Nasa proposal team_23_pra_final

Figure 1. A theoretical soft actuated humanoid robotic hand CAD model
Multi-Application pNuematic Utility Servicer
MANUS
4.3.2 Dexterous Manipulation
Principal Investigator
Xiao-Bao Bao – San Diego Mesa College
xiao.bao.squared@gmail.com
619-408-9408
Team 23
Michael Derugin – San Francisco State University
Connor Lehman – Rensselaer Polytechnic Institute
Alyssa Walker – Shoreline Community College
Johnny Huynh – Orange Coast College
Patrick Talley – Clemson University
Khaled Abdulaziz – Boston College
Subject Matter Experts
Craig Cavanaugh
San Diego Mesa College
ccavanaugh@sdccd.edu
(720) 352-1986
Benjamin Shih
University California San Diego
beshih@eng.ucsd.edu

L’SPACE PROPOSAL REVIEW ACADEMY 2019 1
I. Abstract
On February 24th
, 2011, Robonaut 2 (R2) became the
first humanoid robot to be sent aboard the International
Space Station (ISS) [1]. This historic milestone marked
the beginning of an era whereby humans and machines
work and explore side by side towards the peaceful
exploration of outer space. R2’s capacity for
construction and exploration is characterized by what is
known as dexterous manipulation, or the ability to use
one’s hands in order to perform work. The humanoid
hands of R2 were developed around the core design
philosophy of reduced mechatronic complexity,
modularity, and improved dexterity [2]. This proposal
advances the original core ideals by presenting a robotic
humanoid hand composed of soft-robotic components.
Soft Robotics is a cutting-edge sub-field of robotics that
offers a completely new form of robot. Soft robots are
not composed of rigid components and linkages. Rather,
these robots are made of common soft materials such as
plastics and synthetic textiles. Many soft robots are
pneumatically driven and even more advanced soft
robots actuated by electroactive materials that expand
and contract in the presence of an electric field,
resembling human muscles [3]. Cheaper, lightweight,
and less mechanically complex than conventional
robots, soft-robotic hands could advance the capabilities
of robots and mankind towards the Moon, Mars, and
beyond [4].
II. Technology Merits
A. The Current State of the Art
The five-fingered robotic hand of R2 is a complex
modular assembly of digit linkages and sensors that
span 127 mm in diameter at the palm and 304 mm long
from the base of the forearm to the center of the palm. It
can lift a payload weighing roughly 9 kg with 12
degrees of freedom (DoF) on each hand and two DoF
for the wrist. Each finger can exert 2.25 kg of force
whilst fully extended. In addition, each finger moves at
a speed of roughly 200 mm/sec. Each finger actuator is
composed of an electric servo mounted in the forearm.
The servo is attached to a pair of tendons. The tendons,
in turn, attach to specific points on each digit linkage
point. Activation of the servo pulls the tendons in ways
that rotate the joints on the fingers and actuate the hand.
An assembly of tension sensors and ball-screw
assembly maintain a range of tension loads. The
tendons themselves are composed of a hybrid weave of
Teflon and Vectran with a break strength of 181 kg. The
wrists are actuated by DC brushless motors connected
to a linear rail. Attached to the motors and rail is a ball
screw that extends or retracts a slider when the motors
activate; thus, moving the wrists. These actuators are
capable of exerting 27 kg of force and travel 100 mm.
Tactile load sensing on the R2 hand is performed by
tactile load cells located on the phalanges of each
finger. The load cells are composed of eight pairs of
semiconducting strain gauges mounted to an elastic
aluminum strain element with strain limits of 2.2 kg of
load or 113 mN*m of torque. The tendon sensors are
located near the carpal area and surround each tendon.
These sensors analyze strain and friction between the
tendons and the conduit that houses each tendon to an
accuracy of 5-10% error. The entire hand assembly is
controlled with several “Trident” boards. Each board
consists of motor controllers, sensor feedback halls,
encoders, phase current setters, and digital temperature
channels. An individual Trident is connected to the
hand’s main controller--the “Medusa”--which sends
Pulse Width Modulation (PWM) signals to each
Trident. The Medusa serves as the focal point for
communications between the R2 torso and each Trident
Figure 2. Robonaut 2 humanoid hands features
several key strengths and weaknesses such as
strong grip at the expense of mechanical
complexity

