2012 IEEE/RSJ International Conference onIntelligent Robots and Systems
October 7-12, 2012. Vilamoura, Algarve, Portugal

Design of TELESAR V
for Transferring Bodily Consciousness in Telexistence
Charith Lasantha Fernando1, Masahiro Furukawa1, Tadatoshi Kurogi1 ,Sho Kamuro2 , Katsunari Sato3 , Kouta Minamizawa1 and Susumu Tachi1
Abstract— This paper focuses on design of a dexterous
anthropomorphic robot where the operator can perceive thetransferring bodily consciousness to the slave robot during atele-operation. Accordingly, we propose a telexistence surrogate
anthropomorphic robot called “TELESAR V”, which was
designed and constructed by development of the following:a 52 DOF slave robot with a torso, upper limbs, hands andhead to model the operator’s posture on all parts of the upper
body and maintain a 6 DOF accuracy in arm endpoint; a HD
Head mounted display with 6 DOF point of view accuracy
for wide angle stereovision; and a mechanism for sensing
and reproducing fingertip haptic and thermal sensation. This
paper describes the development of the TELESAR V system,
where the effectiveness has been verified through functional
experiments.

Illusion (RHI) [5] and Body Transfer Illusion [6], [7] can befelt.
In telexistence, if the operator can feel the slave robot as
an expansion of his bodily consciousness, and also the ability
to freely move and control the slave robot in a similar way
to how his body moves, it will increase the throughput ofthe performed remote task. In order to prove this concept intelexistence, it is essential to have the following fundamental
requirements.
1) Operator should be able to freely and independently
move his head, upper body, arms and hands. In
contrast, slave robot’s hands should follow similar
movements while maintaining 6 DOF accuracy of arm
endpoint.
2) Operator should be able to clearly see a wide angle
stereo view of the remote site with 6 DOF point ofview accuracy of robot vision. In addition ability toperform binaural, bi-directional verbal communicationis required.
3) Operator should be able to grasp and manipulate
objects in a similar way to a human hand.
4) Operator should feel fingertip haptic and thermal sensation when touching objects remotely.

I. I NTRODUCTION
Telexistence is a concept that refers to the technology,
which enables a human to have a real-time sensation of being
at a place other than where he actually exist, and to interact
with the remote environment [1]. In 1988, an exoskeleton
type master-slave telexistence cockpit [2] called TELESAR
I was developed. In 2005, a mutual telexistence masterslave system called TELESAR II [3] was developed withhuman-like arm and hand movements. The system had thefunctionality to perform conventional verbal communication
with a remote participant as well as nonverbal gestures
such as handshaking. In 2007, a TORSO with a head [4]was developed with human-like neck movements to visuallyinteract and explore 3-dimensional details in a remote object
in a more natural and comfortable manner. With this system,
operator was able to feel a natural visual sensation in a teleoperation due to the 6 DOF point of view accuracy (positionand orientation) of robot vision.
In general, humans experience the conscious self as localized within their bodily borders. Due to high level of spatial
unity perceived with multi sensory inputs makes human tothink that the body they see, and can feel touch is their own
body. Also, researches have proved that if the same spatial
unity is kept with a high level of multi sensory applied
to a human, neurological conditions such as Rubber Hand
1 C.L. Fernando, M. Furukawa, T. Kurogi, K. Minamizawa and S. Tachi
is with Graduate School of Media Design, Keio University.
2 S. Kamuro is with Graduate School of Information Science and Technology, The University of Tokyo.
3 K. Sato is with Graduate School of System Design and Management,
Keio University. Address: 4-1-1 Hiyoshi, Kohoku-ku, Yokohama,JAPAN. 223-8526; Telephone:+81-45-564-2499; email: {charith,m.furukawa, kurogi, kamuro, sato, kouta,tachi}@tachilab.org
978-1-4673-1736-8/12/S31.00 ©2012 IEEE

