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--- exoframe [2011/06/25 23:55] – [Exoframe Design] - style hagalaz
+++ exoframe [2011/09/10 21:07] (current) – [Akechi Motors 'Hoplite' Exosuit] hagalaz
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-**//(Note: This document has not yet been reviewed by Roleplay Staff for theme compliance. - Hagalaz)//**
+====== Exoskeletons ======
+//(Note: While we do not have giant, 'Robotech-' or 'Battletech'-style walking robots, Furscape's theme DOES allow for powered exoskeletons ranging in size from small, [[http://en.wikipedia.org/wiki/Hybrid_Assistive_Limb|Hybrid Assistive Limb]] units to four-meter-tall construction exoframes, designed to help move heavy components. Some commonly-seen exoframe models are detailed below, but, as always, if you have a design you would like to use, contact Roleplay Staff for approval. - Hagalaz))//
-====== Exoframes ======
+Exoframes and exosuits can trace their roots back to powered exoskeletons first prototyped in the late Twentieth Century.  They had limited mobility and usually required an external power source, such as power cables connected to an generator or building power supply.
-//(Note: While we do not have giant, 'Robotech-' or 'Battletech'-style walking robots, Furscape's theme DOES allow for powered exoskeletons ranging in size from small, [[http://en.wikipedia.org/wiki/Hybrid_Assistive_Limb|Hybrid Assistive Limb]] units to four-meter-tall construction exoframes, designed to help move heavy components. Some common examples standardized construction are detailed below, but, as always, if you have a design you would like to use, contact Roleplay Staff for approval - Hagalaz))//
-Exoframes can trace their roots back to powered exoskeletons first prototyped in the late Twentieth Century.  They had limited mobility and usually required an external power source, such as power cables connected to an generator or building power supply.
-As advances were made in fields such as powerplant design, hydraulics and embedded computing systems, these bulky exoskeletons began to gain mobility, capability for movement free of an external power source, and became less cumbersome.  It wasn't until advances in vehicle power cell technology occured that the exoframe truly became feasible.
+As advances were made in fields such as powerplant design, energy storage, and embedded computing systems, these bulky exoskeletons gained increased mobility and capability for movement free of an external power source.  It wasn't until advances in [[power cells|power cell]] technology occurred that smaller, compact extended-use exoframes became truly feasible.
 ====== Common Features ======
-Most exoframes will have the following features:
+Most exoskeletons will have the following features:
-  * A haptic control system - this reads movement of the operator's limbs relative to the body and attempts to move the exoframe's limbs accordingly.  Safety features are built-in to prevent unnatural or dangerous movements from causing injury to the operator's musculoskeletal system.
+  * A control system - an internal system for detecting, processing, and transferring operator's movements to the exoskeleton.  Safety features are built-in to prevent unnatural or dangerous movements from causing injury to the operator's musculoskeletal system. Exoskeleton operator interfaces can be as simple as feedback sensors built into the straps holding the exoskeleton to the operator's body and limbs; or as complex as a specialized, sensor-laden suit, that plugs into the exoskeleton and provides feedback.
-  * A power source - required for independent movement.  In the vast majority of anthropomorphic exoframes, there are actually two prime movers, located in the lower limbs to help lower the exoframe's center of gravity.  They can be:
+  * A power source - required for independent movement.  Small exoframes will generally use power cells.  For the vast majority of anthropomorphic exosuits, there are actually two prime movers, located in the lower limbs to help lower the exosuit's center of gravity.  As a general rule, a prime mover will usually be an array of power cells, a powerplant that consumes fuel to provide power, or a hybrid setup that, like modern hybrid automobiles, does both.
-    * direct electrical - a [[power cells|power cell]] or microturbine/internal combustion engine-driven generator powers electrical actuators
-    * hydraulic - a power cell-driven motor or microturbine/internal combustion engine powers a hydraulic pump.
-  * Fuel storage - for 'green' exoframes, this is usually provided by advanced power cell technology.  For microturbine- and internal combustine engine-driven exoframes, this is some sort of liquid fuel, stored in 'explosive-resistant' fuel cells.  In either case, these are also generally stored in the lower limbs for anthropomorphic exoframes.
+  * Fuel storage - for powerplant-driven exosuits, this is some sort of liquid fuel, stored in 'explosion-resistant' fuel cells.  Fuel cells are also generally stored in the lower limbs for anthropomorphic exosuits.
