Habitation systems provide a safe place for humans to live as we move beyond Earth on our journey to Mars, NASA said.
"NASA is on an ambitious expansion of human spaceflight, including the journey to Mars, and we're utilising the innovation, skill and knowledge of the both the government and private sectors," said Jason Crusan, director of NASA's Advanced Exploration Systems.
"The next human exploration capabilities needed beyond the Space Launch System (SLS) rocket and Orion capsule are deep space, long duration habitation and in-space propulsion," said Crusan.
The selected companies are Bigelow Aerospace, Boeing, Lockheed Martin, Orbital ATK, Sierra Nevada Corporation's Space Systems and NanoRacks.
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The six partners will have up to about 24 months to develop ground prototypes and conduct concept studies for deep space habitats.
NASA has estimated that the combined total of all the awards, covering work in 2016 and 2017, will be about USD 65 million.
Selected partners are required to contribute at least 30 per cent of the cost of the overall proposed effort.
These are important activities as they help define the design standards, common interfaces, and requirements while reducing risks for the final flight systems that will come after this phase.
The selections are part of a phased approach that will catalyse commercial investment in low-Earth orbit and lead to an operational deep space habitation capability for missions in the area of space near the moon, which will serve as the proving ground for Mars during the 2020s.
The activities of these awards will inform the acquisition and deployment approach for the next phase of flight systems for deep space including important aspects, such as standards and interfaces, module configurations, and options for deployment.