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In our previous work, several system elements for space teleoperation were introduced: a Singularity Consistent (SC) teleoperation system, a mixed force and motion commands based space teleoperation system and a 6-DOF haptic interface. In this paper, we introduce an advanced space teleoperation system that includes all the above elements. As a result, with the good perception for the operator, the system realizes safety against both singularities and excessive force. In addition, to verify the effectiveness of this system, we conducted experiments over the Internet between DLR in Germany and Tohoku University in Japan in January 1999.

In our previous works, we have

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