Design of an Intuitive Master for Improving Teleoperation Task Performance Using the Functional Separation of Actuators: Movement and Gravity Compensation

Teleoperation, in which humans and robots work together to improve performance, is growing explosively. However, the performance of teleoperation not yet excellent. Master–slave systems with different kinematics workspaces need space-transformation control techniques. These techniques cause psychological fatigue an operator poor manipulation skills. In this study, we propose intuitive master design that focuses on fatigue. Large reduce mental fatigue; however, they lead physical problems. To solve problem, reflect role actuators design, through functional separation using movement gravity compensation. This study proposes prototype fabrication K-handler remote-work performance. The features six degrees freedom (DoF), anthropomorphic structure, a lightweight nature. It has reach long enough cover workspace human arm addition, compensation, can operator’s during operation, possible all areas.