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theworldinyourhandsInventingnewwaystointeractForceDimensiondesignsandmanufacturesthefinestmasterhapticdevicesforleading-edgeapplicationsinresearch,medical,industry,andhumanexploration.ntlogygeneralmedicineinfo@sByMartinAzkarate,LevinGerdes,TimWiese,MartinZwick,MarcoPagnamenta,JavierHidalgo-Carrió,PantelisPoulakis,andCarlosJ.Pérez-del-Pulgar24TestingGecko-InspiredAdhesivesWithAstrobeeAboardtheInternationalSpaceStationByTonyG.Chen,AbhishekCauligi,SrinivasanA.Suresh,MarcoPavone,andMarkR.CutkoskyByXiangLi,XuanZhang,XiuLi,JianjunLong,Jian’anLi,LanshuaiXu,GongChen,andJingYeManoloGarabini,andGiorgioGrioliorotsSDECORETChallengesandOutlookinRoboticManipulationofDeformableObjectsByJihongZhu,AndreaCherubini,ClaireDune,DavidNavarro-Alarcon,FarshidAlambeigi,DmitryBerenson,FannyFicuciello,KensukeHarada,JensKober,XiangLi,JiaPan,WenzhenYuan,andMichaelGiengererborghtandSeppeTerrynAReviewofCable-DrivenParallelRobotsByMahmoudZarebidoki,JaspreetSinghDhupia,andWeiliangXuACable-DrivenHyperredundantManipulatorByDaweiXu,EnLi,RuiGuo,JiaxinLiu,andZizeLianginuedIfyoulikeanarticle,clickthisicontorecordyouropinion.ThiscapabilityisavailableforonlineWebbrowsersandDualArmControlforCoordinatedFastabbingandTossingofanObjectByMichaelBombileandAudeBillardByFedericaFerraguti,ChiaraTalignaniLandi,AndrewSingletary,Hsien-ChungLin,AaronAmes,CristianSecchi,andMarcelloBonfèEDITORIALBOARDEditorinChiefYiGuo(ieeerameic@)USArsElenaDeMomiyMingCaoiversityChinaCifuentestolRoboticsLaboratoryUKAntonioFrisoliaWaiKwokTheUniversityofHongKong(HongKong)EnricaZereikCNR-INM(Italy)HouxiangZhangBramVanderborghtAmyReeder(USA)JoyceArnold(USA)COLUMNSr(Hungary)HumanitarianTechnology:VacantnsUSAnIEEERASVice-PresidentofPublicationActivitiesToddMurphey(USA)RAMhomepage:/publications/ramIEEERoboticsandAutomationSocietyExecutiveOfficeterSobelExecutiveDirectortAdvertisingSalesMarkDavidDirector,BusinessDevelopment—Media&AdvertisingTel:EEEPeriodicalsMagazinesDepartmentKristinFalcoLaFleurSeniorJournalsProductionManagerPatrickKempfSeniorManagerJournalsProductionJanetDudarSeniorArtDirectorGailA.SchnitzerAssociateArtDirectorTheresaL.SmithProductionCoordinatorFeliciaSpagnoliAdvertisingProductionManagerPeterM.TuohyProductionDirectorKevinLisankieEditorialServicesDirectorDawnM.MelleyIEEERoboticsandAutomationMagazine(ISSN1070-9932)(IRAMEB)ispublishedquarterlybyenuethFloorSATelephoneResponsibilityforthecontentrestsupontheauthorsandnotupontheIEEE,theSocietyoritsmembers.IEEEServiceCenteranePOBoxPiscatawayNJUSA.Telephone:Individualcopies:IEEEMembersUS$20.00(firstcopyonly),non-MembersUS$140percopy.Subscriptionrates:AnnualsubscriptionratesincludedinIEEEphotocopybeyondthelimitsofU.S.Copyrightlawfortheprivateuseofpatrons1)thosepost-1977articlesthatcarryacodeatthebottomofthefirstpage,providedtheper-copyfeeindicatedinthecodeispaidthroughtheCopyrightClearanceCenter,222RosewoodDrive,Danvers,MA01923USA;2)pre-1978articleswithoutafee.Forothercopying,reprint,orrepublicationpermission,writeCopyrightsandPermissionsDepartment,IEEEServiceCenter,445HoesLane,Piscataway,NJ08854.Copyright?2022bytheInstituteofElectricalandElectronicsEngineersInc.Allrightsreserved.PeriodicalspostagepaidatNewYorkandadditionalmailingoffices.Postmaster:SendaddresschangestoIEEERoboticsandAutomationMagazine,IEEE,445HoesLane,Piscataway,NJ08854USA.CanadianGST#125634188PRINTEDINTHEU.S.A.munityAferenceoftheIEEERoboticsandAutomationSociety(RAS),theIEEEInternationalConfer-enceonRoboticsandAutomation(ICRA),hasreturnedinperson.WhenIattendedICRAinPhiladelphiainMay,Ifeltexcitementintheairwhenpeoplegreetedeachotherandfriendsshookhandsandhuggedeachother.Itwasnoteasyforprofessors,students,industrypracti-tioners,andCOVID-19pandemichasnotfullysettledintoitsendem-icstage.Within-personpar-lythisyearstinICRAhistoryAlongwiththeexcitingtechnicalprogramsatICRA,almostallRAScommitteeshaveheldin-personmeet-ingsforthefirsttimeintwoandahalfyearsAftersomanyZoommeetings,itfeltgoodtonetworkandexchangeideasfreelyinpersonwithcolleaguestemberandvolunteersofthecommunity.Ourmagazine,IEEERoboticsandAutoma-tionMagazine(RAM),servesasaforum,connectingtheentireRAScom-munityaswellasachannelforsharingSocietynewsandcommunicationaboutactivities.WemadeplanstoenhancecollaborationwithRASTech-nicalCommittees(TCs),whichincludepublishingcolumnarticlesin“TCSpotlight,”invitingTCstoproposeRAMspecialissues(SIs),andinvitingTCcochairstojoinguesteditorteamsemberactivitiesforreportsonRAS-cospon-soredconferencesandRASmemberitiesAtICRA,Iattendedseveralnet-workevents,onehighlightofwhichwastheRASLunchwithLeadersforStudents.Manystudentsattheeventwerefirst-timeICRAattendeesandaskedquestionsoncareerpathsforroboticsresearchers.RASpresidentspastandcurrent,includingthepresi-abouttheirfirstICRAexperienceandofferedadvicetothestudents.Thiseventconnectstheyounggenerationandthestudentcommunitywithestablishedleadersinthefield.Wehopethat,outofthehundredsofyoungattendeesintheroom,somewillrisetothetopandleadthefieldreWiththesamegoaltoengagethemunity,weencouragesubmissionofRAMcolumnarticlesonresearchlifepostdoctoralcommunitiesinourfield.InterestedauthorsmaycontactmeorAmyReeder,thecolumnmanagerofRAM.Also,RAMhasrecentlycollabo-ratedwithIEEEPotentials,IEEE’sglob-almagazineforstudents,onathemeissueonroboticsandautomation.AugustissueofIEEEPotentialsforCallAnotherpopularsocialeventatICRAwastheRASWomeninEngi-neering(WiE)NetworkingEvent,wheretheRAS-WiEcommitteeledadiscussionondiversityandinclusionandinitiativestoadvancewomeninleadership.Asafemaleroboticsresearcher,Ihavebenefitedfromtrainingandworkingwithwomenroboticsleaders.Anoteworthyexpe-riencewasbeingamemberoftheall-femaleorganizingcommitteeofICRA2015inSeattle[2].Networkingandinteractingwithagroupofactivewomenroboticsresearchers,manyofwhomwereleadersinthefield,pro-videdaninvaluableopportunityformetobroadenmyvisionandpre-paredmeforleadership.IrememberthatRuzenaBajcsy,HonoraryGeneralChairofICRA2015,talkedaboutherearlyexperienceastheonlyfemaleroboticsresearcherinameetingroominthe1990s.AtthisICRA,IheardthewonderfulnewsthatRuzena’sdaugh-ter,KlaraNahrstedt,waselectedtotheU.S