In order to address the above points, a master slave
robot system with higher level of dexterity is necessary. We
developed “TELESAR V”, a master slave robot system witha conjunction of 52 DOF to perform full body movements.
In addition operator can feel the fingertip haptic and thermal
sensation when touching objects remotely.
II. D ESIGN C ONSIDERATIONS OF TELESAR V
Conventional tele-operation system sometimes uses exoskeleton based master system [2] to capture the movementsof operator. These systems limits the operator’s movements
to the exoskeleton system’s mechanical constrains. Thus inorder to satisfy the first condition, a non-mechanical, notdirect attachable measurement system is necessary. This
also gives full flexibility to move head, body and arms
independently as desired.
In order to map the point of view and arm endpoint 6 DOF,
a higher DOF robot is necessary. Conventional dexterous
robots [8] are not capable of achieving this due to nothaving enough DOF in the torso part. A robot that can
mimic similar spinal movements (extension, flexion, lateral
flexion, and axial rotation) similar to a human is required as
robot’s torso. In order to address this point, both torso and5112

an anthropomorphic robot arm with minimum of 6 DOF isrequired.
Installing wide-angle full HD cameras on slave robot anda wide angle HD Head Mounted Display (HMD) as theoperator vision, the second condition can be satisfied. In
conventional robots, [2], [9] in case of requiring a spinal
movement, robots performs a locomotive operation using
it’s mobile platform and navigate towards/away/sides while
operator controls the movement using a joystick or similar
technology. Since the operator does not move his upper body,
it is difficult to maintain a 6 DOF point of view accuracy ofrobot vision. Thus a 3 DOF head is necessary. Furthermore
torso, head, arm and hand should be in a single kinematic
chain to obtain the accuracy of each component. Installing
microphones as robot’s ears and speaker as robot’s mouthand similar configuration on HMD will provide bi-directionalverbal communication capabilities.
To satisfy the third conditions a higher DOF anthropomorphic robot hand similar to human hand is required.
Also fingertip force and temperature can be measured using
vision based force sensor and reproduced using vertical andshearing forces on fingertip. Thus forth condition can besatisfied.

III. I MPLEMENTATION
Belt driven
Haptic Actuator

Vision Based
Force Sensor

PeltierGel Layer +Thermochromic Ink
Wide-angle
CameraMotorsMASTER (LOCAL)

Fig. 2.

SLAVE (REMOTE)TELESAR V: System Overview

As shown in Fig. 2, TELESAR V system consists ofa Master (Local) and Slave (Remote) system. A 52 DOF
dexterous robot is developed with 5 DOF torso, 3 DOF
head, 7 DOF arms and 15 DOF hands. Robot also has
Full HD (1920 × 1080 pixels) cameras for capturing wideangle stereovision and stereo microphones situated on robots
ears for capturing audio from the remote site. Voice fromoperator is transferred to the remote site and output through asmall speaker installed on robots mouth area for conventionalverbal bi-directional communication.
In Master side, operator movements are captured using
a motion capturing system (OptiTrack) and are sent to thekinematic generator PC. Finger bending is captured with anaccuracy of 5 DOF using “5DT Data Glove 5 Ultra”.
A. Development of 54 DOF human sized anthropomorphic
robot

Fig. 1.
robot(a) Master-Slave configurtion, (b) HD wide angle view, (c) Slave

We developed a telexistence master-slave system called“TELESAR V” that satisfies the above mentioned four
conditions. As shown in Fig. 1(a) operator can freely movein his space while able to mimic the spinal movements andperform human-like body assisted stroke motion. As shownin Fig. 1(b) robot can maintain a 6 DOF point of view andarm endpoint accuracy so that the vector between the twopoints of vision and arm endpoint is seamlessly mapped
to the operators same points. By adding fingertip haptic
sensation [10] into the master slave robot system it concludes
that TELESAR V can satisfy the above four conditions.

As shown in Fig. 3, TELESAR V slave robot consistsof 4 main systems. (torso, head, arms and hands). Torso
is developed based on a modified “Mitsubishi PA 10-7C
Industrial Robot Manipulator” placed upright. First five jointsof the manipulator arm is used as torso and last 2 joints witha separately attached DC motor is used as the 3 DOF (roll,
pitch, yaw) head.
A custom designed 7 DOF human sized anthropomorphic
robot arm is fixed between the Torso joints 5 and 6 to
make it similar to human sized dexterous robot. In order
to increase the level of dexterity of the slave robot arm, it isdesigned with similar limiting angles of each joints comparedwith ordinary human arm. However we have included aposition based electrical limit overriding the mechanical limit
to provide extra safety in case of a joint angle overshoot.
Table. I shows the mechanical and electrical joint angle
limitations in positive and negative direction.
Arm joints are driven with 12V DC motors and first 3
joints (J1, J2, J3) implements Harmonic Gears to maintain avery low backlash and vibration while provide the necessary
torque. As for the hand, a custom designed human sized
anthropomorphic robot hand is used. The hand is having
similar number of joints compared to an ordinary human

