Fig. 1 Flowchart showing the selection process and how many papers were eliminated at each stage More

Fig. 2 Flowchart of how “meaningfulness” was assessed for each paper More

Fig. 3 Graph comparing the usage of “ethics,” “equity,” and “justice” in the body with usage in the abstract, title, keywords, and/or references ( n r = 19) More

Fig. 4 Number of papers ( n r = 19) using the terms equity, ethics, or justice in the title, abstract, or keywords over time. Papers are binned into five-year increments. More

Fig. 5 Number of papers with each context over time More

Fig. 6 Number of papers at each stage of the design process (for n , n r , and n m from left to right) More

Fig. 7 Number of papers with each motivation over time More

Fig. 1 System of hybrid simulator of space docking More

Fig. 2 Structure dynamics of robot More

Fig. 3 Spacecraft motion model More

Fig. 4 Block diagram of hybrid simulator of space docking More

Fig. 5 Desired relative velocity V des ( t ) of two spacecraft simulated under different equivalent masses m spac of two spacecraft ( m low : 100 kg, f low : 30 Hz, ξ low : 0.8, m spac : 50 kg, 100 kg, 200 kg, f con : 8 Hz, and V init : 0.05 m/s) More

Fig. 6 Desired relative velocity V des ( t ) of two spacecraft simulated under different natural frequencies f con of contact dynamics ( m low : 100 kg, f low : 30 Hz, ξ low : 0.8, m spac : 50 kg, f con : 7.8 Hz, 8.0 Hz, 8.2 Hz, and V init : 0.05 m/s) More

Fig. 7 CoR at different natural frequencies f con of contact dynamics ( m low : 100 kg, f low : 30 Hz, ξ low : 0.8, m spac : 50 kg, 100 kg, 200 kg, f con : 5 Hz ∼ 10 Hz, and V init : 0.05 m/s) More

Fig. 8 Desired relative velocity V des ( t ) of two spacecraft simulated under different structure natural frequencies f low of robot ( m low : 100 kg, f low : 20 Hz, 30 Hz, 40 Hz, ξ low : 0.8, m spac : 50 kg, f con : 8 Hz, and V init : 0.05 m/s) More

Fig. 9 CoR under different structure natural frequencies f low of robot ( m low : 100 kg, f low : 10 Hz ∼ 50 Hz, ξ low : 0.8, m spac : 50 kg, 100 kg, 200 kg, f con : 8 Hz, and V init : 0.05 m/s) More

Fig. 10 Desired relative velocity V des ( t ) of two spacecraft simulated under different structure damping ratios ξ low of robot ( m low : 100 kg, f low : 30 Hz, ξ low : 0.4, 0.6, 0.8, m spac : 50 kg, f con : 8 Hz, and V init : 0.05 m/s) More