AbstractForce feedback can enhance the efficiency of a teleoperation system by providing the operator with a sense offeelof the forces and torques arising from the interaction of the slave manipulator with the remote environment. This article addresses the kinematic analysis and control of a Parallel FOrce‐Reflecting Hand Controller (PFORHC) whose design and implementation are based on a fully parallel mechanism. Kinematic analysis on the PFORHC is performed and results in a closed‐form solution for the inverse kinematics. The forward kinematics is solved by Newton‐Raphson's method. A fixed‐gain PD control scheme is developed for force feedback control. Experiments are conducted to study the performance of the force‐reflecting capability of the PFORHC. Experimental results show that the force control scheme utilizing a handgrip force sensor provides smaller steady‐state errors as compared to the case utilizing no handgrip f
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