Good Vibrations Engineering Ltd.

Home Vestibulator Virtual Boss HMI Sim HMI Paper Test Results: Off axis drive capability Mechanical concept paper

GVE has been working on a space robotic force moment sensor for so long that the first patent has expired. We delayed getting the 2nd, but it is in place now. Our virtual boss program management system has focused our efforts. Progress has been happening again. Our virtual boss gets credit for our understanding of the mechanisms that produced the favourable results we obtained through 2 small projects, first funded through IRAP to produce hardware and then by the European Space Agency in support of testing. We have just completed first testing phase of new prototype (linear configuration). The results are in line with FE predictions. And we have confirmed the ability to modes needed for all 6 dof.

conceptimplementation stageprogress
h/w: non-linear, parallel load path3rd matlab simulatornext upgrade: initial test results
HMI HMI Paper,audio sim, vestibulatorvestibulator sales to researchers
ManagementVirtual Bosseffective; multi-year progress
FinanceCSA-STDPCSA-STDP, sr&ed

If you're interested in the plans and monthly reports we give to our virtual boss, check out the link Virtual Boss. Before that report makes much sense though, you'll need to look over our plan Technology Development Plan. Of course, that plan was done on the assumption that we would obtain significant funding - which we have not - YET.

We have finally completed the 2nd version of the simulation, and are working on the 3rd. The earlier version is at FMS Simulation Our virtual boss has to get credit for pushing us this far. There was a lot of tedium to work through, to get the sim done. No doubt there are some problems with the sim - including matlab s/w updates that are needed.

As well as the fms concept itself, we have an human machine interface (hmi) to utilize 6 dof force data, usefully, in real time. So we've developed a simulation of the audio portion of an intuitive means of providing the data.

You can download the audio/force sim HMI Sim. Our 'commercial' product actually started from the HMI sim. Our vestibulator Product, originated as a means of improving the hmi audio experience for sounds which appear to come from behind - from the cone of confusion. We now sell the vestibulator as a stand alone research device to some pretty prestigeous researchers. We've built a space version, but no takers yet.

US Patent Number 9,513,179 B2


In 1983, we started looking at inclusion of a force moment sensor on SRMS. SPAR was developing the baetzy concept, with internal R&D effort, as well as supporting the JPL/Baetzy concept for integration on SRMS. The JPL sensor eventually flew as a demo mission, on STS-62 in 1994, as part of the dexterous end effector experiment. The JPL sensor was based on semi-conductor strain gauges, because of their enhanced sensitivity. Unfortunately, those gauges were non-linear wrt temperature and load. Thus the calibration should have taken place in TVac chamber, had it been affordable.

As part of the review team for JPL CDR, we obtained a variety of data, including calibration tests.

In parallel with STS-62 work, we developed a non-linear fms concept. SPAR chose to patent it themselves. SPAR built the first version, and tested it, but the non-linearity was not pronounced enough to 'compress' the dynamic range.

The concept first chosen for Canadian Space Station Program used strain gauges. Its mechanical design did not meet SSRMS stiffness requirements - its failure was masked by bankruptcy and regional development. The 2nd concept - that is now part of SSRMS and SPDM is based on a very stiff structure and capacitive displacement transducers.