  Humans and robots will need to collaborate in order to create a sustainable
human lunar presence by the end of the 2020s. This includes cases in which a
human will be required to teleoperate an autonomous rover that has encountered
an instrument assembly failure. To aid teleoperators in the troubleshooting
process, we propose a virtual reality digital twin placed in a simulated
environment. Here, the operator can virtually interact with a digital version
of the rover and mechanical arm that uses the same controls and kinematic
model. The user can also adopt the egocentric (a first person view through
using stereoscopic passthrough) and exocentric (a third person view where the
operator can virtually walk around the environment and rover as if they were on
site) view. We also discuss our metrics for evaluating the differences between
our digital and physical robot, as well as the experimental concept based on
real and applicable missions, and future work that would compare our platform
to traditional troubleshooting methods.
