Teams of mobile robots will play a crucial role in future missions to explore the surfaces of extraterrestrial bodies. Setting up infrastructure and taking scientific samples are expensive tasks when operating in distant, challenging, and unknown environments. In contrast to current single-robot space missions, future heterogeneous robotic teams will increase efficiency via enhanced autonomy and parallelization, improve robustness via functional redundancy, as well as benefit from complementary capabilities of the individual robots. In this article, we present our heterogeneous robotic team, consisting of flying and driving robots that we plan to deploy on scientific sampling demonstration missions at a Moon-analogue site on Mt. Etna, Sicily, Italy in 2021 as part of the ARCHES project. We describe the robots' individual capabilities and their roles in two mission scenarios. We then present components and experiments on important tasks therein: automated task planning, high-level mission control, spectral rock analysis, radio-based localization, collaborative multi-robot 6D SLAM in Moon-analogue and Marslike scenarios, and demonstrations of autonomous sample return.

In the frame of assistive robotics, multi-finger prosthetic hand/wrists have recently appeared, offering an increasing level of dexterity; however, in practice their control is limited to a few hand grips and still unreliable, with the effect that pattern recognition has not yet appeared in the clinical environment. According to the scientific community, one of the keys to improve the situation is multi-modal sensing, i.e., using diverse sensor modalities to interpret the subject's intent and improve the reliability and safety of the control system in daily life activities. In this work, we first describe and test a novel wireless, wearable force- and electromyography device; through an experiment conducted on ten intact subjects, we then compare the obtained signals both qualitatively and quantitatively, highlighting their advantages and disadvantages. Our results indicate that force-myography yields signals which are more stable across time during whenever a pattern is held, than those obtained by electromyography. We speculate that fusion of the two modalities might be advantageous to improve the reliability of myocontrol in the near future.

Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors and actuators. As the distance to other planets introduces a significant communication delay, the efficient operation of a robot system requires a high level of autonomy. In this work, we present our Lightweight Rover Unit (LRU), a small and agile rover prototype that we designed for the challenges of planetary exploration. Its locomotion system with individually steered wheels allows for high maneuverability in rough terrain and stereo cameras as its main sensors ensure the applicability to space missions. We implemented software components for self-localization This work was supported by the Helmholtz Association, project alliance ROBEX (contract number HA-304) and partially funded by the DLR Space Administration. Electronic supplementary materialThe online version of this article (https://doi.org/10.1007/s10846-017-0680-9) contains supplementary material, which is available to authorized users. in GPS-denied environments, autonomous exploration and mapping as well as computer vision, planning and control modules for the autonomous localization, pickup and assembly of objects with its manipulator. Additional high-level mission control components facilitate both autonomous behavior and remote monitoring of the system state over a delayed communication link. We successfully demonstrated the autonomous capabilities of our LRU at the SpaceBotCamp challenge, a national robotics contest with focus on autonomous planetary exploration. A robot had to autonomously explore an unknown Moon-like rough terrain, locate and collect two objects and assemble them after transport to a third object -which the LRU did on its first try, in half of the time and fully autonomously. The next milestone for our ongoing LRU development is an upcoming planetary exploration analogue mission to perform scientific experiments at a Moon analogue site located on a volcano.

Abstract-Prosthetic hand control based on the acquisition and processing of surface electromyography signals (sEMG) is a well-established method that makes use of the electric potentials evoked by the physiological contraction processes of one or more muscles. Furthermore intelligent mobile medical devices are on the brink of introducing safe and highly sophisticated systems to help a broad patient community to regain a considerable amount of life quality. The major challenges which are inherent in such integrated system's design are mainly to be found in obtaining a compact system with a long mobile autonomy, capable of delivering the required signal requirements for EMG based prosthetic control with up to 32 simultaneous acquisition channels and -with an eye on a possible future exploitation as a medical device -a proper perspective on a low priced system. Therefore, according to these requirements we present a wireless, mobile platform for acquisition and communication of sEMG signals embedded into a complete mobile control system structure. This environment further includes a portable device such as a laptop providing the necessary computational power for the control and a commercially available robotic handprosthesis. Means of communication among those devices are based on the Bluetooth standard. We show, that the developed low cost mobile device can be used for proper prosthesis control and that the device can rely on a continuous operation for the usual daily life usage of a patient.

