Tele-handshake using HandShake Device

In this paper the authors propose a one degree-of-freedom master-slave system called the HandShake device (HSD). HSD is composed of two systems: one is a master system, which is grasped by an operator; the other is a slave system, which grasps an operator's palm. Two HSDs are respectively placed in a local site and a remote site so that people can physically communicate with each other through HSDs. HSD applies the virtual model method as the algorithm of teleoperation (tele-handshake).