24/7 Space News
ROBO SPACE
Robots to help with human habitation in space
The gripper switches between three modes, which are suited to tasks that require maintaining a secure hold on an object or applying high pressure, precise finger positioning or in-hand manipulation, and passive adaptation to the shape of larger, delicate, or irregularly shaped objects.
ADVERTISEMENT
Robots to help with human habitation in space
by Leah Burrows for SEAS News
Boston MA (SPX) Feb 12, 2024

In the coming decades, NASA plans to send human crews back to the Moon, build a space station in lunar orbit, establish a permanent base on the lunar surface and - hopefully - send astronauts to Mars.

What could possibly go wrong?

No seriously, what could go wrong and how would we fix it? That is the question a group of researchers at the Harvard John A. Paulson School of Engineering and Applied Sciences (SEAS) have been asking over the past four years as a part of a NASA-funded research institute to develop resilient and autonomous deep space and extraterrestrial habitations.

The Resilient ExtraTerrestrial Habitats institute (RETHi) is led by Purdue University, in partnership with SEAS, the University of Connecticut and the University of Texas at San Antonio. Its goal is to "design and operate resilient deep space habitats that can adapt, absorb and rapidly recover from expected and unexpected disruptions."

Justin Werfel, Senior Research Fellow in Robotics at SEAS, is leading the team tasked with developing technologies to let autonomous robots repair or replace damaged components in a habitat.

"What happens if a meteorite breaches the habitat between missions, and the crew isn't there to fix it," asked Werfel. "Or if it happens during a crewed time, the astronauts may have their hands full with other emergencies. Likewise in more routine situations; there are a lot of regular maintenance tasks that take up valuable astronaut time, from replacing filters to cleaning things. You'd really like the habitat to be able to handle as much as possible on its own, which means robots doing that work."

Since the project began in 2019, Werfel and the team, which includes Robert Wood, the Harry Lewis and Marlyn McGrath Professor of Engineering and Applied Sciences at SEAS, have developed new robotic arms and grippers, new systems to improve human-robot collaboration and new ways to design robot-friendly equipment.

Multifunctional tools
One of the biggest challenges in designing robots for these so-called SmartHabs is the multifunctionality needed for deep space habitation. Most industrial robots, such as those used to build cars or stock warehouses, are highly specialized and perform only a few specific tasks. But deep space habitats won't have room for dozens of specialized robots. Instead, one or a few multifunctional robots will need to be able to perform many different tasks, including emergency repairs.

One project toward that end has been to develop multi-mode grippers that can change their shape to grasp different types of objects in different ways.

"Human hands can adapt to many functions, including those that need high precision, require high forces, or those that may benefit from compliance," said Wood. "This design attempts to capture analogous adaptable behavior to increase the range of tasks possible with a single gripper."

In a paper published in IEEE, Werfel and the team, which includes collaborators from the Harvard Graduate School of Design (HGSD) and Pusan National University in South Korea, developed a gripper with fingers made of so-called scissor links, which can be reconfigured to change the number of joints in the finger.

This gripper has three modes. In the first, the fingers are short and don't bend, allowing them to strongly and securely grasp objects. In the second mode, the fingers gain a joint to let the gripper perform in-hand manipulation, allowing it to move and rotate objects without letting go of them. The last mode adds two more joints, allowing the fingers to passively adapt to the shape of an object and distribute contact pressure, which is useful for grasping irregularly shaped or delicate objects.

This paper was co-authored by Junghan Kwon, of Pusan National University; SEAS graduate students David Bombara and Clark Teeple; Joonhaeng Lee and Chuck Hoberman of HGSD; and Wood.

Working in a tight space
The first SmartHabs will likely be no larger than a mobile home and packed to the brim with equipment. Soft robots can be safer to operate around humans than traditional rigid ones, and could deform to more easily squeeze into tight spaces, but the softness also means they lack the strength they might need for some of the work they're called on to do.

To tackle that challenge, RETHi's robotics team designed a soft robotic arm that can stiffen up to increase its force and payload capacity.

The all-SEAS team, which included Wood, Teeple, former undergraduate and postdoctoral fellow at SEAS Daniel Bruder, and graduate student Moritz Graule, designed a soft arm with two individually controlled segments.

Each segment consists of soft joints, which individually have only a small range of motion, but together can bend the arm 90 degrees. A few actuators placed along the spine and the joints can induce localized body stiffening, which allows the arm to pick up or move a heavy object.

"This design approach could lead to much more capable soft robot arms that can navigate the obstacle-rich environments of deep space habitats while safely interacting with human crew members and delicate objects," said Bruder.

Some tasks will require cooperative effort, like moving large or heavy equipment such as solar panels and satellite dishes. To let astronauts easily get help from robots on those tasks, Werfel and Nicole Carey, a former postdoctoral fellow at SEAS, designed a way for autonomous robots to follow human guidance without needing to know about the details of the task or goal, simply by sensing force applied to an object.

For example, if an astronaut needed help moving a solar panel, they could put their hand on the panel and guide the robots in the right direction, without explicitly needing to tell the robots about their intent.

"In this case, the shared object being manipulated acts as a physical channel for coordination," said Carey. "The human leader can apply a force and the robots follow that as a signal."

A robot-friendly habitat
Robots that can handle tasks designed for humans is one of the long-term goals of robotics - but it will take a long time and a lot of work to achieve it. Is there a way to let current robots help out sooner, by designing equipment with robots in mind?

That is another avenue being explored by Werfel and the RETHi robotics team.

"Instead of bringing the robot up to the level of the human, we're looking at bringing tasks down to the level of the robot, and building something that both robots and humans can easily operate," said Werfel.

