Master Slave Arm System for Telepresence T. Khalil Master Slave Arm System for Telepresence Why ? Is it new ? How ? For how long ? Interactive Telepresence New Technique Develop Complete System 32 out of 41 Months Remote Site User Side System Components Slave Arm (Mechanical Arm) (Sensor Suit) Master Arm Control & Communication Units System Features 5 Joints Anthropomorphic Light Weight Flexible Hardware Easy to Use Software Motor Driver TCP/IP Communication Master Arm Design Fore Arm Shoulder Upper Arm Hand 6 Stepper Motors 5 Joints (DOF) Secondary Hand Joint Motor Driver Power Supply Control Signals Board Power Distributing Board Master Arm Control Unit 6 Sensor Elements Link 3 Different types Comm. Socket Read Sensors Calc. Speed Calc. Direction Generate Pulses Send Pulses Control Program VB5 on Windows Local Tasks Comm. Socket Read Sensors Call Listen Remote Tasks Current Status On Schedule Behind Schedule Remote Hardware Software Development Local Hardware