Abstract
This paper presents the space test of the ARH (Advanced Robotic Hand System), which is the world's first precise extravehicular robot aboard the satellite“Hikoboshi”. The telerobotic system has features of dexterity, autonomy and flexible operability, using a three-finger multisensory hand at a work site in space and a computer-graphics-based desktop interface at an operation site on the ground. The concept of sensor-fused telerobotics utilizing multisensory information is introduced, and the system is implemented to perform high precision tasks under the barrier of inter-satellite space communication. The robot system was launched into low earth orbit, and the capability of sensor-fused telerobotics was successfully demonstrated in precise in-orbit servicing.