To date, there are no artificial sphincter prostheses for urinary or fecal incontinence that may be implemented elsewhere instead, for example, in the upper gastrointestinal tract. Conventional systems are conceptually similar but are constructed specifically for distinct applications and are manual in operation. The German Artificial Sphincter System (GASS) II is the evolution of a highly integrative, modular, telemetric sphincter prosthesis with more than one application. Redesigning and integrating multilayer actuators into the pump allows us to reduce the input voltage to -10 to +20 V (V(PP) = 30 V). This provides for a flow rate of 2.23 mL/min and a counterpressure stability of 260 mbar. Furthermore, multiple applications have become feasible due to our standardized connection system, therapy-specific compression units, and application-specific software. These innovations allow us to integrate not only severe fecal and urinary incontinence, erectile dysfunction, and therapy-resistant reflux disease, but also morbid adiposity into the gamut of therapeutic GASS applications.

The Earth's moon is currently an object of interest of many space agencies for unmanned robotic missions within this decade. Besides future prospects for building lunar gateways as support to human space flight, the Moon is an attractive location for scientific purposes. Not only will its study give insight on the foundations of the Solar System but also its location, uncontaminated by the Earth's ionosphere, represents a vantage point for the observation of the Sun and planetary bodies outside the Solar System. Lunar exploration has been traditionally conducted by means of single-agent robotic assets, which is a limiting factor for the return of scientific missions. The German Aerospace Center (DLR) is developing fundamental technologies towards increased autonomy of robotic explorers to fulfil more complex mission tasks through cooperation. This paper presents an overview of past, present and future activities of DLR towards highly autonomous systems for scientific missions targeting the Moon and other planetary bodies. The heritage from the Mobile Asteroid Scout (MASCOT), developed jointly by DLR and CNES and deployed on asteroid Ryugu on 3 October 2018 from JAXA's Hayabusa2 spacecraft, inspired the development of novel core technologies towards higher efficiency in planetary exploration. Together with the lessons learnt from the ROBEX project (2012–2017), where a mobile robot autonomously deployed seismic sensors at a Moon analogue site, this experience is shaping the future steps towards more complex space missions. They include the development of a mobile rover for JAXA's Martian Moons eXploration (MMX) in 2024 as well as demonstrations of novel multi-robot technologies at a Moon analogue site on the volcano Mt Etna in the ARCHES project. Within ARCHES, a demonstration mission is planned from the 14 June to 10 July 2021, 1 during which heterogeneous teams of robots will autonomously conduct geological and mineralogical analysis experiments and deploy an array of low-frequency antennas to measure Jovian and solar bursts. This article is part of a discussion meeting issue ‘Astronomy from the Moon: the next decades'.

Robotic systems map unknown terrain and collect scientific relevant data of foreign planets. Currently, pilots from Earth steer these rovers on Moon and Mars surfaces via teleoperation. However, remote control suffers from a high delay of the long distance communication which leads to a reduction of the time the rover can spent gathering scientific data. We propose a system architecture for an autonomous rover for planetary exploration. The architecture is centered around a flexible, scalable world model to record and represent the environment of the robot. An autonomous task control framework and a versatile constraint motion planner use the live information from the world model to steer the rover through complex manipulation tasks. Furthermore, we present the enhancement of our Light Weight Rover Unit (LRU) with an innovative docking interface for arbitrary tool handling. We showcase the effectiveness of our approach at the moon-analogue demonstration mission of the ROBEX project on Mt. Etna, Sicily. We show in two experiments that the robot is capable of autonomously deploying scientific instruments and collecting soil samples from the volcano's surface.

The German Artificial Sphincter System project aims at the development of an implantable sphincter prosthesis driven by a piezoelectrically actuated micropump. The system has been designed to be fully implantable, i.e. the power supply is provided by a rechargeable lithium polymer battery. In order to provide sufficient battery duration and to limit battery dimensions, special effort has to be made to minimize power consumption of the whole system and, in particular, of the piezoactuator driver circuitry. Inductive charge recovery can be used to recover part of the charge stored within the actuator. We are going to present a simplified inductor-based circuit capable of voltage inversion across the actuator without the need of an additional negative voltage source. The dimension of the inductors required for such a concept is nevertheless significant. We therefore present a novel alternative concept, called direct switching, where the equivalent capacitance of the actuator is charged directly by a step-up converter and discharged by a step-down converter. We achieved superior performance compared to a simple inductor-based driver with the advantage of using small-size chip inductors. As a term of comparison, the performance of the aforementioned drivers is compared to a conventional driver that does not implement any charge recovery technique. With our design we have been able to achieve more than 50% reduction in power consumption compared to the simplest conventional driver. The new direct switching driver performs 15% better than an inductor-based driver. A novel, whole-system SPICE simulation is presented, where both the driving circuit and the piezoactuator are modeled making use of advanced nonlinear models. Such a simulation is a precious tool to design and optimize piezoactuator drivers.