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Formerly, we derived the concept of hybrid master arm that considers human arm characteristic and distributed muscle [1]. The hybrid master arm has human arm like configuration, which is serial globally and parallel locally and has 7 degree of freedom parallel driving mechanism.

In a teleoperation system, master device is the most important resource which is closely related to work performance of an operator. Thus, We have developed a human arm-like master arm for last few years. The master arm has characteristics of hybrid kinematics, redundant degree of freedom, distributed force refection function, dextrous motion and worn-type, which are as same as human arm characteristics. And the master arm was more improved in the view point of dexterousness, human friendliness and adaptability than the previous version of KIST master arm. In this paper, design concept, analysis and control methodology of the new master arm (KIST master arm), are dealt with.