Search

NASA’s adaptive camera assembly possesses a variety of unique and novel features. These features can be divided into two main categories: (1) those that improve “human factors” (e.g., the ability for target users with limited hand, finger, and body mobility to operate the device), and (2) those that enable the camera to survive harsh environments such as that of the moon. Some key features are described below. Please see the design image on this page for more information. NASA’s adaptive camera assembly features an L-shaped handle that the Nikon Z9 camera mounts to via a quick connect T-slot, enabling tool-less install and removal. The handle contains a large tactile two-stage button for controlling the camera’s autofocus functionality as well as the shutter. The size and shape of the handle, as well as the location of the buttons, are optimized for use with a gloved hand (e.g., pressurized spacesuit gloves, large gloves for thermal protection, etc.). In addition, the assembly secures the rear LCD screen at an optimal angle for viewing when the camera is held at chest height. It also includes a button for cutting power – allowing for a hard power reset in the event of a radiation event. Two large button plungers are present, which can be used to press the picture review and "F4" buttons of the Nikon Z9 through an integrated blanket system that provides protection from dust and thermal environments. Overall, NASA’s adaptive camera assembly provides a system to render the Nikon Z9 camera (a) easy to use by individuals with limited mobility and finger dexterity / strength, and (b) resilient in extreme environments.

The R2 hand and forearm assembly represents the cutting edge of humanoid robotics technologies. The highly modular design provides significant improvements over prior humanoid robotic hands, especially in the areas of strength, speed, sensing, and ability to approximate human grasps. <i>Hand, Finger, and Wrist Assembly Design:</i> The robotic humanoid lower arm design (U.S. Patent No. 9,505,134) includes novel robotic finger (U.S. Patent No. 8,562,049), thumb (U.S. Patent No. 8,424,941), and wrist (U.S. Patent No. 8,498,741) assemblies. <i>Actuation & Control System:</i> A novel finger actuation system (U.S. Patent No. 8,467,903) – comprised of an actuator, tendon, conduit, tension sensor (U.S. Patent No. 8,371,177), and terminator – is perhaps the primary enabling technology for R2’s compact, high performance robotic hand. The actuation system is packaged in the wrist (U.S. Patent No. 8,401,700) and reduces the number of actuators, providing significant space savings. Control systems include methods for tensioning (U.S. Patent Nos. 8,412,376, 8,618,762, & 8,056,423) and controlling torque (U.S. Patent No. 8,565,918) of the tendon-driven robotic fingers. The finger actuation control system (U.S. Patent No. 8,489,239) can operate using force- or position-based control laws. <i>Tactile System:</i> R2’s hands feature an innovative tactile system that grant the robot a sense of touch (e.g., measurement of external contact forces, shear force, and slippage of objects held in the hand) – an important requirement for robots designed to perform complex tasks in an automated fashion. The tactile system is enabled by novel six degree of freedom (DoF) force torque sensors (U.S. Patent No. 7,784,363), three of which are integrated into the fingers (at the proximal, medial, and distal phalanges) and two in the thumb (medial and distal phalanges). A calibration system (U.S. Patent No. 8,265,792) ensures the sensors maintain high accuracy throughout operation. <i>Autonomous Grasping:</i> A novel grasp assist device (U.S. Patent No. 9,878,452 & 9,067,319) enables reliable, autonomous interaction with a broad range of objects (e.g., tools). A particle filter-based contact state estimation device (U.S. Patent No. 8,280,837) performs object localization and characterization.