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Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback

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: IEEE International Conference on Intelligent Robots and Systems, pp. 8138-8144. IEEE. Int. Conf. Intelligent Robots and Systems - IROS 2019, 4.-8.11.19, Macau, China. ISBN 978 1 7281 4003 2.

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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/
Document Type:Conference or Workshop Item (Speech)
Title:Teleoperating Robots from the International Space Station: Microgravity Effects on Performance with Force Feedback
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Weber, BernhardBernhard.Weber (at) dlr.deUNSPECIFIED
Balachandran, Ribinribin.balachandran (at) dlr.deUNSPECIFIED
Riecke, CorneliaCornelia.Riecke (at) dlr.deUNSPECIFIED
Stulp, FreekFreek.Stulp (at) dlr.deUNSPECIFIED
Stelzer, MartinMartin.Stelzer (at) dlr.deUNSPECIFIED
Date:4 November 2019
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Page Range:pp. 8138-8144
Publisher:IEEE
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Telerobotik
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:19 Nov 2019 11:26

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