Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing

G. Sen Gupta, S. C. Mukhopadhyay, C. H. Messom, S. Demidenko

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

6 Citations (Scopus)


This paper details methods of solving problems that are encountered when human beings teleoperate robots. Special emphasis has been given to the ease of operation and some form of force sensation. Through the use of a rigid control rig, fitted to the user’s arm, it is possible to easily control an anthropomorphic robot arm using a master-slave control methodology. The force being exerted by the arm is measured and fed back to the user who is operating the master unit.
Original languageEnglish
Title of host publicationIMTC/05, Proceedings of the IEEE Instrumentation and Measurement Technology Conference
Subtitle of host publicationFairmont Chateau Laurier Hotel, Ottawa, Ontario, Canada, 16-19 May 2005
Place of PublicationUSA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages2203 - 2208
Number of pages6
ISBN (Print)0780388801
Publication statusPublished - 2005
EventIEEE International Instrumentation and Measurement Technology Conference 2005 - Ottawa, Canada
Duration: 16 May 200519 May 2005
Conference number: 22nd (Proceedings)


ConferenceIEEE International Instrumentation and Measurement Technology Conference 2005
Abbreviated titleI2MTC 2005
Internet address


  • Teleoperation
  • Force feedback
  • Robotic arm
  • Force sensing
  • Master-slave control

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