Space exploration has historically driven technological innovation, resulting in significant advancements with applications in various industries on Earth. The exploration of Mars has emerged as a crucial objective, offering opportunities to search for signs of life and gain insights into planetary evolution. However, working on Mars presents numerous challenges, including the lack of a breathable atmosphere, different gravity, extreme temperatures, and the need for infrastructure development. Robots have proven resilient on the Martian surface but still require real-time control and decision-making from ground operators. To address this challenge, a promising solution involves astronauts in orbit around Mars controlling the robots, utilizing high-bandwidth communication techniques and autonomous capabilities. This work focuses on the Surface Avatar project, led by the DLR and ESA, which involves the humanoid robot, Rollin Justin. The project aims to gain valuable insights into the efficient control of robots in future space missions, particularly through collaborative exploration and construction tasks. Rollin Justin, equipped with autonomous capabilities, features a user interface that allows manual controls through various input devices and autonomous operation through interface commands. While the concept of an astronaut-robot pairing shows promise, several challenges remain. Error handling during teleoperation poses a significant issue, as error messages often lack specificity, leaving astronauts confused and without immediate assistance due to the distance between Earth to Mars and the associated communication delays. Limited situational awareness, unfamiliarity with robot constraints, and a large time gap between training and usage further complicate astronaut interactions with the robot. Addressing these problems is critical for optimizing astronaut-robot cooperation and reducing cognitive workload during Mars missions. To address the challenges, this work adopts a research-through-design approach, specifically focusing on user experience research and design. Extensive initial research including sessions at the DLR and literature review, was conducted to identify key issues impacting error-handling capabilities. Based on the research findings, conceptual solutions were developed to address the identified core issues. These concepts were evaluated for feasibility and desirability, considering expert input. Selected concepts were further developed, drawing inspiration from game cues and elements for user interface design. High-fidelity prototypes were created to represent the refined concepts accurately: A third-person perspective including game elements to allow for better situational awareness and a debug page that guides the user through potential error reasons in the moment of an occurring planning error. The prototypes underwent evaluation using various methods, including user sessions at the DLR and a comparative study.  The results for both prototypes reveal important enhancements in user experience and a reduction in cognitive workload compared to the existing system. The findings led to informed recommendations for further improvements in the interface design, the robot’s camera setup and the communication of errors to enhance error-handling capabilities for astronauts in future missions.