Human-Robot Interaction through REACH: Robotic Enhancement and Accessibility via a Connected Handheld Device on the Lunar Surface

As space agencies prepare for long-term lunar missions (ie. Lunar Base Camp), addressing the challenges of complex surface tasks is crucial. Integrating advanced robotic systems can alleviate physical and cognitive burdens on astronauts, enhancing mission success and safety. This work focuses on the design, development, and evaluation REACH, a handheld device and its UI for interacting with the modular DLR Lightweight Rover Unit 2 (LRU), to improve human-robot collaboration during lunar EVAs. A Human-In-The-Loop pilot study compares the effectiveness of the REACH device to traditional verbal commands within a modular robotic system. Our results show REACH improves user control, task efficiency, and satisfaction with its intuitive interface and real-time feedback. These findings suggest REACH, and other like systems, can streamline tasks operations and management, aligning with Artemis mission goals. This work is a crucial step toward optimizing Human-Robot Interaction, setting the stage for more effective space missions.