In a 2022 paper, Werfel, Teeple and Nathan Melenbrink, a former postdoctoral fellow at SEAS, laid out strategies for designing robot-friendly hardware, including consolidating compound actions into simpler mechanisms and constraining required motions to a single axis.

The team redesigned several pieces of important equipment, including a water filtration component, to make them easier for robots to repair.

"Similar to the ergonomics design approach for humans, our robot factors design approach takes into account current robot capabilities during the design process," said Melenbrink. "We took hardware that previously required dexterous two-handed manipulation, and redesigned it so that the entire task can be completed by a single robotic arm with a standard parallel-jaw gripper."

As RETHi enters the last year of its grant, the SEAS robotics team will put their technologies to the test, in a combined physical and virtual simulation of the scenario of patching a hole left by a meteorite impact.

"Everything RETHi is doing is about creating tools for future habitat designers," said Werfel. "The goal is to give them more options for what their systems can handle, better predictions of costs when things do go wrong in systems of highly interconnected components with complex dependencies, and a greater capacity to design habitats that can handle whatever luck throws at them. It's not going to be possible for missions to avoid problems altogether, so it'll be the ability for our technology to deal with issues as they arise that will make human travel into deep space a reality."

Research Report:Transformable Linkage-Based Gripper for Multi-Mode Grasping and Manipulation

Research Report:Increasing the payload capacity of soft robot arms by localized stiffening

Related Links
The Resilient ExtraTerrestrial Habitats institute
School of Engineering and Applied Sciences (SEAS)
All about the robots on Earth and beyond!

Subscribe Free To Our Daily Newsletters

RELATED CONTENT
The following news reports may link to other Space Media Network websites.
ROBO SPACE
Israel deploys new military AI in Gaza war
Tel Aviv (AFP) Feb 10, 2024
Israel's army has deployed some AI-enabled military technology in combat for the first time in Gaza, raising fears about the use of autonomous weapons in modern warfare. The army has hinted at what the new tech is being used for, with spokesman Daniel Hagari saying last month that Israel's forces were operating "above and underground simultaneously". A senior defence official told AFP the tech was destroying enemy drones and mapping Hamas's vast tunnel network in Gaza. New defence technologi ... read more

ADVERTISEMENT
ADVERTISEMENT
ROBO SPACE
Space Beach Law Lab: Shaping the Future of Space Law at Queen Mary Conference

Third NASA Enabled Private Flight to Space Station Completes Safely

Axiom 3 astronauts undock from ISS for trip back to Earth

Four astronauts splash down after Axiom private mission

ROBO SPACE
SpaceX Expands Global Internet Coverage with 22 New Starlink Satellites

Dream Chaser Spaceplane Undergoes Extreme Testing at NASA's Armstrong Facility

New Satellite Launch Marks a Milestone in China's Commercial Space Sector

Following repeated delays, NASA launches new PACE Earth-observing satellite

ROBO SPACE
Ripple Me This: Sols 4089-4090

Lake deposits in Idaho give scientists insight into ancient traces of life on Mars

Confirmation of ancient lake on Mars builds excitement for Perseverance rover's samples

NASA helicopter's mission ends after three years on Mars

ROBO SPACE
Space Pioneer and LandSpace Lead China's Private Sector to New Heights in Space

BIT advances microbiological research on Chinese Space Station

Shenzhou 18 and 19 crews undertake intensive training for next missions

Tianzhou 6 burns up safely reentering Earth

ROBO SPACE
Rocket Lab Boosts Capital with $355 Million in Convertible Senior Notes Amid Growth Plans

Signal Ocean to make $10M strategic investment in Spire Global

Terran Orbital announces agreement with Shareholder Group

Geespace achieves milestone in satellite constellation development for future mobility

ROBO SPACE
MXene-coated Devices Can Guide Microwaves in Space and Lighten Payloads

New Data Prep Tool from Spatial to Streamline CAD Workflows

DLR develops mobile station for Satellite Laser Ranging

Spaceborne Computer-2 sets new benchmark for AI and ML on ISS

ROBO SPACE
Migration solves exoplanet puzzle

Carbon Monoxide Dynamics Offer New Insights into Exoplanet Habitability

UC Irvine-led team unravels mysteries of planet formation and evolution in distant solar system

NASA's Hubble Finds Water Vapor in Small Exoplanet's Atmosphere

ROBO SPACE
NASA invites public to dive into Juno's Spectacular Images of Io

Europa Clipper gears up with full instrument suite onboard

New images reveal what Neptune and Uranus really look like

Researchers reveal true colors of Neptune, Uranus

Subscribe Free To Our Daily Newsletters


ADVERTISEMENT



The content herein, unless otherwise known to be public domain, are Copyright 1995-2023 - Space Media Network. All websites are published in Australia and are solely subject to Australian law and governed by Fair Use principals for news reporting and research purposes. AFP, UPI and IANS news wire stories are copyright Agence France-Presse, United Press International and Indo-Asia News Service. ESA news reports are copyright European Space Agency. All NASA sourced material is public domain. Additional copyrights may apply in whole or part to other bona fide parties. All articles labeled "by Staff Writers" include reports supplied to Space Media Network by industry news wires, PR agencies, corporate press officers and the like. Such articles are individually curated and edited by Space Media Network staff on the basis of the report's information value to our industry and professional readership. Advertising does not imply endorsement, agreement or approval of any opinions, statements or information provided by Space Media Network on any Web page published or hosted by Space Media Network. General Data Protection Regulation (GDPR) Statement Our advertisers use various cookies and the like to deliver the best ad banner available at one time. All network advertising suppliers have GDPR policies (Legitimate Interest) that conform with EU regulations for data collection. By using our websites you consent to cookie based advertising. If you do not agree with this then you must stop using the websites from May 25, 2018. Privacy Statement. Additional information can be found here at About Us.