一种面向在轨服务的空间遥操作人机交互方法

In order to solve the practical problems of spatial-temporal isolation between the operator and target, lack of environmental information and large time delay from Earth to space in the process of teleoperation, as well as the disadvantages including the lack of autonomous intelligence of the space robots and the operator's hands tremble, a method of layered assisted teleoperation (LAT) is proposed based on the augmented virtuality security channel (AVSC) for the operation interaction of space on-orbit services. Firstly, the AVSC with composite unit configuration should be designed to impose a virtual guiding force on the master operator to assist the operating duty. The operation takes less time with higher stability compared with an unarmed one. Secondly, the LAT system should be designed in a way so that different virtual force fields can be divided within the security channel to help the operator move more flexibly by obtaining the distance between the end-effector of the space robot and the nearest point on the desired trajectory. The demonstration experiments show that the method, using force haptic and visual information to guide the operator to control the end-effector of the space robot to the desired position, can effectively improve the operation accuracy and reduce the operator's mental stress and operating time.