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Teleoperation of pneumatic robots is desired in the fields of rescue, surgery, and rehabilitation therapy. In the present study, teleoperation control of a four-DOF robot arm system incorporating pneumatic artificial rubber muscles is proposed. In the experiment of the present study, the distance between the master and the slave systems is approximately 30km. Signals and images from the master controller side are sent over the Internet using user data gram protocol (UDP). The effectiveness of the proposed system is confirmed by the experimental results.