Force reflection was implemented to conduct the truss deployment experiment on the Engineering Test Satellite VII (ETS-VII), replacing the visual aid. It turned out that force reflection was a useful means to display information and to release the operator from keeping watching the visual cues. However, the use of position-input joystick caused problems concerning safety, because it could input command against the operator's will, if the operator does not perfectly control it. To solve this problem, we tested the velocity-input force reflection, which did not push the operator to increase the command in one direction, and it turned out to be safer and more comfortable, especially in space teleoperation where safety is the high priority. In addition, the use of velocity-input proved to be efficient for tracing operations like the truss deployment.
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