空间站舱外维护任务的航天员数字人仿真与工效学评价

周前祥; 沈家鹏; 王家涛; 郭攀; 柳忠起

doi:10.19554/j.cnki.1001-3563.2026.16.003

PDF(2356 KB)

包装工程（设计栏目） ›› 2026, Vol. 47 ›› Issue (16) : 36-44. DOI: 10.19554/j.cnki.1001-3563.2026.16.003

专题：复杂装备场景下的数字人关键技术及应用

空间站舱外维护任务的航天员数字人仿真与工效学评价

周前祥¹, 沈家鹏¹, 王家涛¹, 郭攀², 柳忠起^1,*

作者信息 +

Digital Human Simulation and Ergonomic Evaluation of Astronauts in Space Station Extravehicular Maintenance Tasks

ZHOU Qianxiang¹, SHEN Jiapeng¹, WANG Jiatao¹, GUO Pan², LIU Zhongqi^1,*

Author information +

文章历史 +

摘要

目的针对地面试验难以复现微重力环境下穿着舱外航天服的航天员作业姿态与负荷状态的问题,本文面向典型舱外维护任务开展航天员数字人仿真与工效学评价研究。方法基于Jack平台,采用TCL脚本对航天员关键关节施加航天服关节活动度约束,并修正全局重力参数以模拟微重力环境,构建受限航天员数字人模型;从可达性、姿态负荷和任务可持续性三个维度,对翼板损伤修复与机械部件更换两类典型任务进行工效学评价。结果结果表明,微重力条件可有效降低下肢抗重力负荷,但肩部姿态驱动的疲劳风险依然显著;不同约束姿态在可达性与精细操作能力之间存在权衡,需结合任务特点综合选取;协同调整末端平台位置与作业姿态可显著改善上肢关节舒适度与视觉操作协调性。结论构建的仿真流程可用于EVA维护任务早期的人因风险识别与姿态方案筛选,为舱外作业规划和作业姿态优化设计提供量化参考。

Abstract

Ground-based experiments cannot fully reproduce the working postures and workload states of astronauts wearing extravehicular activity (EVA) suits in microgravity. To address this limitation, the work aims to develop a digital human simulation and ergonomic evaluation targeting typical extravehicular maintenance tasks. Based on the Jack platform, TCL scripts were used to impose EVA suit-related range-of-motion constraints on key joints of astronauts, and the global gravity parameters were modified to simulate a microgravity environment. An ergonomic assessment framework was established, focusing on three dimensions of reachability, postural load, and task sustainability, to evaluate two representative tasks including solar array damage repair and mechanical component replacement. The results revealed a persistent risk of shoulder postural fatigue, even though the microgravity condition effectively reduced anti-gravity loads on the lower limbs. Different constrained postures involved a trade-off between reachability and fine manipulation capability, indicating that posture selection should be based on task-specific characteristics. Furthermore, coordinated adjustments to the end-effector platform position and operational posture significantly improved upper limb joint comfort and visual-manual coordination. The proposed simulation workflow can be applied to early-stage human factors risk identification and posture scheme screening for EVA maintenance tasks, providing quantitative references for optimizing extravehicular operation planning and operational posture optimization.

导出引用1

周前祥, 沈家鹏, 王家涛, 郭攀, 柳忠起. 空间站舱外维护任务的航天员数字人仿真与工效学评价[J]. 包装工程. 2026, 47(16): 36-44 https://doi.org/10.19554/j.cnki.1001-3563.2026.16.003

ZHOU Qianxiang, SHEN Jiapeng, WANG Jiatao, GUO Pan, LIU Zhongqi. Digital Human Simulation and Ergonomic Evaluation of Astronauts in Space Station Extravehicular Maintenance Tasks[J]. Packaging Engineering. 2026, 47(16): 36-44 https://doi.org/10.19554/j.cnki.1001-3563.2026.16.003

