Human - Robotic Cooperative Teams for Advanced Space Operations

Flight and research experience to date indicates that teams of robots and humans will provide significantly greater productivity and capabilities than either system working alone. This paper details research developments in the University of Maryland Space Systems Laboratory on three different approaches to human/robotic interaction in the space environment. In each of these, the human performing EVA is brought into closer interaction with the robotic system, with the ultimate conceptual goal being a symbiotic relationship between the human and the robot. In the first, a robotic actuator was integrated into a space suit glove, enabling hitherto unavailable dexterity without a penalty in crew fatigue. This “power glove” project paves the way for advanced robotic suit augmentation, including fully powered suits. In the second, advanced dexterous robot manipulators were integrated into the shuttle manipulator foot restraints, providing direct robotic capabilities for worksite preparation and closeout, and assisting the EVA crew during human operations. Results indicate productivity enhancements ranging from 60% to 400%, depending on the details of the tasks performed. In the last, a single-person spacecraft was designed for space operations, incorporating both robotic manipulators and space suit arms. The system is capable of zero-prebreathe EVA and extended mission operations, while providing greater protection for the crew and reducing the number of crew necessary to conduct safe external operations.