[5]. R2 is controlled by a “homebrew” software
implementation of the existing open source application
called Robot Operating System (ROS). ROS allows for
roboticists to plan and simulate movement of the R2 in
a virtual environment before uploading such commands
for physical realization [6].
B. Actuator Design
Soft pneumatic actuators (SPAs) are machines which
harness fluidic pressurization in order to bend and
move. The combination of lightness, market
availability, ease of fabrication, and simplicity make
them strong candidates towards developing a robotic
hand with easier deformation, more responsive
performance, and increased energy efficiency [7]. This
project proposes a set of five SPAs configured much
like a human hand with four actuators parallel to
another with an opposing actuator to serve as a thumb.
This design will be modular in nature and perform with
even greater DoF than the incumbent R2 hand. There is
also room for exploring the material properties of
Electroactive Polymer Actuators (EAPAs) to look for
ways they might be integrated [8].
C. Electronic Control Design
Control methods for EAPAs and SPAs both require
voltages and current higher than what most
microcontrollers can provide. Traditional solid robotics
also require high startup voltage and current to
overcome inertial forces. Motors required to pump fluid
into the SPAs also operate on similar startup currents.
EAPAs also require high voltages on the order of 10V
per µm of polymer thickness for a full range of motion
[9]. Similar methods used in solid actuator control can
be used when controlling the soft actuators [10]. To
control the speed of the actuator movement, the hand’s
computer will utilize PWM signals. In terms of motion
control, soft actuators utilize identical control schemes
to solid actuators, thereby allowing for inherited control
methods that easily integrate with new soft components.
D. Sensors Design
The subfield of soft robotics offers a solution to the
adaptability of various environments but suffers from
complications in sensing and maintaining a deformable
body. Such sensors integrated must be able to withstand
local factors such as, but not limited to, temperature,
pressure, and motion. By installing a soft robotic
actuator as R2’s end effector, a Soft Bending Actuation
Module with a Proprioceptive Curvature Sensor
(SBAM w/ PCS) must be introduced to maintain
consistent motion and shape. The module consists of
soft bidirectional bending actuators that are shaped in a
double-helix formation. Each chamber is connected to
an external air supply, which can be adjusted to a
specific pressurization for specific
curvature/movements [11]. In order to maintain
durability and the desirable pressure levels of each
chamber, the curvature sensor will be able to measure
the movements of the SPA and report positional data.
Such a sensor is made up of an integrated circuit (IC)
and magnet, which help improve the reliability of
proprioceptive curvature feedback. The PCS can
accurately measure curvatures and motions on a soft
bending segment with an accuracy of up to 7.5 Hz and a
root mean square error of 0.023 cm between measured
and actual curvature [12]. SBAMs are capable of
reliably sensing anomalies when bending the soft
actuator, and responsively signal operators when repairs
are needed. Hydraulics/fluidic conductive mediums put
pressure on a small pool of liquid in order to produce an
immense amount of power. Interruption of this can have
devastating effects and result in the failures of space
missions. A solution to this problem is installing
ConTact sensors (CT). CT sensors can measure the
amount of force an object is applying to the soft body,
along with the size and shape of the object as well [13].
A conductive fluid core, force, and size are calculated
from the resistance and pressure changes in the fluid.
This can be crucial to future space missions because
understanding the shape and properties of the object can
signal the soft actuator to perform in a more specific
manner.
E. Modeling and Simulation Design
Accurately representing and simulating the behavior of
soft actuators presents a host of challenges due to the
nonlinearity of motion and forces produced by these
machines. Tools such as Abaqus and ANSYS apply
stress analysis techniques, such as the Finite Element
Method (FEM) [14]. These tools are readily available