中图分类号： TB472 R857.1 TP391.9 TB18

参考文献

[1] 彭佩阳. 空间站在轨航天员出舱维修的时间研究与任务规划[D]. 长春: 吉林大学, 2024.
PENG P Y.Research on Time and Mission Planning of Extravehicular Maintenance for On-Orbit Taikonauts[D]. Changchun: Jilin University, 2024.
[2] 朱超, 孔旭, 曾磊, 等. 空间机械臂在轨维护任务规划与验证研究[J]. 上海航天(中英文), 2023, 40(5): 65-70.
ZHU C, KONG X, ZENG L, et al.Research on Planning and Safety Evaluation of On-Orbit Space Manipulator Maintenance Missions[J]. Shanghai Aerospace, 2023, 40(5): 65-70.
[3] MOOSAVI D, WOLOVSKY D, DEPOMPEIS A, et al.The Effects of Spaceflight Microgravity on the Musculoskeletal System of Humans and Animals, with an Emphasis on Exercise as a Countermeasure: A Systematic Scoping Review[J]. Physiological Research, 2021, 70(2): 119-151.
[4] LIU H, XU F, ZHOU Q, et al.Healthy State Monitor of Upper Limb for Space Flight Task Based on Signal Analyses of Multiple Muscle Forces[J]. Journal of Mechanics in Medicine and Biology, 2016, 17(1): 1750061.
[5] 刘文樵, 施虎, 谭坤, 等. 航天服充气压状态下的关节阻力矩特性研究[J]. 液压与气动, 2021, 45(8): 17-25.
LIU W Q, SHI H, TAN K, et al.Study on Joint Torque Characteristics of Space Suit under Inflated Pressure[J]. Chinese Hydraulics & Pneumatics, 2021, 45(8): 17-25.
[6] KIM K H, HERNANDEZ Y, BENSON E, et al.Underwater Space Suit Performance Assessments Part 2: Reach Envelopes as a Comparative Performance Metric[J]. International Journal of Industrial Ergonomics, 2019, 73: 102832.
[7] HERNANDEZ Y, KIM K H, BENSON E, et al.Video-Based Ergonomic Assessment for Spacesuit Training in a Microgravity Analog[C]//Proceedings of the Human Factors and Ergonomics Society Annual Meeting. Seattle: SAGE Publications, 2019: 987-991.
[8] SIMMS J, GUDALL C, MALTESE A, et al.EMU Elbow Torque Data as Measured by a Robotic Arm (RAESTAC) -an Update[C]//2024 IEEE Aerospace Conference. Big Sky: IEEE: 2024: 1-18.
[9] KAKARAPARTHI V N, VISHWANATHAN K, GADHAVI B, et al.Application of the Rapid Upper Limb Assessment Tool to Assess the Level of Ergonomic Risk among Health Care Professionals: A Systematic Review[J]. Work, 2022, 71(3): 551-564.
[10] KAJAKS T, ZIEBART C, GALEA V, et al.Posture Evaluation of Firefighters During Simulated Fire Suppression Tasks[J]. Workplace Health & Safety, 2023, 71(12): 606-616.
[11] 朱位, 刁常堃, 王昊, 等. 航天员舱外操作载荷分析的逆运动学建模方法[J]. 宇航学报, 2024, 45(8): 1205-1215.
ZHU W, DIAO C K, WANG H, et al.Extravehicular Operating Load Analysis Using Inverse Kinematic Astronaut Modeling Method[J]. Journal of Astronautics, 2024, 45(8): 1205-1215.
[12] DA SILVA A G, MENDES GOMES M V, WINKLER I. Virtual Reality and Digital Human Modeling for Ergonomic Assessment in Industrial Product Development: A Patent and Literature Review[J]. Applied Sciences, 2022, 12(3): 1084.
[13] 刘洋, 简晓慧, 王桂华. 基于JACK的航空发动机维修性人机核查应用研究[J]. 航空计算技术, 2015(4): 131-134.
LIU Y, JIAN X H, WANG G H.Application Research on Human-Machine Verification of Aeroengine Maintainability Based on JACK[J]. Aeronautical Computer Technique, 2015(4): 131-134.
