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In the teleoperated minimally invasive surgery systems, measurement and display of sense of force to the operator is a problem. In this paper, a manipulator for supporting forceps has been developed which has 3-DOFs actuated by pneumatic cylinders. We also developed a master manipulator using a delta mechanism and a gimbal mechanism with a force sensor and motors with reduction gears. In the developed master-slave system, we applied different impedance control to each manipulator. The forcedoi:10.1109/robot.2007.363107 dblp:conf/icra/TadanoK07 fatcat:pivhxmfw4rg6jddt4u6qzs4ooa