Haptics-1: Preliminary Results from the First Stiffness JND Identification Experiment in Space

Schiele, A.; Aiple, Manuel; Krueger, Thomas; Hulst, F. van der; Kimmer, Stefan; Smíšek, Jan; Exter, Emiel den

doi:10.1007/978-3-319-42321-0_2

Cited by 24 publications

(16 citation statements)

References 3 publications

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“…ESA initiated the Multi-Purpose End-To-End Robotic Operation Network (METERON) project together with DLR, NASA, and Roscosmos [18] to understand the operation and relevant technology of space telerobotics. The METERON HAPTICS experiments investigated the human perception of force-feedback in microgravity [19] [20]. The UI hardware consisting of a 1-DOF force-feedback joystick and a tablet computer was upmassed to the ISS in 2014.…”

Section: Related Workmentioning

confidence: 99%

“…METERON SUPVIS Justin utilizes a tablet computer and communication gateway previously upmassed for the ME-TERON HAPTICS experiments (see Fig. 6) [19]. We were able to connect to the ISS LAN through the communication gateway, creating a bidirectional communication link to SOLEX via various NASA and ESA facilities using ESAs Multi Purpose Computer and Communication software suite.…”

Section: A Experiments Setupmentioning

confidence: 99%

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Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus

Leidner

Krüger

et al. 2020

IEEE Robot. Autom. Lett.

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The crewed exploration of Moon and Mars requires the construction and maintenance of infrastructure on the alien surfaces before a crew arrives. Robotic coworkers are envisioned to take over the physical labor required to set-up crew habitats, energy supplies, and return vehicles in the hazardous environment. Deploying these robots in such a remote location poses a challenge that requires autonomous robot capabilities in combination with effective Human Robot Interfaces (HRIs), which comply with the harsh conditions of deep space operations. An astronaut-robot teleoperation concept targeting these topics has been evaluated in DLR and ESA's METERON SUPVIS Justin experiment where astronauts on-board the International Space Station (ISS) commanded DLR's humanoid robot Rollin' Justin in a simulated Martian environment on Earth. This work extends on our previously presented approach to supervised autonomy. It examines the results of the two follow-up experiment sessions which investigated maintenance and assembly tasks in real-world scenarios. We discuss the use of our system in real space-toground deployment and analyze key performance metrics of the HRI and the feedback given by the astronauts.

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Section: Related Workmentioning

confidence: 99%

Section: A Experiments Setupmentioning

confidence: 99%

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Schmaus

Leidner

Krüger

et al. 2020

IEEE Robot. Autom. Lett.

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“…The control modalities vary based on the scope of the experiment. The Haptics-1 experiment studies the effects of micro-gravity on psycho-motor performance w. r. t. haptic teleoperation using a force-feedback joystick (Schiele et al 2016). Haptics-2 builds on these findings and uses the force-feedback joystick on the station to operate a second joystick on ground (Krueger and Schiele 2015).…”

Section: The Meteron Supvis Justin Experimentsmentioning

confidence: 99%

“…This design choice is based on the research conducted by Rouanet et al (2013) on the remote operation of robotic systems, where it is emphasized that touch screens provide intuitive input possibilities and visual feedback likewise. The SUPVIS Justin experiments are conducted on a Dell Latitude 10 tablet PC, which has been upmassed to the ISS with the Automated Transfer Vehicle ATV-5 in July 2014 for the Haptics-1 experiment (Schiele et al 2016).…”

Section: A Supervised Autonomy Ui Based On Action Templatesmentioning

confidence: 99%

Cognitive Reasoning for Compliant Robot Manipulation

Leidner

2019

Springer Tracts in Advanced Robotics

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The findings were elaborated in cooperation with the Institute for Artificial Intelligence at the University of Bremen. This exceptional alliance between two of the world's leading research facilities on artificial intelligence and robotics enabled me to realize this work. Accordingly, I would first like to express my utmost gratitude to my supervisors Prof. Michael Beetz and Prof. Alin Albu-Schäffer for the opportunity to live out this relationship under their guidance. In addition, I would like to thank Christoph Borst for his trust in my qualities as a robotics researcher that allowed me to work in one of the most inspiring environments. My special thanks go to Florian Schmidt, who introduced me to the world of robotics and continually supported me during my research. Furthermore, I would like to thank Dr. Alexander Dietrich, which whom I collaborated in several publications leading to a better understanding of the interconnections between high-level reasoning and low-level control. Thanks to Georg Bartels, for the interesting and fruitful discussions during our research stays, which resulted in many valuable ideas. Thanks to my former students Peter Birkenkampf and Wissam Bejjani for their support. My deep gratitude goes to the entire support team of Rollin' Justin for the maintenance of the robot, which are

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“…The aim of their Multi-purpose End-To-End Robotic Operations Network (METERON) is the control of robotic systems from a planetary orbiter with different human-robot interfaces [9]. Within the frame of METERON, the first haptic master device with one DoF was launched to ISS in 2014 during the Haptics-1 mission [10]. Three astronauts performed forcefeedback and human perceptual motor performance tests with this device to study the influences of microgravity on psychomotor performance metrics.…”

Section: Related Workmentioning

confidence: 99%

Software architecture and design of the Kontur-2 mission

Stelzer

Steinmetz

Birkenkampf

et al. 2017

2017 IEEE Aerospace Conference

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This paper describes the software architecture and design of the space segment, communication and ground segment software of the Kontur-2 project, which contributed to the realization of telepresent planetary exploration. The main research objectives in Kontur-2 were the development and in-flight verification of a space qualified two degree of freedom (DoF) force-feedback joystick (RJo) inside the Zvezda Service Module of the International Space Station (ISS), the implementation of telepresence technologies and the study of human performance when controlling a force feedback joystick in microgravity. The project was conducted from 2012 to 2015 by a consortium consisting of the German Aerospace Center (DLR), the Russian Federal Space Agency (ROSCOSMOS), The Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), S. P. Korolev Rocket and Space Corporation Energia (RSC "Energia") and the Yuri A. Gagarin State Scientific Researchand-Testing Cosmonaut Training Center (GCTC). The DLR conducted two sets of experiments in which a cosmonaut on ISS used RJo to perform different tasks with robots located on-ground. The first set was conducted with a two DoF robot equipped with a camera system, a task board and torque sensors that allowed the cosmonaut to perceive forces caused by contacts with the environment. For the second set of experiments we used a humanoid robot to perform a tele-handshake and a cooperative task between the cosmonaut on ISS and colleagues at RTC in St. Petersburg.

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Haptics-1: Preliminary Results from the First Stiffness JND Identification Experiment in Space

Cited by 24 publications

References 3 publications

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Cognitive Reasoning for Compliant Robot Manipulation

Software architecture and design of the Kontur-2 mission

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