In recent years, robotic manipulator system have been developed in various fields for vurious purpose. To&.y there are manv systems in practical use. However most ofthem are considred on the assumption that the s i x of slave manipulator is nearly equal to the size of master munipuhtor.We have developed a bilateral controled master-slave manipulator system to manipulute targets of quite different size,frnm our body. We cun not manipulate such size of targets by conventional wa.y. Thus we try to make target's scale be equal to our scale virtuul1.y. In this paper we describe U basic control structure. and report the primary experimentul results.

The difficulty of air bag system design is substantially due to the existence of delay time between the triggering time and the air bag expanding time. The key idea in the proposed algorithm is to employ the concept of prediction of occupant