In this thesis, a force reflected teleoperator hand is designed and implemented with a new bilateral control algorithm. The new bilateral control algorithm, hybrid position-force control, is proposed in order to solve several problems such as nonexact force reflection and the unstableness due to the long transmission delay and the unbalanced dynamics between a master hand and a slave hand. Also, a low noise force sensing resistor, FSR, which can be handled with ease, is used to sense the gripping force of slave. Additionally, to enhance the working efficiency, the lock mode is introduced. The overall system consists of master and slave hands which are actuated by DC motors, the hybrid position-force servo controller and an MVME-133 monoboard microcomputer to implement the proposed bilateral control algorithm. The exprimental results show the overall system is stabilized in spite of the long transmission delay and the unbalanced dynamics, and the force from slave hand to master hand is reflected accurately.
