Self-Adapting Robotic Auxiliary Hand (SARAH) for SPDM Operations on the International Space Station

Abstract

The development of the Self-Adapting Robotic Auxiliary Hand (SARAH) for the Special Purpose Dextrous Manipulator (SPDM) is motivated by the need for robotic devices to support increasingly complex dextrous robotic operations on the International Space Station (ISS). SARAH’s ability to grasp a large range of geometrical shapes, makes it an ideal multi-purpose tool used for unstructured and unrehearsed ISS operations. Further, it is anticipated that the use of the SARAH could save important Extra Vehicular Activity (EVA) time primarily in the areas of work site setup, work site support and EVA equipment handling.