-  * Actuators - for anthropomorphic exoframes (or any exoframe with external manipulators) these actually make the limbs move, and depending on the exoframe, are usually either hydraulic or electric motors.  Although some work has been done in the field of constructing artificial 'muscle' materials, it is still an experimental technology.
+  * Actuators - for anthropomorphic exoskeletons, these actually make the limbs move, and depending on the specific model, are usually either hydraulic or electric motors, or artificial myomer.  Some exoskeletons will combine actuator system types for sake of redundancy.
+====== Exoskeleton, Exoframe, or Exosuit? ======
+While some people will use the terms interchangeably, as a general rule, an exoframe (or exo-frame) is normally a humanoid-sized exoskeleton designed for powered assisted movement.  Normally there is a minimal learning curve associated with exoframe operation, because it is designed to have a range of motion almost identical to the user's musculoskeletal system.
+An exosuit is normally a large exoskeleton that completely encloses the operator, and used for industrial or other specialized applications.  A steeper learning curve is involved, with the first weeks typically spent re-learning how to walk.  It is still very possible to trip or fall while using an exosuit, so operators are trained in proper falling and righting techniques. Additionally, similar to learning to operate any large vehicle, exosuit operators need time to gradually adjust to the size of their vehicle and how big it 'feels'.  A number of governments require exosuit operators to have a special license to operate exosuits, and to carry insurance against mishaps.
 ====== Exoframe Design ======
-A notable feature of most larger exoframe designs is the control system for the upper limbs.  The operator's limbs actually fit into reinforced, jointed sleeves that protrude from the front of the exoframe cockpit like smaller set of arms, and are capable of ranges-of-motion similar to that experienced by someone not wearing an exoframe.  The exoframe's larger upper limbs are slaved to these control sleeves, and attempt to mimic their movements exactly, allowing for a rapid learning curve during training.  While the control sleeves do not have fingers themselves, there are control gloves built into each sleeve that can control the 'fingers' of the upper arm's graspers. These also double as the controls for other accessories that may be attached to the upper limbs in place of graspers.
+As mentioned above, exoframes are generally powered by swappable power cells that allow for up to 72 hours of continuous operation, or longer durations if the powered assist mode is turned off.
-Regarding exoframe design, a common convention is to locate as much of the exoframe's mass in the lower limbs as can be done without compromising mobility.  This will lower the exoframe's center of gravity and make it less reliant on complex stability and balance-control systems (which are still required, to a certain extent).
+The exoframe consists of a lightweight frame with motorized joints.  These frames must be custom-fitted to each individual user to prevent musculoskeletal injuries.  While the hands themselves are normally left exposed, accessory modules are available that can be fitted to the distal ends of the upper limbs, allowing the wearer to handle heavy objects while eliminating risk of damage to the wearer's hands.
-When an exoframe operator is trained, the first weeks are typically spent re-learning how to walk.  The lower limbs, while having near-normal fore-and-aft movement, are designed to have limited lateral mobility, and also have other safeties built in to prevent unnatural movement (which could cause musculoskeletal injuries or even death).  However, it is still very possible to trip or fall while using an exoframe, so operators are trained in proper exoframe falling and righting techniques.
+Attached somewhere to the exoframe is a small computerized display and control pad that, among other things, displays the estimated amount of power cell life remaining if the exoframe remains in  powered assist mode.  Operators who are otherwise capable of normal ambulation can switch the exoframe's controls to unassisted mode for normal movement, and the exoframe is light enough that it does not encumber the user.
 ====== Common Exoframe Examples ======
-//(Note: The Hybrid Assistive Limb and Exoskeletal Load Carrier are designed to be used as either part of character descriptions, or can be described as MUCK objects that are carried by the operator, due to their relatively light-weight natures.  The heavier exoframes are intended to be used with the MUCK's mecha-approve system. Please be sure to follow the guidelines for [[http://www.furscape.com/doku.php/class-zero_ship_mecha_construction|mecha construction]]. - Hagalaz)//
+//(Note: The Hybrid Assistive Limb and Exoskeletal Load Carrier are designed to be used as either part of character descriptions, or can be described as MUCK objects that are carried by the operator, due to their relatively lightweight designs.)//
-Some common examples of exoframe design in Known Space are listed below.
 ===== Hybrid Assistive Limb =====
-This is a lightweight exoframe designed to assist the operator with lifting heavy objects and moving while carrying heavy loads.  This exoframe is worn by strapping it to the operator's torso and limbs while it is powered down, and upon activating it, computer-controlled sensors attempt to mimic limb movements.  This exoframe uses power cells to drive electric actuators.
