Teleoperation, one of the oldest areas of robotics, has experienced conside
rable growth in the last two decades. Main causes for this trend are the ne
ed for increased safety levels for human operators and lower production cos
ts. In this work, a three d.o.f. local manipulator (two d.o.f. for force an
d one d.o.f. for torque) is developed. This hand controller, intended for r
obot or mobile teleoperation systems, has force reflection in two axes and
torque reflection in the third axis, using a robotic hand developed at INAU
T as a remote device, laboratory experiments on each axis (one at a time) h
ave shown good results. An impedance controller at the remote system allows
one to carry out interactive tasks with the environment such as polishing,
insertion and grinding, where it is necessary to control and accommodate t
he interaction forces and torques in order to avoid hazards for both the ma
nipulated objects and the remote robot.