Recently, it is easy to get a large quantity of information via network such as Internet. If we use such network, there is large time delay among users. It is unacceptable to feed resolved force continuously back to the same hand that is operating the control. This is because the delayed feed back imposes an unexpected disturbance on the hand that the operator can't ignore and which, in turn, forces an instability on the process. We propose a haptic interface that enables user to teach skill even thought there is time delay.
Visual information is displayed by visual display device.
Hand position data and a flag which indicates grasping object are transmitted to the other site. At the same time each graphic workstations updates the database of virtual world. In this system, net transmission delay via ethernet is about 0.1 sec. The manipulator applies reaction forces to the fingers of the operator. The manipulator employs parallel mechanism.