Problem Statement
Future of space exploration: manned missions to Mars
Exploration issuesLong time delay from Earth
EVAs far from home base
These issues never previously encountered fully
Spacesuit
Bulkiness makes mobility difficult
Lack of flexibility
GlovesHand fatigue
Difficult to grasp objects
Solution: Rover accompanies astronaut
Rover Assisted Exploration
Rovers: tried and true Martian explorers
Useful toolkit for astronauts on EVAs
On-site rover control by astronauts
Variety of rover control systemsJoystick
Trackball
VR glove
Rover Control
Past: Control from EarthSupercomputers
Delay due to transmission over large distance
Joystick control
Future: On-site control by astronautJoystick and trackball not practical
VR Glove
Design Requirements
Fine-tuned control
No overlap between commands
Efficient response to commands
Simplicity and ease of training
Transmission efficiency (range and power)
Multitasking
Virtual Reality Gloves
Simulates the environment for practical purposesFlight training
Education
CapabilitiesSix degrees of freedom
Many more states than conventional controllers
Feedback Data
Integration into the Spacesuit
Characteristics:Mobility & Flexibility
Robust Function
Simple & Reliable
VR Glove is smallLightweight
Thin fibers
Best Place to Install:Max. sensitivity to hand motions
Between first and second layers
Our Solution
5DT Data Glove
ActivMedia Pioneer 2-AT rover
SmileCam camera
Steering and camera control by VR glove
Gesture Control System
Data Input and Filtering
Gesture Recognition
State Selection
Device-Specific Output
Data Input and Filtering
Independent Input and Filter per hand
Raw glove data calibrated to user's range of motion
Exponential filter to smooth noisy dataMuscle Twinges
Cardiovascular pulses
Gesture Recognition
Hand sensor readings7.2e16 possible combinations!
Effect of finger dependencies with imprecise control: Not this many are realistic
Continuous Control: Mealy Model
Discrete Control: Moore Model
Hybrid Control
State Selection
Each hand operates independently
Certain states locked out to other hand
Root state allows external operation
Device-Specific Output
Translates gesture state into reasonable device output
Models exist for pan/tilt cameras, motion bases, and external microcontrollers
Player/Stage
Player: Robot device serverAbstracts device specifics from control class
Designed for networked operation from any language that supports TCP/IP
Stage: Simulator for Player controllersProvides simulated environment for controller development
Utilizes same binary interface as Player
Rover Navigation
Uses Player's PositionDevice class
Translates glove finger position and roll into rotational and translational velocities
Target Selection• Translates glove gestures to control PanTilt
device class• Manages selection of interesting targets
Testing
Obstacle Course requires:
1. Figure Eight2. Arcing Turn3. Reverse4. Slalom
Three Input Devices: Glove Joystick Trackball
Course Results
User B has more training than User A
Joystick is the fastest method
Trackball is significantly slower
Device User A User BGlove 02:15:00 01:32:00Joystick 01:30:00 01:12:00Trackball 04:27:00 04:32:00
Results Analysis
Results analyzed in the context of remote operations
Joystick is faster, but the glove has other advantages
Device Course Time Ease of Use Versatility Size / Weight Integration Total ScoreGlove 7 8 8 10 10 43Joystick 9 8 3 3 2 25Trackball 1 1 3 9 8 22
Future Developments
Touch Sensors
Force Feedback
More useful user feedback
Menuing
Sounds
Force Feedback
Autonomy in Tracking and Navigation
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