2026-09-19T17:17:13Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/921182022-01-13T07:54:05Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Dava J. Newman and Kevin R. Duda.
Vasquez, Rebecca (Rebecca Ann)
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2014-12-08T18:50:08Z
2014-12-08T18:50:08Z
2014
http://hdl.handle.net/1721.1/92118
895879363
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
"June 2014." Cataloged from PDF version of thesis.
Includes bibliographical references (pages 129-132).
The Variable Vector Countermeasure Suit (V2Suit) is a countermeasure suit for sensorimotor adaptation and musculoskeletal deconditioning in microgravity. The V2suit will consist of modules containing arrays of control moment gyroscopes (CMGs) which will be controlled to provide viscous resistance to motion against a specified direction. To reduce the coordination and sensorimotor problems seen during and following gravity level transitions, this resistance will be felt in the direction of "down" to mimic gravity. In microgravity, visual cues are dominant for orientation perception and one's perceived direction of "down" may change for a variety of reasons. The resistance felt by the V2suit wearer is a gyroscopic torque vector perpendicular to the direction of "down"; in order to send appropriate motor control commands the user's perceived direction of "down" must be known throughout use. Algorithms have been developed to enable the user to initialize a direction of "down" track this direction (as well as the module orientation and other relevant information) throughout operation. Control moment gyroscopes are commonly used for spacecraft stabilization. The V2Suit aims to miniaturize a CMG array for use inside wearable modules mounted on body segments. A trade study was conducted, analyzing various candidate CMG arrays to determine the appropriate architecture for the array inside a V2Suit module. The selected array is a 4 CMG pyramid array, chosen for a combination of torque output performance and size and hardware considerations. A detailed mechanical design for the V2Suit CMG array has been developed for the production of a brassboard prototype unit. Steering laws for singularity avoidance and resetting the gimbal angles have been presented, and will be tested with the brassboard unit. Additionally, a proposed method for measuring torque output from the unit has been presented.
by Rebecca Vasquez.
S.M.
164 pages
eng
Massachusetts Institute of Technology
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
Mechanical Engineering.
The Variable Vector Countermeasure Suit for space habitation and exploration
V2Suit for space habitation and exploration
Thesis
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Publication
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<Abstract>The Variable Vector Countermeasure Suit (V2Suit) is a countermeasure suit for sensorimotor adaptation and musculoskeletal deconditioning in microgravity. The V2suit will consist of modules containing arrays of control moment gyroscopes (CMGs) which will be controlled to provide viscous resistance to motion against a specified direction. To reduce the coordination and sensorimotor problems seen during and following gravity level transitions, this resistance will be felt in the direction of "down" to mimic gravity. In microgravity, visual cues are dominant for orientation perception and one's perceived direction of "down" may change for a variety of reasons. The resistance felt by the V2suit wearer is a gyroscopic torque vector perpendicular to the direction of "down"; in order to send appropriate motor control commands the user's perceived direction of "down" must be known throughout use. Algorithms have been developed to enable the user to initialize a direction of "down" track this direction (as well as the module orientation and other relevant information) throughout operation. Control moment gyroscopes are commonly used for spacecraft stabilization. The V2Suit aims to miniaturize a CMG array for use inside wearable modules mounted on body segments. A trade study was conducted, analyzing various candidate CMG arrays to determine the appropriate architecture for the array inside a V2Suit module. The selected array is a 4 CMG pyramid array, chosen for a combination of torque output performance and size and hardware considerations. A detailed mechanical design for the V2Suit CMG array has been developed for the production of a brassboard prototype unit. Steering laws for singularity avoidance and resetting the gimbal angles have been presented, and will be tested with the brassboard unit. Additionally, a proposed method for measuring torque output from the unit has been presented.</Abstract>
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