and enable the generation of better predictive models
and faster prototyping cycles.
F. Fabrication of Actuator
There are several key steps in fabricating and
prototyping the individual finger actuators. A two-part
mold to form the cavity of the actuator must be printed.
Designs with a high number of internal chambers
reduces the number of joint angles and improves
deflection of the actuator membrane walls. Walls as thin
as 2.5 mm can produce 270° of travel at 17 kPa with
need for only 15.7mJ of energy at 0.4s to fully actuate
[15]. An off the shelf elastomer material (such as
DragonSkin 10) would then be poured into the mold
and allowed to cure [16]. Translucent materials would
be optimal due to ability to immediately spot bubbles
and curing issues [17]. Afterwards a strain-limiting stiff
layer of Elastosil and wax adhesive may be applied as
well as pneumatic tubing inserted into the actuator [18].
Figure 4. Fabrication of SPAs involves pouring elastomer into
molds of varying shapes and reinforcement with stiff materials
to prevent unintended shearing [20]
G. Fabrication of Embedded Sensors
There are multiple forms of “soft” sensors that allow for
the actuator strain and shear loading to be analyzed.
These soft sensors may be fabricated in conjunction
with the actuator model in order to form a layered
actuator with sensors inside of it [19]. After the first
layer of non-conductive DragonSkin 10 silicone is set
onto a rigid substrate, a conductive layer of Conductive
Polydimethylsiloxane (CPDMS) is spread onto the first
layer [20]. Lastly, another layer of DragonSkin 10 is
layered as the third and top layer.
Figure 5. Embedded conductive soft sensors allow for stress-
strain feedback data [27]
H. Control Systems Fabrication
It is important that all necessary wires are soldered into
their respective electronic component following a given
wiring diagram. All electrical components would be
mounted to a testing board along with washers, spacers,
and screws. The air pump would be directly attached to
a solenoid air valve and pressure sensors. An Arduino
would have pins attached to a breadboard that is in turn
Figure 3. MANUS would exceed predecessor robotic end-
effectors by being cheaper to produce, lighter, and more
dexterous

attached to all critical components. Before power is
switched on, a multi-meter would aid in inspecting the
voltages and current through each connection.
Figure 6. A sample circuit schema is presented whereby a set
of air valves and pumps are connected to an Arduino
microcontroller [28]
I. Programming
Simple prototyping scripts could be developed in
C/C++ on the Arduino IDE and microcontroller before
moving towards a Raspberry Pi computer. The Pi would
run the Linux OS as well as the ROS program in order
to implement more complex control algorithms.
J. Evaluation Testing
Testing will be composed of two sections, one
dedicated to evaluation and analysis of individual
actuator digits, and a secondary test of the entire five
finger hand assembly. In order to test and validate
model predictions on the actuator, tests will include
subjecting the actuator to various pressures and joint
torque values [21]. Rigid brackets would hold a single
actuator as an inextensible mounting point. Chamber
pressure would be monitored, and torque output plotted.
In addition, a high-definition camera placed next to the
actuator may record and watch the trajectory of the tip,
allowing for validation of the number of degrees of
travel to be observed [22]. After individual actuators are
tested, the complete hand will be assembled and tested
against large objects. Four key metrics will gauge the
success of the hand: application of a grip strength of
35.0 N or more to a single object, exertion of at least 2
N*m of torque per finger, a tip speed of at least 200
mm/s, and an exhibition of at least 50% of Cutkosky’s
Grasp Taxonomy [23].
K. Key Performance Parameters
Figure 7. In order to prove the viability of soft robotics in
space, MANUS must meet and even exceed prominent legacy
metrics
Figure 9 shows key performance metrics that the
prototype will be evaluated against. The values
represent significant design parameters that incumbent
robotic end-effector technology can perform versus
commonly cited performance measurements made by
various university experiments [24][25].
VI. Project Management Approach
A. Project Plan
In order to meet the identified Key Parameter
criterion as outlined by the proposed milestones, a
technical schedule will be closely observed in order
to stay on track towards a successful technology
infusion with ongoing NASA efforts. The project is
scheduled to go through a handful of crucial
development cycles as the concept prototype matures.
Initial efforts are focused towards characterizing the
material properties of the robotic hand as well as a
Finite Element Analysis of the model in order to
predict the way model will behave once fabricated.
The design cycle is arguably the most pivotal aspect
Key Performance Parameters Robonaut 2 MANUS
Cutkosky's Grasp Taxanomy 90% <90%
Number of Power Conductors 6 >6
Weight (kg) 9.00 4.00
Tip Force (kg) 2.25 2.00
Tip Speed (mm/s) 200.00 400.00
Degrees of Freedom 14.00 Infinite
Degrees of Travel 90.00 120.00
Grasping Force (Newtons) 23.00 25.00
Digit Torque (Kilogram*Meters) 2.20 2.00
Cost to Fabricate ($) 250000.00 200.00
Task A Full Range of Motion x ?
Task B Handshake and Sign Lang. x ?
Test C: Demo Key Shifting x ?
Test D: Demo Button Pressing x ?
Test E: Catch and Grasp Ball ? ?

