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VR-OOS: The DLR’s Virtual Reality Simulator for Telerobotic On-Orbit Servicing with Haptic Feedback

Sagardia, Mikel and Hertkorn, Katharina and Hulin, Thomas and Schätzle, Simon and Wolff, Robin and Hummel, Johannes and Dodiya, Janki and Gerndt, Andreas (2015) VR-OOS: The DLR’s Virtual Reality Simulator for Telerobotic On-Orbit Servicing with Haptic Feedback. In: IEEE Aerospace Conference. IEEE Aerospace, 2015-03-07 - 2015-03-14, Big Sky, Montana, USA. doi: 10.1109/AERO.2015.7119040.

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Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7119040


The growth of space debris is becoming a severe issue that urgently requires mitigation measures based on maintenance, repair, and de-orbiting technologies. Such on-orbit servicing (OOS) missions, however, are delicate and expensive. Virtual Reality (VR) enables the simulation and training in a flexible and safe environment, and hence has the potential to drastically reduce costs and time, while increasing the success rate of future OOS missions. This paper presents a highly immersive VR system with which satellite maintenance procedures can be simulated interactively using visual and haptic feedback. The system can be used for verification and training purposes for human and robot systems interacting in space. Our framework combines unique realistic virtual reality simulation engines with advanced immersive interaction devices. The DLR bimanual haptic device HUG is used as the main user interface. The HUG is equipped with two light-weight robot arms and is able to provide realistic haptic feedback on both human arms. Additional devices provide vibrotactile and electrotactile feedback at the elbow and the fingertips. A particularity of the realtime simulation is the fusion of the Bullet physics engine with our haptic rendering algorithm, which is an enhanced version of the Voxmap-Pointshell Algorithm. Our haptic rendering engine supports multiple objects in the scene and is able to compute collisions for each of them within 1 msec, enabling realistic virtual manipulation tasks even for stiff collision configurations. The visualization engine ViSTA is used during the simulation to achieve photo-realistic effects, increasing the immersion. In order to provide a realistic experience at interactive frame rates, we developed a distributed system architecture, where the load of computing the physics simulation, haptic feedback and visualization of a complex scene is transferred to dedicated machines. The implementations are presented in detail and the performance of the overall system is validated. Additionally, a preliminary user study in which the virtual system is compared to a physical test bed shows the suitability of the VR-OOS framework.

Item URL in elib:https://elib.dlr.de/102000/
Document Type:Conference or Workshop Item (Speech)
Title:VR-OOS: The DLR’s Virtual Reality Simulator for Telerobotic On-Orbit Servicing with Haptic Feedback
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Sagardia, MikelUNSPECIFIEDhttps://orcid.org/0000-0001-7603-1717UNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Hummel, JohannesGerman Aerospace Center (DLR), GermanyUNSPECIFIEDUNSPECIFIED
Dodiya, JankiGerman Aerospace Center (DLR), GermanyUNSPECIFIEDUNSPECIFIED
Gerndt, AndreasUNSPECIFIEDhttps://orcid.org/0000-0002-0409-8573UNSPECIFIED
Date:March 2015
Journal or Publication Title:IEEE Aerospace Conference
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Virtual Reality, Simulation, Haptic Feedback, Realtime, On-Orbit Servicing
Event Title:IEEE Aerospace
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Start Date:7 March 2015
Event End Date:14 March 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR (old)
Location: Braunschweig , Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institut of Simulation and Software Technology > Software for Space Systems and Interactive Visualisation
Deposited By: Sagardia, Mikel
Deposited On:13 Jan 2016 11:41
Last Modified:24 Apr 2024 20:07

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