Weber, Bernhard and Balachandran, Ribin and Riecke, Cornelia and Stulp, Freek and Stelzer, Martin (2019) Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, pp. 8138-8144. IEEE. Int. Conf. Intelligent Robots and Systems - IROS 2019, 4.-8.11.19, Macau, China. doi: 10.1109/IROS40897.2019.8968030. ISBN 978 1 7281 4003 2. ISSN 2153-0858.
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Abstract
Sending humans to Mars’ surface to build habitats is, for now, prohibitively dangerous and costly. An alternative is to have humans in orbiters, teleoperating robots on Mars to construct habitats, deferring human arrival until these habitats are finished. This paper describes the Kontur-2 experiments, in which the feasibility of this scenario was tested with the International Space Station as an orbiter, a cosmonaut operating a force-feedback joystick as an input device for teleoperation, and Earth as the planet where the teleoperated robot is located. In particular, we focus on human teleoperation performance, which is known to deteriorate under conditions of spaceflight. We investigate whether the provision of force feedback at the joystick is as beneficial as under terrestrial conditions. Our results show that, to support humans operating in weightlessness, haptic assistance needs to be adjusted to the altered environmental condition.
Item URL in elib: | https://elib.dlr.de/130734/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
Title: | Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback | ||||||||||||||||||||||||
Authors: |
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Date: | 4 November 2019 | ||||||||||||||||||||||||
Journal or Publication Title: | 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | No | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||
DOI: | 10.1109/IROS40897.2019.8968030 | ||||||||||||||||||||||||
Page Range: | pp. 8138-8144 | ||||||||||||||||||||||||
Publisher: | IEEE | ||||||||||||||||||||||||
ISSN: | 2153-0858 | ||||||||||||||||||||||||
ISBN: | 978 1 7281 4003 2 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | Force Feedback, Haptics, Microgravity, Spaceflight, Sensorimotor Performance, Teleoperation, Telerobotics | ||||||||||||||||||||||||
Event Title: | Int. Conf. Intelligent Robots and Systems - IROS 2019 | ||||||||||||||||||||||||
Event Location: | Macau, China | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
Event Dates: | 4.-8.11.19 | ||||||||||||||||||||||||
Organizer: | IEEE/RSJ | ||||||||||||||||||||||||
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 - Telerobotics (old) | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics | ||||||||||||||||||||||||
Deposited By: | Weber, Dr. Bernhard | ||||||||||||||||||||||||
Deposited On: | 19 Nov 2019 11:26 | ||||||||||||||||||||||||
Last Modified: | 25 Jul 2023 12:18 |
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