Human-Robot Collaborative Teleoperation for Remote Construction Tasks via Natural Wearable Sensing

As humans further explore the boundaries of space, certain tasks have become increasingly difficult for direct human involvement due to factors such as travel distance, task complexity, and risk, all of which should be evaluated before a mission. Human-robot collaboration has emerged as a critical component in overcoming these challenges in space exploration. This study develops a natural wearable sensing-based human-robot collaborative teleoperation framework for space applications, enabling users to remotely control a robot arm using a state-of-the-art Vicon Motion Capture System (MCS). The MSC captures the user's motion and velocity in real time to guide the robot along an optimized trajectory and complete a complex task that may also be encountered in space environments. Experimental results have demonstrated high accuracy and precision of the developed approach, highlighting the potential of advanced human-robot systems in enabling effective and safe space task collaborations.