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All dimensions are in millimeters (mm)380Overall Body
Weight：50kg

as the robot’s eye were used. Two camera’s were installed
parallel to each other having a distance of 65mm.
To provide a HD wide-angle stereovision sensation tothe operator, a HD (1280 × 800 pixels) wide-angle Head
Mounted Display was developed (Fig. 4). In order to provide
the wide angle and maintain a small footprint, we haveused 5.6" (inch) LCD display (Model no: HV056WX1-100)
and increased the length of optical flow using a special
lens arrangement. HMD has two parallel virtual projection
planes located 1m far away from two eye balls, to obtainstereoscopic vision independently between the eyes, thus
operator can feel correct distance [11]. A knob is provided
at the front side of HMD so that the operator can adjust
the convergence angle of left and right eye for a clear
stereovision. At the output stage of the HMD, a video flipper(Model no: XC1 Sio) for each eye is used to correct thevertical flip due to the lens configuration.

65

110

Neck Roll(±30°)
Neck Pitch,Yaw

280

330

50

30

100

300

240

200

500

280

TELESAR V ARM

XH

11

2

16
20

33.5
24

1565

240

YH

200

185

.5
14

25

I

450

30

42

ZH
15

Overall Weight : 500g
(Excluding Force andTemperature Sensors)

45

30

25

10

20

II

18

22

10.5

11.5

XH
78

66

20

III

20

315

IV

9

V

TELESAR V HAND

CameraTELESAR V BODY and HEAD

Kinematic Configuration of Head, Body, Arm and Hand
139

Fig. 3.

LCD
Mirror
Lens

φ4

94

5

hand. Robot fingers are driven by 15 individual DC motors
and a dynamically coupled wires and a pulley driven mechanism couples the remaining joints that does not directly
attach to a motor. (Note: Mechanical components of Arm,
Hand and Head are developed in KAWABUCHI MechanicalEngineering Laboratory, Inc.)

65
205

TABLE IJ OINT L IMITS OF 7 DOF A NTHROPOMORPHIC ROBOT A RM
Fig. 4.
Mechanical Angle limit

Electrical Angle Limit

Negative

Positive

Negative

Positive

J1 (Shoulder)

-90◦

145◦

-90◦

+145◦

J2 (Shoulder)

-100◦

+20◦

-100◦

+18◦

J3 (upper arm)

-152◦

+32◦

-150◦

+30◦

J4 (elbow)

-135◦

-2◦

-130◦

0◦

J5 (lower arm)

-93◦

+93◦

-90◦

+90◦

J6 (wrist)

-15◦

+45◦

-15◦

+40◦

J7 (wrist)

-45◦

+60◦

-40◦

+60◦

Joint

TELESAR V: HMD Assembly view

With the above specifications, we were able to produce awide angle of H×V (61×40)◦(degrees) for each eye whereas the original captured video field of view was H×V(62×48)◦(degrees). In addition, two cameras were installedon the front side of HMD. This is useful when the operator
needs to turn his vision into a video see-through mode. A
complete spefication of the stereovision system is listed asshown in the Table. II
C. Development of thermal and haptic transfer system

All the DC motors are connected to standard DC motor
drivers with a combination of optical encoders and potentiometer reading as position measurement. Furthermore
voltage and current consumption is monitored at each motor
and torque at motor shaft is calculated. Communication
between the motor drivers and PC is carried out througha PCI-Express x1 bus.
B. Development of the wide angle HD sterovision system
In order to capture Full HD video from the robot, a CMOS
camera head (Model no: TOSHIBA IK-HK1H) and a wide
angle lens (Model no: FUJINON TF4DA-8) configuration

Robot’s fingers are installed with a vision-based cutaneous
sensor [12] to sense both force vector and temperature of fingertip. As shown in Fig. 5(a) a CCD camera is continuously
tracking green and red markers placed on a transparent elastic
body. A white LED attached to the fingertip illuminates themarkers. In addition, another layer of thermo sensitive ink
is wafered in between elastic body and outer surface. The
outer surface is fabricated with black color elastic material,
which has similar tactile sensation characteristics to a humanfinger when touched. (Fig. 5(b))
Remote fingertip proprioceptive sensation is reproduced
using vertical and shearing forces generated by motor driven
belt mechanism [13]. As shown in Fig. 6, a rotation in
opposite direction generates vertical stress while a rotation in

