run-walk transition. Exoskeleton locomotion increased energy recovery and significantly improved the efficiency of locomotion, per unit mass and per unit distance, in reduced gravity but not in Earth gravity. The framework was used to predict, based on Earth gravity data, the metabolic cost of unsuited locomotion in reduced gravity; there were no statistical differences between the predictions and the observed values. The results suggest that the optimal space-suit knee-joint torque may be non-zero: it may be possible to build a 'tuned space suit' that minimizes the energy cost of locomotion. Furthermore, the observed lowering of the self-selected run-walk transition Froude number during exoskeleton locomotion is consistent with the hypothesis that the run-walk transition is mediated by energy recovery. The major contributions of the dissertation include: 1. A model that predicts metabolic cost in non-dimensional form for unsuited locomotion across running and walking and across gravity levels, 2. / (cont.) An assessment of historical data that reveals the effect of pressure suits on work output and the metabolic cost of locomotion, 3. A method of simulating a space suit using a lower-body exoskeleton, and methods for designing and characterizing the exoskeleton, 4. An explanation for the differences in the energetic costs of walking and running in space suits, 5. Evidence that there is an optimal space suit leg stiffness, perhaps an optimal space suit leg stiffness for a given gravity environment, 6. Evidence, mostly indirect, that energy recovery plays a role in gait switching. / by Christopher Edward Carr. / Sc.D.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/33088 |
| Date | January 2005 |
| Creators | Carr, Christopher E. (Christopher Edward), 1976- |
| Contributors | Dava J. Newman., Harvard University--MIT Division of Health Sciences and Technology., Harvard University--MIT Division of Health Sciences and Technology. |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 195 p., 10695798 bytes, 10707819 bytes, application/pdf, application/pdf, application/pdf |
| Rights | M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission., http://dspace.mit.edu/handle/1721.1/7582 |
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