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Certain telerobotic applications, including telerobotics in space, pose particularly demanding challenges to both technology and humans. Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays, packet loss, and limited bandwidth, as well as high reliability, precision, and task duration requirements. In order to close this gap, we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot, and a local model that aims to generate assistive augmented haptic feedback for the human operator. Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions. On this basis, we have applied our approach in more recent research to applications in the fields of orbital robotics, telesurgery, caregiving, and telenavigation. In the course of this work, we have advanced specific aspects of the approach that were of particular importance for each respective application, especially shared autonomy, and haptic augmentation. This overview paper discusses the MATM approach in detail, presents the latest research results of the various technologies encompassed within this approach, provides a retrospective of DLR's telerobotic space missions, demonstrates the broad application potential of MATM based on the aforementioned use cases, and outlines lessons learned and open challenges., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2021 Hulin, Panzirsch, Singh, Coelho, Balachandran, Pereira, Weber, Bechtel, Riecke, Brunner, Lii, Klodmann, Hellings, Hagmann, Quere, Bauer, Sierotowicz, Lampariello, Vogel, Dietrich, Leidner, Ott, Hirzinger and Albu-Schäffer.)

Future space missions envisage human operators teleoperating robotic systems from orbital spacecraft. A potential risk for such missions is the observation that sensorimotor performance deteriorates during spaceflight. This article describes an experiment on sensorimotor performance in two-dimensional manual tracking during different stages of a space mission. We investigated whether there are optimal haptic settings of the human-machine interface for microgravity conditions. Two empirical studies using the same task paradigm with a force feedback joystick with different haptic settings (no haptics, four spring stiffnesses, two motion dampings, three masses) are presented in this paper. (1) A terrestrial control study ([Formula: see text] subjects) with five experimental sessions to explore potential learning effects and interactions with haptic settings. (2) A space experiment ([Formula: see text] cosmonauts) with a pre-mission, three mission sessions on board the ISS (2, 4, and 6 weeks in space), and a post-mission session. Results provide evidence that distorted proprioception significantly affects motion smoothness in the early phase of adaptation to microgravity, while the magnitude of this effect was moderated by cosmonauts' sensorimotor capabilities. Moreover, this sensorimotor impairment can be compensated by providing subtle haptic cues. Specifically, low damping improved tracking smoothness for both motion directions (sagittal and transverse motion plane) and low stiffness improved performance in the transverse motion plane.