A novel single-master multi-slave (SMMS) human-robot shared control framework which is implemented in the RT-Middleware was proposed. Our research set the target goal of improving the user's operability with the proposed system. This paper proposes a novel force feedback strategy for shared controlled SMMS telemicromanipulation system which was developed in our laboratory. This work is motivated by the high necessity of proper force feedback strategy to provide better operability to the human

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... erator which results in the improvement of overall task performance. Lastly, several pick-and-place experimental results show a dramatic improvement of internal force regulation capability and an operability by the proposed feedback strategy based on the shared control framework in SMMS tele-micromanipulation system.