My understanding is that the claw/hook is only for retrieving balls from the corner refueling stations per <G40-C>. I see no references to it in connection with the outpost.
Quote:
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C. PAYLOAD SPECIALISTS retrieving GAME PIECES passed from the CRATER through the AIRLOCK / FUELING PORT must use the provided tongs to pick up the GAME PIECE from the floor. Failure to do so will cause a PENALTY to be assessed.
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From the outpost, a payload specialist may enter moon rocks into the playing field (over the wall or through the hole <G21>), and may also enter empty cells into the field (through the hole only <G22>). There does not appear to be any legal way to refuel the outpost payload specialist.
The outpost payload specialist should take care not to touch any robots <S02>, remove their seat belt <G39>, or stand up (also <G39>). Any of these actions is likely to result in a penalty.
I do not see an explicit rule stating that you can't reach through the hole if your arms are long enough to do so from the restrained seated position, but doing so seems rather dangerous and likely to result in a violation of <S02>. Previous games with robot to human handoffs have included explicit penalties for either the robot or the human crossing that sort of safety barrier.