+This is a lightweight exoframe designed to assist the operator with lifting heavy objects and moving while carrying heavy loads.  This exoframe is worn by strapping it to the operator's torso and limbs while it is powered down, and upon activating it, computer-controlled sensors attempt to mimic limb movements.  This exoframe uses power cells to drive electric actuators.  This design can, in some situations, be fitted to patients with neurological injuries to restore some amount of locomotion.  In this instance, a specialized interface is involved, along with extensive therapy to train the user to walk.
 ===== Exoskeletal Load Carrier =====
-This is a ruggedized version of the Hybrid Assistive Limb.  Capable of carrying up to 100 kilograms for an extended period of time, it has a range-of-motion approaching normal bipedal humanoid, and can operate for up to 72 hours on power cells.  Like the Hybrid Assistive Limb, this suit is worn by strapping it to the operator's torso and limbs.
+This is a ruggedized version of the Hybrid Assistive Limb.  Capable of carrying up to 100 kilograms for an extended period of time, it has a range-of-motion approaching normal bipedal humanoid, and can operate for up to 72 hours on power cells.  Like the Hybrid Assistive Limb, this suit is worn by strapping it to the operator's torso and limbs.  Custom accessories are available for the upper and lower limbs, such as magnetized grapplers for the feet and reinforced graspers for the hands.
-===== Seibu Kaihatsu Heavy Industries 'Stevedore' Cargo-Loading Exoframe =====
+====== Exosuit Design ======
-The design of the Stevedore has its origins in the early days of manned space travel.  It is designed for handling 'breakbulk' cargo - palletized cargo, or storage crates, anything not shipped in a large bulk container - and is a bare-bones, minimalist design with large manipulator arms and weighted legs (to counterbalance against loads carried).  The powerplant for the Stevedore varies; when used planetside, internal combustion engines or microturbines power its hydraulic systems, and in vacuum it is powered by powercell-driven hydraulic pumps.
+Controls inside the relatively tight confines of an exosuit cockpit are usually either voice-activated or operated by switches on a chin plate. External cameras located on the exosuit's exterior feed information to a wrap-around display inside the cockpit, while the operator's head and neck movements steer the exosuit's “head”, focusing its built-in sensors to relay more detailed information - many exosuit operations instructors will describe it as comparing frontal vision to peripheral vision.
+Common conventions in exosuit design include a lowered center of gravity, a 'cockpit-forward' torso that places heavier components closer to the exosuit's vertical centerline, and computer-assisted stabilization systems.  Additionally, the lower limbs, while having near-normal fore-and-aft movement, are designed to have limited lateral mobility to prevent operator injury.
+====== Common Exosuit Examples ======
+//(Note: Exosuits are intended to be used with either the MUCK's [[class-zero ship mecha construction|mecha]] system or with the composite [[vehicles|vehicle]] system.  Please be sure to follow the guidelines for mecha construction if you choose that option. - Hagalaz)//
+===== Seibu Kaihatsu Heavy Industries 'Stevedore' Cargo-Loading Exosuit =====
+The design of the Stevedore has its origins in the early days of manned space travel.  It is designed for handling 'breakbulk' cargo: palletized cargo, storage crates, or anything not shipped in a large bulk container.  It is a bare-bones, minimalist design with large manipulator arms and weighted legs (to counterbalance against loads carried).  The power source for the Stevedore varies; when used planetside, internal combustion engines or microturbines power its hydraulic systems, and in vacuum it is powered by power cell-driven hydraulic pumps.
 The microgravity version of the Stevedore is equipped with RCS thrusters and electromagnets in the soles of its feet, and while its cockpit can be sealed and pressurized, it has been modified so that the operator can wear a mechanical-counterpressure skinsuit while inside, for extra protection.
-===== Caterpillar EXO-9 Construction Exoframe =====
+===== Caterpillar EXO-9 Construction Exosuit =====
-This is a ruggedized, four-meter-tall exoframe designed for use in industrial environments.  It uses hydraulic actuators to control its limbs, which include swappable tools such as graspers, pneumatically-driven jackhammers, industrial welders, and large rotary cutters.  Generally, this exoframe is driven by internal combustion engines located in each lower leg, but for HAZMAT operations, an intrinisically-safe version is available that replace the engines with sealed power cell/motors driving hydraulic pumps, to prevent sparking. This exoframe has the standard configuration of paired master/slave upper arms.
