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If a teleoperation scenario foresees complex and fine manipulation tasks a multi-fingered telemanipulation system is required. In this paper a multi-fingered telemanipulation system is presented, whereby the human hand controls a three-finger robotic gripper and force feedback is provided by using an exoskeleton. Since the human hand and robotic grippers have different kinematic structures, appropriate mappings for forces and positions are applied. A point-to-point position mapping algorithm as well as a simple force mapping algorithm are presented and evaluated in a real experimental setup.