[14] JI X, PIOVESAN D, ARENAS M, et al.Analysis of Healthcare Push and Pull Task via JACK: Predicted Joint Accuracy during Full-Body Simulation[J]. Applied Sciences, 2022, 12(13): 6450.
[15] DISCHINGER H C, LOUGHEAD T E.Evaluation of a Human Modeling Software Tool in the Prediction of Extra Vehicular Activity Tasks for an International Space Station Assembly Mission[R]. Huntsville: NASA Marshall Space Flight Center, 2001.
[16] HAGENGRUBER A, LEIPSCHER U, ESKOFIER B M, et al.Electromyography for Teleoperated Tasks in Weightlessness[J]. IEEE Transactions on Human-Machine Systems, 2021, 51(2): 130-140.
[17] SARITHA KUMARI T R, XAVIER JAMES RAJ M. Effectiveness of KS Elements in Satellite Orbit Prediction Using Earth's Gravity, Drag and Solar Radiation Pressure[J]. International Journal of Advanced Astronomy, 2020, 8(1): 19-26.
[18] 杨彪, 胡添元. 空间站微重力环境研究与分析[J]. 载人航天, 2014, 20(2): 178-183.
YANG B, HU T Y.Study and Analysis of Microgravity Environment onboard Manned Space Station[J]. Manned Spaceflight, 2014, 20(2): 178-183.
[19] OGHENEKEVWE V, REDMOND S, HILTZ M, et al.Human and Robotic Repair of a Solar Array Wing during ISS Assembly Mission 10A[J]. Acta Astronautica, 2009, 65(11): 1717-1722.
[20] LOEWENTHAL S, ALLMON C, REZNIK C, et al. Space Station Solar Array Joint Repair[J]. Materials Performance and Characterization, 2015, 4(1): MPC20150029.
[21] 牛希. 基于步态行走的先进航天服关节性能仿真与实验研究[D]. 成都: 电子科技大学, 2018.
NIU X.Simulation and Experimental Research on Joint Performance of Advanced Space Suit Based on Gait Walking[D]. Chengdu: University of Electronic Science and Technology of China, 2018.
[22] LI J, YE Q, DING L, et al.Modeling and Dynamic Simulation of Astronaut's Upper Limb Motions Considering Counter Torques Generated by the Space Suit[J]. Computer Methods in Biomechanics and Biomedical Engineering, 2017, 20(9): 929-940.
[23] CHAFFIN D B, ANDERSSON G B J. Occupational Biomechanics[M]. 2nd ed. New York: Wiley, 1991.
[24] WATERS T R, PUTZ-ANDERSON V, GARG A, et al.Revised NIOSH Equation for the Design and Evaluation of Manual Lifting Tasks[J]. Ergonomics, 1993, 36(7): 749-776.
[25] PORTER J M, GYI D E.Exploring the Optimum Posture for Driver Comfort[J]. International Journal of Vehicle Design, 1998, 19(3): 255-266.
[26] RAMACHANDRAN V, DALAL S, SCHEURING R A, et al.Musculoskeletal Injuries in Astronauts: Review of Pre-Flight, In-Flight, Post-Flight, and Extravehicular Activity Injuries[J]. Current Pathobiology Reports, 2018, 6(3): 149-158.
[27] OHIRA T, KAWANO F, GOTO K, et al.Responses of Neuromuscular Properties to Unloading and Potential Countermeasures during Space Exploration Missions[J]. Neuroscience & Biobehavioral Reviews, 2022, 136: 104617.
[28] WANG X, WANG C, WANG Z, et al.Comfort Analysis in EVA Reachable Envelope Based on Human-Spacesuit Integrated Biomechanical Modeling[C]//HCI International 2015: Posters' Extended Abstracts. Cham: Springer, 2015: 539-545.
[29] STIRLING L, AREZES P, ANDERSON A.Implications of Space Suit Injury Risk for Developing Computational Performance Models[J]. Aerospace Medicine and Human Performance, 2019, 90(6): 553-565.