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TABLE IIS TEREOVISION SYSTEM SPECIFICATIONSHMD (master)

Cameras (slave)

Field of vision H×V [deg]61◦ × 40◦62◦ × 48◦

Sensor dimension [inch]

5.6 LCD

1/3 CMOS

Focal length [mm]114

10 ∼ ∞

Convergence ratio [%]89

89

Interocular distance [mm]59 ∼ 69

65

Body weight [mm]

1.2

N/A

Pixel resolution [px]1280 × 800

1920 × 1080

Viewing angle H×V [min/px]

2.9 × 3.0

1.9 × 2.7

Scanning frequency H×V [Hz]49.2k × 60.00

67.43k × 59.94

Sound input/output [ch]In 1 / Out 2

In 2 / Out 1

Fig. 5. (a) Vision-based cutaneous sensor configuration [12], (b) external
appearance

same direction generates shearing stress. The fingertip temperature is reproduced using thermoelectric cooling (Peltier)actuators placed on the bottom side of operator’s fingertips.

endpoint, the robot has to follow the opertors head while
maintaining the shoulder coordinate frame in a close relation
while the arm endpoint should be exactly same as theoperators. Considering the above condition and to improve
the service task effectiveness we have used position-based
impedance control. This method addresses the difficulty ofobtaining the complete dynamic description when parametric
uncertainties of the robot dynamic model occur.
In order to achieve the required accuracy and to maintaina higher stability of trajectory generation, we have used 2
closed form inverse kinematic models for torso and arm. In
this model, as the first step it performs a direct search on
free joints, and secondly apply the performance criteria tofilter any singular solutions and finally the inverse solution
is generated. As for the first performance criteria we stick to
the method of distance from a singular measure as there is
only one redundant joint and fine-tuned for upper limb using
the “Measure of Transmissibility” (MOT) value. As for thesecond performance criteria, it does a forward kinematics andconfirms the arm endpoint 6 DOF accuracy while checking
for invalid joint angles for an upper limb.
Even though the kinematics is solved separately in two
serial chains, the base point (position and orientation) for
both arm and torso (i.e shoulder center) is shared in real-time
to keep the serial chain integrity. In manipulation task, torso
has a higher priority compared to arm inverse kinematics.
Thus when arm inverse kinematics cycle needs to calculate
the joint space, the new current position and orientationof base point is available. The final compliant trajectory
generated by the impedance controller is tracked by a highspeed PID control loop.
E. 6 DOF point of view accuracy and 6 DOF arm endpoint
accuracy
In a tele-operation it is important to have the operator’s
eye-to-arm endpoint vector equal to robot’s eye-to-arm endpoint vector to see the robot arms are always follwing his
own in a dynamic behavior. As shown in Eq. 1 point of view
accuracy is obtained by exactly following the operator’s headin 6 DOF.
w
w
sl−eye T =ms−eye T(1)Thus the remaining 5 DOF torso and 7 DOF arm should
provide the 6 DOF accuracy of arm endpoint. As shown in
Eq. 2 it is also considered that the operator should be able
to see robot’s lower arm vector in a similar way to his own
lower arm in order to feel the same kinesthetic sensation.
Fig. 6.

Vertical and shearing forces generation [13]sl−eyems−eyesl−hand T =ms−hand T

D. Trajectory Generation
In the trajectory generation for torso first condition is tofreely move without constrains while robot should follow
the operators spinal movements (extension, flexion, lateral
flexion, and axial rotation). This is achieved by modified
numerical kinematics for 6 DOF serial-chain. In order tomaintain a 6 DOF accuracy in point of view and arm(2)

In order to model the above kinematic conditions we
perform the following order.
1) Operator’s head is mapped to slave robot head in 6
DOF accuracy. (Eq. 1)
2) Robot’s eye-to-hand vector is mapped with operator’s
eye-to-hand (Eq. 2) vector where lower arm vector is
same.