+This is a ruggedized, four-meter-tall exosuit designed for use in industrial environments.  It uses hydraulic actuators to control its limbs, is equipped with the standard configuration of paired master/slave upper arms, and has a sealed, air-conditioned cockpit.
-The operator works inside a sealed cockpit that supports his body, while his arms and legs are inserted into sleeves that tranfer movement via computer to the exoframe's limbs.  Controls inside the exoframe cockpit are, as a general rule, either voice-activated or operated by switches on a chin plate.  External cameras in the unit's "head" feed generalized information to a wrap-around display inside the cockpit, with head movements moving the exoframe's "head" to allow for detailed information - think of it frontal vision vs. peripheral vision.  The user's body is actually positioned inside the exoframe so that it sits in the lower part of the torso, with the head and shoulders (and the control sleeves) located near mid-torso, in the front half.
+The large upper slave limbs can be tipped with swappable tools such as hydraulically-powered graspers, cutters, and drills; pneumatically-driven jackhammers; and industrial welders.  Generally, this exosuit is driven by internal combustion engines located in each lower leg, but for HAZMAT operations an intrinisically-safe version is available, replacing the engines with sealed powercell-driven electric motors driving non-sparking hydraulic pumps.
-===== Akechi Motors 'Hoplite' Exoframe =====
+===== Akechi Motors 'Hoplite' Exosuit =====
-This is a law-enforcement/military-grade exoframe unit designed to provide mobility and enhanced firepower while providing protection against small-arms and light anti-material weapons fire, and is designed primarily for outdoor operations in an urban environment where heavier armored vehicles may not be appropriate.  It is powered by a hybrid power cell/microturbine powerplant, and capable of up to eight hours of operation, depending on activity performed.
+The Hoplite is a law-enforcement/military-grade exosuit unit designed to provide mobility and enhanced firepower while providing protection against small-arms and light anti-material weapons fire, and is designed primarily for outdoor operations in an urban environment where heavier armored vehicles may not be appropriate.  It is powered by a hybrid power cell/microturbine powerplant, carried in its legs, and capable of up to eight hours of operation, depending on activity performed.  This exosuit has the standard configuration of paired master/slave upper limbs, and is EMP-hardened.
-The Hoplite carries its powerplant in its "legs", and has the standard configuration of paired master/slave upper limbs, with the lower set serving as controls for the larger upper ones.  The operator controls the exoframe from inside a cockpit that can be sealed and pressurized in a CBR environment, and in addition to the usual panoramic display, also has access to a redundant helmet-mounted display.  Sensors include standard visual, IR, millimeter-wave radar, audio, and a suite of CBR detection systems.  The millimeter-wave radar can, when in active mode, detect point-of-origin for incoming rounds, and is useful for sniper suppression.  The operator's body is situated, in the front lower part of the hardened cockpit.
+The operator controls the exosuit from inside a cockpit that can be sealed and pressurized against an external CBR environment, and in addition to the usual panoramic display, the operator also has access to a redundant helmet-mounted display.  Sensors include standard visual, IR, millimeter-wave radar, audio, and a suite of CBR detection systems.  The operator's body is situated in a cockpit in the front lower part of the exosuit's torso, similar to other exosuit designs.
-Weapons designed to be used with the Hoplite have smart targeting systems that can be configured to either show where the point of aim is on the panoramic display, or provide a 'scoped'-style aim point for precision targeting systems.  While they do not have the one-hit kill power of a tank's main gun, they are generally capable of penetrating the armor of most light armored vehicles, with a selection of armor-piercing incendiary, high-explosive incendiary, and high-explosive squash head demolition rounds available.
+Weapons designed to be used with the Hoplite have smart targeting systems that can be configured to either show where the point of aim is on the panoramic display, or provide a 'scoped'-style aim point for precision targeting systems.  While they do not have the one-hit kill power of a tank's main gun, they are generally capable of penetrating the armor of most light armored vehicles, with a selection of armor-piercing incendiary (API), high-explosive incendiary (HEI), and high-explosive squash head (HESH) demolition rounds available.
-Defensive systems include composite armor, ECM, and smoke/chaff/flare dispensers, in addition to millimeter-wave radar for counter-sniper/counter-battery operations.
+Defensive systems include composite armor, ECM, and smoke/chaff/flare dispensers.  The millimeter-wave radar system can, when in active mode, detect point-of-origin for incoming rounds, and is useful for counter-sniper operations or spotting for counter-battery fire support.
+Sample descriptions of the Hoplite's interior and exterior can be found [[hoplite exoframe|here]].