Description: Currently NASA has a limited selection of very expensive flight robotic manipulators. Meanwhile, cost-effective, high-performance robot manipulators have become ubiquitous in labs and commercial spaces. NASA needs the best technologies to return to the Moon and ultimately Mars. This requires leveraging existing, de-risked terrestrial technology. This proposed work effort will characterize and validate Apptronik's novel Scorpio robotic manipulator technology to show its effectiveness for NASA applications. For NASA, the bottom line is a versatile, robust, and cost-effective solution to manipulate payloads off-planet for 1/10 the lift weight. Apptronik's transformative approach to manipulation led to the development of Scorpio - a robotic arm that lifts roughly what it weighs, a ten-fold improvement over traditional arms. The basic concept uses a spring element to compensate for gravity which accounts for the greater part of typical power draw. A Scorpio-style arm then only draws power for "floating" a payload in x and y axes. Apptronik's patents and key innovations center on rapidly compensating the spring element and a novel codebase needed to control the behavior of a manipulator with such distinct kinematics. Reducing the need to have gear boxes and high voltage electricity to fight gravity results in a much lighter manipulator. This lighter frame has several positive benefits: • Energy efficient, running off less than 50VDC • Works collaboratively with people, since it can stop faster and with less impact force • Highly mobile, with its light weight and minimal power requirements • Durable, rethinking older "spring lamp" technology with inherent robustness • Lower cost, designed to address real-world unstructured spaces instead of pristine factory floors

Benefits: Scorpio gives NASA a robotic manipulation ability for 1/10 the lift weight. The disruptive technology provides a versatile, robust, and cost-effective arm for a wide range of tasks, ideal for needs on the Lunar surface and beyond. Infusion of this technology will support a growing lunar economy, sustain lunar surface infrastructure outfitting, utilization, and maintenance, and help achieve science objectives on the Moon, Mars, and other destinations throughout the solar system. Full Autonomy, Remote Operation, or Astronaut Assist: Scorpio can be operated in a fully autonomous mode, tele-operated, or provide lift-assist for astronauts. Tele-op mode expects low bandwidth, disrupted communications, so most of the AI resides onboard the robot itself, rather than "puppet" the robot from Earth (or the hab). Supervised Autonomy can perform inspection and maintenance tasks during custodial periods, or when the facility is manned to reduce the need for risky and time-consuming EVA. [Use Case] Lander Cargo Transfer: Scorpio can mount on rails or a mobile base to service CLPS landers. The arm can mount to a vertical lift, or work in tandem to load and unload cargo, as needed. [Use Case] Hab-Surface (EVA/IVA) Cargo Transfer: Scorpio can mount near airlocks, transferring cargo between the surface and interior. Its simple construction makes it robust to harsh lunar conditions. [Use Case] Extruded Structure Construction: Scorpio could act as a gantry to print 3D structures. Mounted agnostically to any mobile platform, it makes the 3D workspace infinite, removing the need to launch a gantry. [Use Case] Construction Manipulation: Scorpio can help place and reconfigure Lunar surface electrical gids, solar panels, power lines, communications cabling, and many other structural construction elements, [Use Case] Lunar Surface Maintenance: Scorpio mounted to the hab exterior can perform equipment inspection and standard maintenance tasks, autonomously or to assist astronauts.The smallest and earliest version of Scorpio started life as a "shoulder shrug" mechanism on an exoskeleton for the TALOS program, using aggressive kinematic designs to route the weight of a carried payload through the robot frame. A benchtop version has been used for simple logistics tasks, but Scorpio shines in the arena of mobile robotics. Lightweight and all-electric with modest power requirements, Scorpio can be used to assist people in their work or in a supervised autonomous mode. Apptronik has seen interest, and has customers, in several markets for a handful of use-cases so far: • Defense — Scorpio development originally addressed automating the ammunition logistics train for Army artillery. Since then, the Army and Air Force have found value in a broad range of logistics uses. • Construction — Unlike traditional robotic arms, Scorpio thrives in dynamic, unstructured environments. There is work in progress to manipulate panels as a class including drywall, plywood, glass, plastic, and solar panels. • Logistics — The technology can be mounted to a forklift or work at height platform for cargo container load/unload, air transport pallet load/unload, and for lights out staging and cleaning in warehouses. • Inspection — In the supervised autonomy mode, Scorpio is perfect for conducting naval ship hull and airframe fuselage inspections, with robotic thoroughness and attention to the smallest detail. • Spraying — Similar to inspection (both "point the end effector") Scorpio can apply paint, autonomously wash vehicles and aircraft indoors or outdoors, or spray foam insulation in houses under construction.