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3) The error is compensated using the remaining DOF ofupper arm and torso.
It is also known that the human anatomy, wrist joint ismostly restricted to movements of less than 180◦ (degrees).
Like most of the slave robots, in TELESAR V, wrist is
restricted with 60 ∼ 105 ◦ (degrees) respectively due tomechanical restrictions. The above model can overcome
this mechanical limitation because of the remaining DOF
compensation model.

arm/hands and also a seperate client who runs the TELESARV Simulator environment. The system is implemented with apoint-to-point network configuration so that the Master andSlave can be physically located at different places in theworld.
However the HD Video link is currenty transmitted locallyto the Master side because to minimize the latency. We havebeen testing the video link with network streaming, but only
up to VGA resolution (640 × 480 pixels) was successful inreproducing the 3D vision with a minimum latecy which was
sufficient for telexistence operations.
IV. ACHIEVEMENTS OF TELESAR V

Remote Object

Field Of
View

Remote Object

A 6 DOF point of view accuracy, 6 DOF arm endpoint
accuracy, ability to use the spinal movement and feel haptic
and thermal sensation, we found that TELESAR V canperform many new interactions.

Of
Field wVie

A. Body compensated hand movements with fixed head orientation

Fig. 7.

ROBOT Body

ROBOT Body(a) Without Body Movements(b) With Body Movements

Orientation accuracy obtained through upper body compansation

RemoteObjectIn the method explained above while compensating, it isimportant to nearly match the master torso and slave torso
posture. If the posture is different, due to the mechanicallimitations of joints, the level of dexterity will reduce andresulting a very narrow space constrain to the operator. We
solve this issue by measuring the shoulder rotation (roll,
pitch, yaw) of master and model a close possible upper bodymatch. This method was really effective when the operator
tries to rotate his spine clockwise and counter clockwise. As
shown in Fig. 7(a), operator tries to reach the remote object
through correct orientation, but due to the joint limitationof the wrist it is not possible. This kind of a situation isnaturally resolved by humans by use of spine to rotate thebody and approach using the extended right hand. As shownin Fig. 7(b), such situation can be naturally resolved. With
this setup, we have achieved a high level of dexterity andless complexity in object manipulation.
sl−eyesl−sh−1 ms−eye.ms−hand T
sl−hand T =sl−sh T(3)After the torso and head joint space is decided, as shownin Eq. 3 the shoulder-to-hand vector is calculated in real-timeand perform numerical kinematics for 7 DOF serial-chain for
obtaining the arm joint space.
F. Communication Protocol and performance
Calculated joint space, robot’s fingertip force, fingertip
temperature, joint encoder, joint force data are arranged ina special protocol and sent via UDP Multicast at a speedof 1KHz. The data cycle speed is limited just to preserve
the bandwidth when doing real-time operations, but there isno design limitations to increase this speed. These Multicast
data is received Hardware Clients who drives the torso andRemoteObjectField Of
View

Field Of
View

ROBOT Body

ROBOT Body(a) Without Body Movements(b) With Body Rotation

Fig. 8.

Extend the reachability using body Axial rotation

As shown in Fig. 8(a), conventionally when the operator
is not able to reach a remote object by fully stretching thearm, he needs to move the robot base close enough to reachin its fully extended arm. But TELESAR V can rotate it’sbody with an axial rotation as shown in Fig. 8(b) and extends
the reach easily. This eliminates the use of moving the robot
base and preserves the human natural body movements. In
addition operator can see the remote object clearly and does
not need to change his head orientation while making axial
rotation.
B. Body compensated hand movements with dynamic headorientation
Sometimes operator needs to explore the grabbed objects
carefully before or after picking it up. (For example picking
up a chemical container and reading the label). In a similar
situation, humans will naturally use a combination of head

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V. F UNCTIONAL E XPERIMENTS OF TELESAR V

RemoteObjectRemoteObjectWith all the above enhancements enabled we have performed few functional tests to explore how the visual,auditory, haptic and kinesthetic sensation enriches in a telexistence operation.

