Vella is floating in space.
Try to get into the hatch, of course.
Have you tried to get the smaller arm catch you? It only catches Shay.
Use the helmet on it. You have to time it so when the arm is pointing you and you are facing the arm.
Neat! Now, try to grab one of the boots with the small arm. The right one is closer.
You have to time it so that you are facing the boot and the big claw is grabbing. Otherwise the thumb is in the way.
Phew, now you have the boot attached to the arm.
Now it should work with the big claw. Again, get your timing in order. You have to do it when the claw is open and you are facing the claw.
Fly to the vent.