.NationalAcademyofEngi-neeringthisspring,whichmeansthatRuzenaandKlarabecamethefirstmother-daughterpairelectedtotheprestigiousacademy.Thisamazingnewsisinspiringtoyoungwomenengineeringfield.AsKlarastatedinafiresidechatattheUniversityofIlli-noisUrbana-Champaign[3],“It’saleresearchersformanyimpartedonusbythosearoundus.Buttoknowyouhaveasupportnet-portyou,thatcanhelpayoungIhopethatourRAS-WiEnetworkresearcherstopursueasuccessfulominewslikethis,sothatwemakerealprogressinfixinggenderbiasinsci-enceandrobotics.AtthisICRA,weannouncedtheseventhRAMBestPaperaward.Theawardedpaper“BuildinganAerial–GroundRoboticsSystemforPrecisionFarming:AnAdaptableSolution,”byAlbertoPrettoetal.,waspublishedintheSeptember2021issueofRAM.WecongratulatealltheauthorsonthisThisSeptemberissueisaregularissuethatcontains10featuredarticlesonspacerobotics,exoskeletalrobotsforrehabilitation,softrobotics,andcable-drivenrobots.Ihopeyouenjoy[1]“Callforpapers:Themeissueonroboticsandautomation,”IEEEPotentials,vol.41,no.[2]L.ParkerandN.M.Amato,“IEEEICRA2015-Celebratingthediversityofrobotsandroboticists[SocietyNews],”IEEERobot.pairUrbana-Champaign,Urbana,IL,USA,May18,dunews/family-history-nahrstedt-bajcsy-share-the-national-academy-of-engineeringItudeonbehalfoftheentireunityIwastudeonbehalfoftheentireunityIwasstruckbyseveraltrendsandeventsatthismostrecentICRA.First,thehybridformatappearsheretostayforfutureICRAs.Despitesomesmallkinksinthetechnology,theredoesappeartobeasizableseg-mentofparticipantsforwhomvirtualattendanceisthepreferred(and,indidnotreturn.AsnotedinanarticlebyVicePresidentofIndustrialActivitiesAndreaKeayappearinginthisissueofIEEERobotics&Automa-tionMagazine,moreroboticscompanieshavebeenformedinthelast10yearsthanintheentirehis-toryofrobotics.Whilewearelikelystillfarawayfroma“robotineveryhome,”thepredictionsofacomingwaveofinnovationinroboticsandautomationthatwillleadtosustain-able,scalablecompanies,doesnotToengagethisnewandburgeoningsegmentofourcommunity,discus-sionsareunderwayonthelaunchingofanewpublicationdesignedforroboticsandautomationpractitioners.Thefocusofthisnewpublicationwillbeonalgorithms,software,designs,andsystemsintegrationaswellasempiricalcasestudiesthatareofnear-termbenefittopractitioners.Suchresultsarelikelynotidealforourexist-ingpublications,andyet,moreandmore,astheroboticsindustrycontin-uestoexpandandmature,wecanexpectinterestinsuchstudiestoincrease.IinviteyoutoreadmoreabouttheactivitiesofourIndustrialActivitiesBoard,andtoshareyourthoughtsandfeedbackonhowtheIEEERoboticsandAutomationSoci-gewiththegrowing avingwitnessedthenearly fivethousandparticipants gatheredinPhiladelphiafor