Field
Of
View

Field Of
View

A. Remote glass ball pouring and stacking bricks
ROBOT Body

ROBOT Body(a) Without Body Movements(b) With Body Transformation + Head Rotation

Fig. 9.
Expanding field of view through combined body and hand
movements

and arm movements to rotate and explore the entire 360degree rotation. As shown in Fig. 9, a similar scenario canbe executed with TELESAR V by first grabbing the object
and keeping hand posture fixed and move the body and headaround to see around the object. Since the operator does not
move his hand position and orientation in world coordinatesslave robot preserves the arm endpoint.
C. Active compliant force
When manipulating objects humans usually use their bodyas a support structure for arms and legs. (i.e back muscle
supports the arm movements.) It helps to generate impulse
forces when necessary. Similarly as shown in Fig. 10, withTELESAR V the operator can induce an accelerated force atthe end point by a combined movement of body and arms.
This is not possible if the combined forces have a delay orif the body and arm has different posture from the operator.
Fresultant = Fbody × cos(θ) + FarmAs shown in Fig. 11(a), operator grabs 2 cups placed on
the table and pours the glass balls from one to another. In
this experiment the placement of the cups on the table did
not matter because operator can see the cups and he can
extend his upper body and arms to reach the object. Due tothe accuracy of the system operator was confident enoughto perform a over-the-air ball pouring by holding 2 cups ina vertical distance of around 15cm. In addition, due to thehaptic transfer system, operator can feel the tactile feedback
when glass balls hit the cup.
We have performed a similar test where there are 3 cubes
placed (Fig. 11(b)) on the table and ask the operator to
stack one over each. Operator could easily perform the task.
Secondly, one block was visually blocked but placed in areachable position. Operator first tried to reach the visually
blocked object by approaching through sides and saw a little
portion of the block. Having able to perceive the kinesthetic
sensation and have a sense of the robot arms position he wasable to grab it without any mistake.

(4)

As can be seen in Eq. 4 the tangential force component
created by the body rotation adds to the arm trajectory andaccelerates the end point movement. These accelerations help
to generate stroke and impulse motions.

Resultant force = F(arm)RemoteObjectField
O
View fResultant force= F(arm) + F(body) × cos (θ )F(body)
Field
Of
View

θ

ROBOT Body

ROBOT Body(b) Arm Force + Body Tangential force

Fig. 10.

(a) Ball pouring, (b) stacking up bricks vertically

B. Writing Japanese Calligraphy using a brush and ink

RemoteObject(a) Arm Force Only

Fig. 11.

Accelerated force during combined body and arm motion

This type of accelerated motion is also useful to perform
remote tasks faster compared to when using just arm motion.

In this experiment operator was given a brush, ink tank
and a piece of paper to write Japanese calligraphy. In
general, writing characters using a brush and ink requires
some practice, as the applied force has to be maintained
at a constant level above the paper surface. As shown in
Fig. 12(a), operator was able to pick up the brush fromholder, dip into the ink tank gently and write Japanesecalligraphy. During the writing operator was using his left
hand as a support so that the paper does not move dueto the stroke. In this experiment operator was using active
compliant force when he was writing an narrow brush stroke
where the ink trail has to be gradually modify from thick tovery narrow. The extended reach was used when he wanted
to dip the brush into the tank. Fig. 12(b) shows the completed
calligraphy.

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ACKNOWLEDGEMENT
This project is supported by JST-CREST Haptic Media
Project and collaborated with Kyokko Electric co.,Ltd.
R EFERENCES

Fig. 12.

(a) Japanese Calligraphy, (b) Completed Calligraphy

C. Manipulating small objects in densed environment
In this experiement, operator was given a Japanese Chessboard (Shogi) where he has to participate in a chessgame with a remote participant. The board dimensions
were 313mm×280mm×13mm (L×W×H) while the largest
wedge-shaped piece being 30mm×26mm×5mm and smallest wedge-shaped pieces being 20mm×16mm×5mm. As
shown in Fig. 13(a), operator was able to pick and placeshogi pieces up to middle size. The second experiment asshown in Fig. 13(b), operator was given a pile of sticks
diameter ranging from φ4mm to φ8mm. In this experiment,
operator was able to use fingertip haptic sensation to not
to apply over pressure to sticks. If the pressure is applied
without any control the stick will simply flip around.

Fig. 13.

(a) playing Japanese chess (shogi), (b) picking thin sticks

VI. C ONCLUSION
We proposed a dexterous anthropomorphic master slave
robot system where the operator can extend his bodily borderto the slave robot during a tele-operation.
In order satisfy the above condition, we designed and constructed a 52 DOF telexistence surrogate anthropomorphic
robot called “TELESAR V” where we were able to map thevector between master’s point of view and arm endpoint tothe same vector of the slave robots’. In addition the operator
can feel auditory, visual, haptic and kinesthetic sensation
through the sensory and actuator arrangement. With thehigher level of multi sensory input and the accuracy of theabove mentioned criteria the operator was able to performbasic tasks with confidence and no prior prctise. Even though
the system is not currently evaluated under a psychophysicalexperiment, participants who tried the system felt their body
consciousness is extended up to the robot during a teleoperation. Furthermore through out the experiments that wehave carried out, we prove that this technology is helpful forcarrying out tele-operations with confidence and experience
the real extended body consciousness.

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