of the project and will decisively impact the
success or failure of the project life cycle.
Simulation software, such as Abaqus and
ANSYS, have free versions capable of
performing all the modeling and simulation at
no additional costs. Typical elastomer
materials are cheap to obtain and have
datasheets readily available. Once a 3D model
has been found acceptable and has passed
through FEA, the fabrication prototyping cycle
may commence. The prototyping cycle is
estimated to take the longest amount of time to
develop due to manufacturing error and
obstacles the team may encounter. Anticipated
issues may be minimized by 3D printing a
mold with high enough fidelity, which ensures
that the elastomer cures without bubbles or
weaknesses, and properly embedding sensors
and electronics. Once fabrication is complete,
prototype testing shall commence. The first
sub-phase of laboratory testing is intended to
analyze the capabilities of a single actuator and
compare performance measurements against
the established key performance parameters.
The second phase of testing involves testing a
fully assembled humanoid hand composed of
five actuators, as modeled and simulated in the
design cycle. This hand will be subject to a
series of Tests A-E as outlined in the key
performance metrics. A unique opportunity to
test the hand in micro-gravity simulated
environment is to be pursued by testing the
hand assembly in a reduced-gravity aircraft,
such as NASA’s “vomit comet”. The final
phase of development would be to attempt to
integrate and test the soft-end effector with the
R2 platform at the Johnson Space Center.
Throughout the entire testing and evaluation process,
valuable insights and data are to be collected.
Performance success or failure ratings relative to
outlined key performance parameters will be
reviewed. A final project report is to be submitted to
the MSFC Chief Technologist by late February or
late March of 2020.
B. Cost Plan
A compilation of all required materials towards
constructing several actuator prototypes and testing
requirements was drafted. While effort was made
towards remaining as comprehensive as possible,
outlier costs such as additional laboratory equipment

have not been fully considered both due to excessive
costs as well as assumption that host university
facilities would already maintain existing
infrastructure in the relevant field to ensure prototype
development.

V. Team & Workforce Development
The proposal team is composed of a diverse variety of
engineers and scientists who offer multiple, distinct
perspectives with regards to the project design,
execution, and outcome. Xiao-Bao Bao is a Mechanical
Engineering (ME) undergraduate with several years of
experience in building various robots and serves as the
principal investigator. Michael Derugin is also an ME
and has experience with various CAD software and
electronic control methods. Connor Lehman is an
Aeronautical Engineering graduate student with
interests and expertise in avionics, electronics, and
microcontrollers. Alyssa Foote is a Planetary Geologist
who offers unique perspectives from a science-based
approach. Johnny Huynh is an ME with experience and
interests in robotics. Khaled Abdulaziz is a
Physics/Computer Science undergraduate with robust
critical-thinking methods and programming expertise.
Patrick Talley is a Mechanical Engineer undergrad with
great documentation skills. Since the team is a multi-
faceted array of relevant technical skills and aspects,
this team satisfies the requirements needed in order to
execute and deliver a prototype that advances NASA’s
robotics potential.
VI. Alignment
The advancement of soft robotic technology is a long-
term investment towards enabling the development of
self-sustaining habitation systems and human support
robots. Maintenance and operation of the ISS has
always been a human activity. But now, new robotic
constructs may someday completely automate crucial
functions aboard the ISS [26].
The exploration of soft robotic technologies in deep
space expands upon the technology of similar endeavors
in micro-gravity. For instance, soft robotic actuation
may someday be implemented on future space suit
gloves in order to combine the dexterity and
responsiveness of soft-body actuators [27][28] with the
capabilities of existing space suits across various low-
gravity environments. Future robotic missions that
require high grip strength, high degrees of freedom, low
cost, and lightweight materials benefit immensely from
the adoption of soft robotic technology for their end-
effectors and manipulator arms. This makes this
technology invaluable to NASA’s robotics programs
and has wide applications across the agency.
Beyond NASA’s interests in space exploration, soft
robots have disruptive potential in producing innovative
products across a slew of industries. Better, more
human-like, prosthetics [29] could be made from
compliant actuators such as pneumatic actuators. Self-
cleaning and self-healing smart materials [30] have
broad application areas from electronic skin, healthcare,
and environmentally green technology due to anti-
fouling capabilities of dielectric elastomer actuators
[31]. Arguably, the healthcare industry stands to benefit
the most from this such technology. Several use cases
have been proposed, such as the application of SPAs in
limb rehabilitation [32][33] and the development of soft
needles and probes that present minimally invasive
surgery.
While a microgravity environment presents one of the
most challenging work settings for robots, it offers
excellent scientific opportunities that advances both the
future of robotics as well as space exploration for
humanity [34]. Increases in scientific endeavors have a
large return on investment. An increase in human safety
and reduction in mission cost can both be made possible
by supplementing difficult and hazardous tasks in space
with soft robotic technologies [35]. By adopting soft
robotic technology for space exploration, NASA would
be making a crucial investment in cementing its lead as
a technological innovator.

