Force-reflection master arm of joystick-like structure for systems of telemanipulation

Three main topics are described in this paper. In the first part, a general description of teleoperating systems, and a consideration of the most important design issues are given. Simulation results in both the time and frequency domain of an electrohydraulic force reflecting master arm developed by the authors are presented. Finally, a technical description and specification of the system including its advantages is given.<
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