A bilateral teleoperation system includes: a primary-end operation platform and a secondary-end operation platform. The primary-end operation platform includes: a primary-end support, primary-end mechanical arms, a mechanical hand control assembly, and a first controller, a root end of the primary-end mechanical arm being arranged on the primary-end support, and a tail end of the primary-end mechanical arm being connected to the mechanical hand control assembly. The secondary-end operation platform includes: a secondary-end support, secondary-end mechanical arms, secondary-end mechanical hands, and a second controller, a root end of the secondary-end mechanical arm being arranged on the secondary-end support, and a tail end of the secondary-end mechanical arm being connected to the secondary-end mechanical hand; the primary-end mechanical arm and the secondary-end mechanical arm are homogeneous mechanical arms, and the first controller in the primary-end operation platform is communicatively connected to the second controller in the secondary-end operation platform.

A coupling device (16, 116, 216, 316) configured optimally to communicate between a first and a second admittance controller and actuator assembly, the first and the second admittance control and actuator assembly respectively having a first and a second admittance controller (12a, 12b) configured to drive a respective first and a second actuator and each of the first and the second actuator being respectively connected to a first body having a first mass and a second body having a second mass, wherein the coupling device (16, 116, 216, 316) comprises: an input port having a first input for receiving a first input force signal (f1) from the first admittance controller and actuator assembly (12a) and a second input for receiving a second input force signal (f2) from the second admittance controller and actuator assembly (12b), and a processor adapted to derive a first output force signal for output to the first admittance controller and actuator assembly based on a Lagrange multiplier dependent on a comparison of the first input force signal and the second input force signal.

A coupling device (16, 116, 216, 316) configured optimally to communicate between a first and a second admittance controller and actuator assembly, the first and the second admittance control and actuator assembly respectively having a first and a second admittance controller (12a, 12b) configured to drive a respective first and a second actuator and each of the first and the second actuator being respectively connected to a first body having a first mass and a second body having a second mass, wherein the coupling device (16, 116, 216, 316) comprises: an input port having a first input for receiving a first input force signal (f1) from the first admittance controller and actuator assembly (12a) and a second input for receiving a second input force signal (f2) from the second admittance controller and actuator assembly (12b), and a processor adapted to derive a first output force signal for output to the first admittance controller and actuator assembly based on a Lagrange multiplier dependent on a comparison of the first input force signal and the second input force signal.

The inventive technology eliminates the need for force sensors on a robotic manipulator while also improving feel by incorporating force sensors on the corresponding robotic input device. Position of the manipulator is used to determine positioning of the input device; therefore, rather than manipulator position lagging the input device position (as in conventional robotic systems), the opposite is true, so that input device position lags manipulator position. Through a combination of input device force control and manipulator position feedback, a sense of feel is achieved through use of an effort sensor mounted at a control point on the input device and use of a position feedback force control scheme.

A teleoperation system is provided, having a slave having a drive unit which drives a gripping end effector, wherein a kinematic coordinated end effector and a gripping force f effector can be determined with a camera which is preferably integrated in the slave and which is aligned with the end effector; a master, which is remote from the slave, with at least one operating unit on which a user can exert a gripping head F.sub.G, the gripping force being transmitted to the slave, and a visual user interface representing the image of the camera; and where F.sub.G is linearly dependent on the kinematic coordinate and the F.sub.effector.

The inventive technology eliminates the need for force sensors on a robotic manipulator while also improving feel by incorporating force sensors on the corresponding robotic input device. Position of the manipulator is used to determine positioning of the input device; therefore, rather than manipulator position lagging the input device position (as in conventional robotic systems), the opposite is true, so that input device position lags manipulator position. Through a combination of input device force control and manipulator position feedback, a sense of feel is achieved through use of an effort sensor mounted at a control point on the input device and use of a position feedback force control scheme.