A new concept of the * exoskeleton-type masterarm, composed of serial links, is iniroduced in this paper. To provide maximum range o j human motion, seiiera1 redundant joints are added to the serial links. In order to reduce the number of ,joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is de-signed for fine force reflection using the strain gauge. It detects the torque as well as its airection applied by the human operator, which allows ,!he electric brake to be used as an actuator for force reflec-tion. The electric brake constrains the joint movement so that the operator can feel the force. This elec-tric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm me(isures the movement of the opwator’s arm precisely, and it can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.

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