theIEEEInternationalCon-ferenceonRoboticsandAutomationin-personmeetingsareemphaticallyandstillstub-goaway,andmanytravelre-bordersremaintermorethanfhaveinformalnectwithbotholdandnewfriendsoutsidethepassionandenthusiasmofthemany—includingmanymen—whoattendedtheRASWomeninEngineer-ing(RAS-WiE)event.Theoutpouringofpent-upfrustrationsatthemanyferencesaswellasathomewasbothasoberingrevelationandareminderofhowfarweasacommunityhavetogo.TotheorganizersoftheRAS-WiEeffortsandentreatyoutocontinuetoeandvolunteerswhoorganizedsuchaaintyandchallengesofthetryexhibitorsandsponsorsatICRArDigitalObjectIdentifier10.1109/MRA.2022.3189232smatteringofestablishedindustrialsegmentofmembersfromindustry.Dateofcurrentversion:7September2022roboticscompaniesmixedinwhooftenShareYourPreprintShareYourPreprintResearchwiththeWorld!?Rapidlydisseminateyourresearch?ndings?Gatherfeedbackfromfellowresearchers?Findpotentialcollaboratorsinthescienti?ccommunitycedenceofadiscovery?DocumentresearchresultsinadvanceofpublicationPoweredbyIEEEPoweredbyIEEEDesign,Testing,andEvolutionofnThisarticlepresentsthesystemarchitectureandsignoftwoplanetaryroverlaboratorytestbedsdevelopedattheEuropeanSpaceAgency(ESA).developedtoprovideearlyprototypesforthevalidationofdesignsandservetheESA’sAutomationandRoboticsLabinfrastructureforcontinuousresearchandtesting.Bothrovershavebeenbuiltconsideringtheconstraintsofspacesentativenesstoallowrapidprototyping.Theyavoidstrictlyspace-qualifiedcomponentsanddesignsthatpresentamajorcostburdenandfrequentlylacktheflexibilityormodularitythatthelabenvironmentrequiresforitsinvestigations.Thisdesignapproachisfollowedforallofthemechanical,electrical,dactivitiesandtestcampaignsarealsopresented.Finally,thedevelopmentofroverprototypesandtestingdoneonarticleaimstogiveaninsightintohowtoreducethegapEarth,typicallyaspartofthemissionprograms.WiththebetweenlabR&DandflightimplementationsbyanticipatingMarsExplorationRovers(MERs)firstandCuriositylatersystemconstraintswhenbuildingtheseplatforms.Thisallowson,thesamemodelphilosophyhasensuredtheprovisioninvestigatorstoprovidequalitativetestingresultsthatcanofarovertestbedthroughoutthedifferentphasesoftheeventuallyhaveanimpactinrealspacemissions.developmentofthemission.Thesewereusedtoperformanalysesofthetraverseperformanceandpredicttheirtra-CurrentRoverTestbedsversabilitythroughoutthemissionbymimickingonEarthSpaceroboticscanbeconsideredanichefieldofengineeringtheapparentflightroverweightonMars[1].Amongthem,overavehiclethatsharesentparticularconstraintstotheresearchactivitiesconductedthekinematicconfigurationofCuriosityandusescommer-helfelectronicswhichforyearshasprovidedresearchintermsofcostandflexibilityintheprocessesofmuchusefuldataforCuriosity’sroveroperationsteam[2].designing,manufacturing,andtesting.ThisismainlyduetoInaddition,theNASAJPLcontinuesworkingonthethetechnologiesanddevelopmenttoolsemployedinspace,developmentofnewroverprototypesandplatformconfigu-whichlackthemassproductionandcommunityfromwhichrations.Forexample,theDuAxelroverforexplorationinotherengineeringfieldsbenefit.veryroughterrain,includingrappellingmotion,hasshownThespaceenvironmentisharshandremoteand,there-promisingresultsforpotentiallunarlavatubeexplorationfore,difficulttoaccess.Restrictionscomenotonlyfromthemissions[3].availabletechnologyandcomponentsforspace,whichsome-TherecentlybaptizedRosalindFranklinroveroftheExo-timescanbeyearsbehindtheirterrestrialcounterparts,butMarsmissionisthefirstEuropeanroveraimingtolandonevenmoredrasticallyinthesystemmassandenergy,whichMars.Sinceitsearlyconception,theESAhasbeenworkingleadstotheneedforhighlyoptimizedandcustomizedsys-onthedevelopmentofbreadboardprototypestoanalyzedif-tems.Oneofthefirstquestionsengineersarefacedwithonaferentlocomotionsubsystemsandtheirperformanceonaspacemissioniswhethertheyarecapableofdesigningasys-Mars-liketerrain[4].Later,incooperationwithEuropeantemthatfulfillsthemissionrequirementswithinthegivenindustrialpartners,differentbreadboardroverswereassem-massandpowerbudgets.bledwithengineeringmodelsoftheelectronics,software,andSpacemissionsarealsowhatwecallsingle-shotopportu-locomotionsubsystems.nities.Onecannotrepairduring—exceptforcertainfixesNationalspaceagenciesaroundEuropehavealsodevel-bysoftwarepatches—orusuallyrepeatamission,which,opedtheirowntestbedroversforresearchpurposes.Itisagain,putsstringentrequirementsonsystemrobustnessworthmentioningtheLightweightRoverUnitdevelopedbyanddesignmargins.AlloftheseaspectseventuallyhaveatheGermanAerospaceCenter(DLR),anagileroverproto-highcostimpact,limitingevenmorespacemissionsortypeusedtodevelopseveralsoftwarecomponentsforactivitiesrelatedtospace’saccesstoawidercommunity.autonomy[5].TheU.K.SpaceAgencydevelopedtheMarsAwareoftheselimitations,theAutomationandRoboticsUtahRoverFieldInvestigation,whichwasusedtoperformSectionoftheESAhasembarkedforyearsonactivitiesforseveralfieldtestsincollaborationwiththeCanadianSpacedevelopingspaceroboticsand,inparticular,planetaryrov-Agency[6].TheFrenchSpaceAgency(CNES)alsodevel-ers,inthescopeofconductingR&DofkeytechnologiesforopedthetestbedroversIllustrateurAutonomedeRobotiquerealspacemissions,suchasExoMars.mobilepourl’ExplorationSpatiale(calledIARES)andAuton-Inthisarticle,theauthorsaimtodemonstratehowtheomousRoverandTestbenchforExplorationMissions(knownaforementionedconstraintscanbetakenintoaccountandasARTEMIS),whichwereusedforyearsforthedevelop-impacttheworkdoneinthecontextofresearchaswellasmentoftheguidance,navigation,andcontrol(GNC)soft-showcasethiswithspecificprototypingactivities.There-warethatwilleventuallydriveRosalindFranklin[7].fore,thefirstgoalistodescribethemainchallengesandInAsia,twotestbedroversdevelopedbyJAXAareworthdesigndriversinthedevelopmentoflaboratoryplanetarymentioning:Micro6andCuatro[8].Bothwereconceivedtorovertestbeds.Inthiscontext,thearticlehighlightshowpushthetechnologyreadinesslevel(TRL)offailure-tolerantMaRTA,thesecond-generationprototype,benefitedfromsuspensionsystemsandanintelligentnavigationsystemtheexperiencegainedandlessonslearnedonthedesignbasedonnovelpath-planningmethods.andtestingoftheearlierExoTeR.Second,byprovidinganoverviewofselectedtestcampaigns,wedemonstratehowSystemArchitecturetheseplatformssupportedtheactualExoMarsprogramInthissection,wedescribethesystemarchitectureandsubsys-roverdevelopments.temdesignsofthetwoExoMars-representativelaboratorytestbedsitisworthroverprototypesoftheESAsAutomationandRoboticsSectionnotingthatNASA’sJetPropulsionLaboratory(JPL)hasledExoTeRandMaRTA,bothshowninFigure1.TheExoTeRandisperformingmanysuccessfulplanetaryexplorationroverconceptwasdesignedbetween2008and2010,whereasmissionswithrovers.ThisispartiallythankstotheMaRTAwasdevelopedfrom2017to2019.Whilebothareismoreaccurateinmimickingitscurrentconfiguration.sThissectiondescribesbothsystemsand,inparticular,highlightsthedifferencesinthedesigndriversandchoicesmadebasedontheexperiencegainedfromtestingExoTeR.MechanicalDesignparticular,wefocusonthreeofitssubsystems:thelocomo-tion,manipulation,andmastandpan-tiltunit(PTU).Itisarebuilttoaddressonlythepureroboticsubsystemsoftheionandnavigationofaroverwithouterationandthermalcontrol,ordesignaspects,forexample,fthemodificationsmadeforMaRTALocomotionSubsystemlatestBEMAdesign,whichenablesthefullcrabbingmotionThekinematicchaindesignonwhichboththeExoTeRandcapabilitythatisrelevantforsomeapproachmaneuversdur-MaRTArovers’locomotionsarebasedisknownasthetripleingscientifictasks.bogie.Thisistheactuationandpassivesuspensionconfigura-Thesetwochanges,togetherwithsomeadaptationstothetionchosenfortheExoMarsrover’sbogieelectromechanicalbogieleverdimensionstoaccommodatethewheelsintheactuator(BEMA).Itsfinaldesignisactuallytheoutcomeofastowedposition,resultedtothefinalExoMarstriple-bogieradeoffsamongmasslaasitcontainsatotalofsixwheelsoutofwhichallaredrivenymentdRoboticsSection.byputtingthewheelsupwardtooptimizeforvolumeaccom-ThelocomotionsystemsofExoTeRandMaRTAwerebuiltmodation,particularlyduringthelaunchandcruisephases.ashalf-scaledversionsthatmimickedtheExoMarstriple-Deploymentactuatorscanbefurtherexploitedduringthesur-bogiedesign,eachattheircurrenttimes.Thetriple-bogiefacemission,permittingtheimplementationofalocomotionindependentbogiesmodereferredtoaswheelwalkingSeetheWheelWalkingconnectedtothemainbodystructureatthefrontleft,frontEuropeanSpaceResearchandTechnologyCentre2014andtionformoredetailsonthismodeinallNASArovermissionstoMars,thetriplebogieprovidesTherealizationoftheseplatformdesignswasaccom-platformstabilitythroughitsthreepointsofattachmentwith-plishedbyananalysisoftherequiredforcesandtorquestobeouttheneedforadifferentialbaracrossthebodystructure.exertedbytheroverlocomotionsystematanypossiblecon-aroundthepivotassembly.Eachbogieextendstwohorizontalmotordriveunits.InthecaseofExoTeR,thisresultedindcnchain):thedeployment(DEP),steering(STR),andwheeloutputshaft.Thisisfollowedbyaharmonicdrivestagetodrives(DRV).InthecaseofExoTeR,itdidnotcontainsteeringfurtherreducethenominalspeedandincreasethetorqueingandoutputpassivelinkages(seetheannotationinFigure1).Thiscon-endforabsolute-positionsensing.Similarpotentiometersen-achedtodiculartotheroverchassisplane,whenthebogiesrotate.thebaseplatform.ExoTeR’splatformsystemmassis14kg,Despiteitsslightlysuperiortractiveperformances,thewithatargetpayloadcapacityofapproximately8kgtocarrybogieparallelogramwaseventuallyremovedfromtheExo-othersubsystemsandallavionics,includingthebattery,actu-orsand,atthesametime,reduceevenfurtherthemassandcom-ExperiencewithExoTeRshowedusthatthepayloadplexityofthesuspensionsystem.Ontheotherhand,theExo-capacitywasinsufficient,becomingratherlimitingincasesMarsmissiondecidedtoincludeasix-wheelsteeringwherethemanipulatorwasmounted.Therefore,whencapabilitywithanincreasedangularoperationalrangeintheMaRTAwasdesigned,afewmodificationswereintroducedmblyesstoActuatorDrivemblymblymblywithrespecttoExoTeR.Thesestartedwiththeincreasedbaseplatesize,inlinewiththelatestBEMA-scaleddimen-sions.Actuatorcomponentswerechosentoincreasethetherefore,enlargethepayloadcapacityoftheplatform.etotalmassbudgetwasincreasedto32kginMaRTA.Inaddition,theMaRTAwheelsweredesignedproportionallyslimmertomatchthecurrenteffectivegroundpressureoftheExoMarsRoverflightsystemonMarsforthesakeoftractionperfor-AneventualincidentthatoccurredduringtestswithExoTeRcausedsomemotorstooverheatanddamageditsaturesensorisalsonowintegratedineachmotorunitinMaRTAandusedforthermalmonitoringaswellasfaultdetection,isolation,andrecovery(FDIR)functions.Inrela-tiontothesamelessonlearnedandinfavorofmaintainability,amoremodulardesignapproachwastakeninMaRTA,enablingeachdrivemoduletoberemovedandmaintainedwinMaRTAtoaninterfaceplateationallysomecomponentswerealsosimplyupgradalsoimprovedthethermalbehaviorofthesystem;inaddi-tionopticalsensorswithbresolutionLIR-DA219A)wereusedforabsolute-positionsensinginsteadoftheoriginalwire-woundpotentiometers(SP5-21A),which,inExoTeR,AlthoughtheExoMarsmissiondoesnotcarryamanipula-torsystem,itwasdecidedthatdevelopingaroboticarmfittingtheroverconstraintswouldallowforperformingrel-ieldofroboticmanipulationforfutureplanetaryexploration.ThisscenariohasbecomerelevantwiththeupcomingjointNASA–ESAMarsSampleReturncampaign,wheretheESAwillbedevelopingtheSampleFetchRover(SFR).ThemanipulatorsysteminFigure3wasdevelopedtobeintegratedintoExoTeR.Ithasfivedegreesoffreedom(DoF),528mmofoperationalreach,andatotalmassof2.4kgwithapayloadcapacityof2kg.Itsdevelopmentfol-lowsthesamedesigndriversasthelocomotionsystem,andithaslowmassandpowerbudgets(around10Wofnomi-naloperation)withahighpayload-to-massratio,whichimplieshighreductionratiostoprovideenoughtorqueatenseofabsolutespeedThemotordrivedesigncomprisesasmallbrushedmotor;severalreductionstagesofplanetarygear;acustomspurgearandharmonicdrivewithanincrementalencoderatthemotorend;andanabsolute-potentiometer(SP5-21A).Thehighreductionratioofthertsmakethearmpracticallynonback-driveable,eliminatingtheneedforanymotorbrakestoholdthepositionwhenpoweredoffbutalsosignificantlyslow(0.5°/s),followingtheapproachofaIn2020,itwasdecidedthatanewroboticarmshouldbedevelopedtobeintegratedinMaRTA,takingintoconsider-ationthelessonslearnedfromExoTeR’sarm.Theexperi-mentsdescribedinthe“SampleFetchTests:ESTEC2019”sectionshowedusthemanipulatorwasratherslowforR&Dexperimentationandtesting,andits5DoFhadimpactingfortheSFR’smanipulationtasks,whichrequireittograsposeofMaRTAsroboticarmThenewdesigntargets6DoF,allowingfulluncon-strainedoperationin3Dspace,andajointrotationalspeedof8°/s.Amorecompactjointdesignistargetedwithapow-erfulflatmotor,fewerreductionstages,andnospurgear,resultinginacylinder-shapedblockdesign.Thedesignfore-ityandanoperationalreachof700mm,withtheplanofaccommodatingagripperendeffectora