VII. Appendix
Quad Chart:
Team 23: Microgravity Soft-Body Manipulator
PI: Xiao-Bao Bao; Co-PI: Michael Derugin, Johnny Huynh, Alyssa Walker, Connor Lehman, Khaled
Abdulaziz, Patrick Talley
Goals: To successfully develop a robotic manipulator system
capable of interfacing with tools, instrumentation, and
various objects in a microgravity environment through the
use of soft robotics.
Objectives: Execution of the manipulator arm hinges on
several key criterion:
-Investigation of compliant mechanisms with material
properties capable of handling desired stresses/loads
-Development of useful end-effectors for dynamic and
diverse environments in zero gravity
-Identification of obstacles encountered by prior related
projects (Robonaut)
-Development and implementation of new control
algorithms for the kinematics of the manipulator
Proposal Category: 4.3.2. Dexterous Manipulation CAD created in SOLIDWORKS and simulation done in
Abaqus (Derugin).
Team Overview
Xiao-Bao Bao (PI):
Mechanical engineering with an emphasis on robotics,
design, software control theory, and automation
Craig Cavanaugh (SME):
Physics professor at San Diego Mesa College with prior
experience in robotics
Benjamin Shih (SME):
Graduate student at UC San Diego conducting his PhD on
Soft Robotic sensors and modeling
Michael Derugin (Co-PI):
Mechanical engineering with design, electrical, and signal
processing interest.
Johnny Huynh (Co-PI):
Mechanical engineering with interests in design, robotics,
mechatronics and CAD.
Alyssa Walker (Co-PI):
Planetary Geology major with interests in computers
Connor Lehman (Co-PI):
Aeronautical Engineer, emphasis on mathematics and
controls and systems
Khaled Abdulaziz (Co-PI):
Physics and Computer Science major with good
programming skills
Patrick Talley (Co-PI):
Mechanical Engineering, skillful at documentation
Metrics and Key Component Parameters
Current Relevant Technologies:
-Robonaut developed between General Motors and NASA in
order to allow for a comfortable human interaction platform
utilizing state of the art mechatronics with 42 degrees of
freedom in complexity
-SPHERES developed to test a wide range of hardware and
software experiments onboard ISS and aid human astronauts
Proposed Technologies:
-Advances the capabilities of human-robotic interactions by
utilizing an unexplored manipulator system
-Overcomes the mechanical issues experienced by Robonaut
and traditional robotic arms via the utilization of compliant
mechanisms and soft-body robotic frames
Risk Management:
-Software and control theory for soft-body robotics are
potentially complicated and could create time overruns

New Technology Report:

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[23] DigiKey, https://tinyurl.com/y6y4zro9
[24] SMC USA, https://www.smcpneumatics.com/KQ2E01-00N.html
[25] Pro DC to DC, https://tinyurl.com/y6ma2jn7
[26] DigiKey, https://tinyurl.com/y3dyh689
[27] Yourduino, http://yourduino.com/sunshop//index.php?l=product_detail&p=387
[28] PartsExpress, https://tinyurl.com/y3psjv69
[29] SparkFun, https://www.sparkfun.com/products/9939
[30] Microtivity, https://www.amazon.com/dp/B004RXKWDQ?tag=microtivity-20&m=A2E0IHQCUI9LTK
[31] McMaster, https://www.mcmaster.com/8505k91
[32] McMaster, https://www.mcmaster.com/8505k11
[33] SMC USA, https://www.smcpneumatics.com/ITV1031-21N2BL4.html
[34] Dobot, https://www.dobot.cc/dobot-magician/product-overview.html
[35] GoZero, http://www.gozerog.com/index.cfm?fuseaction=Research_Programs.welcome
Travel Expenses:
[1] https://tinyurl.com/y3x6epnz
[2] https://tinyurl.com/yym8r5ec
[3] https://tinyurl.com/y6tshlpr
[4] https://tinyurl.com/yxsedspd
[5] https://tinyurl.com/y3g7g483
[6] https://tinyurl.com/yxomlrn4
[7] https://www.gsa.gov/travel-resources

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