The cooperation between robots and astronauts will become a core element of future space missions. This is accompanied by the demand for suitable input devices. An interface based on electromyography (EMG) represents a small, light, and wearable device to generate a continuous three-dimensional (3D) control signal from voluntarily muscle activation of the operator's arm. We analyzed the influence of microgravity on task performance during a two-dimensional (2D) task on a screen. Six subjects performed aiming and tracking tasks in parabolic flights. Three different levels of fixation—fixed feet using foot straps, semi-free by using a foot rail, and free-floating feet—are tested to investigate how much user fixation is required to operate via the interface. The user study showed that weightlessness affects the usage of the interface only to a small extent. Success rates between 89 ${\%}$ and 96 ${\%}$ are reached within all conditions during microgravity. A significant effect between 0 and 1G could not be identified for the test series of fixed and semi-free feet, while free-floating feet showed significantly worse results in fine and gross motion times in 0G compared to ground tests (with success rates of 92 ${\%}$ for 0G and 99 ${\%}$ for 1G). Further adaptation to the altered proprioception may be needed here. Hence, foot rails as already mounted in the International Space Station (ISS) would be sufficient to use the interface in weightlessness. Low impact of microgravity, high success rates, and an easy handling of the system, indicates a high potential of an EMG-based interface for teleoperation in space.

中文翻译：

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在失重状态下进行远距离操作的肌电图

机器人与宇航员之间的合作将成为未来太空任务的核心要素。随之而来的是对合适的输入设备的需求。基于肌电图（EMG）的界面代表一种小型，轻巧且可穿戴的设备，可根据操作者手臂的自愿肌肉激活来生成连续的三维（3D）控制信号。我们分析了屏幕上的二维（2D）任务期间微重力对任务性能的影响。六名受试者在抛物线飞行中执行了瞄准和跟踪任务。测试了三种不同级别的固定-使用脚绑带固定的脚，使用脚轨固定的半自由脚和自由浮动的脚-以调查通过接口进行操作需要多少用户固定。用户研究表明，失重仅在很小程度上影响界面的使用。成功率在89之间 $ {\％} $ 和96 $ {\％} $在微重力作用下的所有条件下均达到极限。对于固定和半自由脚的测试系列，无法确定0到1G之间的显着影响，而与地面测试相比，自由浮动的脚在0G的精细和总体运动时间内显示出明显更差的结果（成功率为92） $ {\％} $ 适用于0G和99 $ {\％} $1G）。在此可能需要进一步适应改变后的本体感受。因此，已经安装在国际空间站（ISS）中的脚踏板足以在失重状态下使用该接口。微重力影响小，成功率高以及系统易于处理，这表明基于EMG的界面在太空遥操作中的潜力很大。