This thesis describes the implementation of a telerobotic control architecture to manipulate a standard six degree of freedom industrial robot via a unique seven degree of freedom force-reflecting exoskeleton which is located in the Human Sensory Feedback Laboratory at Wright-Patterson Air Force Base. This is the first time that the robot and exoskeleton have been interfaced. The novel Naturally-Transitioning Rate-to-Force Controller is included in the irnplementation. Background for the control architecture and modes of operation are presented as well as the specific system description and operating procedures. Peg-insertion experiments were conducted to compare the performance of rate control, Naturally-Transitioning Rate-to-Force Control, and Naturally- Transitioning Rateto-Force Control with force reflection. Task completion time and manipulator work due to contact forces and moments through Cartesian displacements were the basis for comparison, The control architecture has been completely implemented. Experimental results displayed no clear differences among the three control modes; this indicates that a reduction in system time delays and more precise gain tuning are needed.

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