Ng - zo 6 8 EVALUATION

An Instrumented task board has been developed at NASA Marshall Space Flight Center (MSFC). An overview of the task board design, and current development status is presented. The task board was originally developed to evaluate operator performance using the Protoflight Manipulator Arm (PFMA) at MSFC. The task board evaluates tasks for Orbital Replacement Unit (ORU), fluid connect and transfers, electrical connect/disconnect, bolt running and other basic tasks. The instrumented task board measures the 3-D forces and torques placed on the board, determines the robot arm's 3-D position relative to the task board using IR optics, and provides the information in realtime. The PFMA joint input signals can also be measured from a breakout box to evaluate Ihe sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA serve reactions in addition to real-time force/torque data presentation. The instrumented task board's most promising use is developing benchmarks for NASA ccnters for comparison and evaluation of telerobotic performance.