[Adaptation of humans to walking in semi-hard and flexible space suits under terrestrial gravity]

The spacesuit donning-on procedure can be viewed as the combining of two kinematic circuits into a single human-spacesuit functional system (HSS) for implementation of extravehicular operations. Optimal human-spacesuit interaction hinges on controllability and coordination of HSS mobile components, and also spacesuit slaving to the central nervous system (CNS) mediated through the human locomotion apparatus. Analysis of walking patterns in semi-hard and flexible spacesuits elucidated the direct and feedback relations between the external (spacesuit) and external (locomotion apparatus and CNS) circuits Lack of regularity in the style of spacesuit design creates difficulties for the direct CNS control of locomotion. Consequently, it is necessary to modify the locomotion command program in order to resolve these difficulties and to add flexibility to CNS control The analysis also helped trace algorithm of program modifications with the ultimate result of induced (forced) walk optimization. Learning how to walk in spacesuit Berkut requires no more than 2500 single steps, whereas about 300 steps must be made to master walk skills in spacesuit SKV.