A compound virtual fixture for dexterous space teleoperation

In order to guarantee the operational safety in complex space environment, a compound virtual fixture is designed for dexterity space teleoperation in on-orbit tasks. It is consisted of a tube-type virtual fixture and a velocity-based virtual fixture. The virtual tube provides a safe route for the manipulated object to move through fluently. Compared with previous path planning method, the method proposed in this paper improves the operational flexibility and efficiency in long distance towards the target. Velocity-based virtual fixture offers vision and force feedback signals to the operator in the approaching process towards the target. The prediction ability of velocity-based virtual fixture reduces the influence of operate errors caused by the communication delay in teleoperation circuit, improving the teleoperation dynamics performance. Multiple simulations are conducted under CHAI 3D simulation platform to verify the effectiveness of the proposed method.