In the paper, a new master-slave manipulation system is proposed. The system consists of the master system called telexistence FST and a dual-hand-arm robot. The master system measures the pose of a operator by Flexible Sensor Tube (FST) which consists of many bending joints and rotational joints. The weight of the system is light and its movable area is large. Thus, good operability is achieved. The 3D image captured with the cameras of the slave robot is sent to the Head Mount Display (HMD) of the master system. The structure of the slave robot is similar to the upper half of human bodies. It has two 7-axis arms and two multi-fingered hands. Each multi-fingered hand has 5 fingers and 10 axes. Pressure sensors and proximity sensors are set on the surfaces of the fingertips and the forearms. They improve the operability of the system. All joint actuators are controlled through EtherCAT network in realtime. The slave robot sits on an electric wheelchair, and it can move anywhere by pushing its lever. Finally, experimental results are shown, and the validity of the proposed algorithm is verified.
