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本文介绍了一种具有力觉触觉临场感的主从机器人系统．该系统以改造后的ＰＵＭＡ手作为从手，和主手一起构成异构主从手，实现了力觉触觉临场感以及对工件的自动识别和抓取等功能，其中对ＰＵＭＡ手的改造以开放性作为改造的主要目的，以期能为多种传感器的集成提供一个开放式的机器人装配作业平台．
This article presents a master-slave robot system with a tactile telepresence. The system with the modified PUMA hand as a slave, and the main hand together constitute the heterogeneous master and slave, to achieve the sense of force touch telepresence and the workpiece automatically identify and crawl and other functions, including PUMA hand to open Sex as the main purpose of the transformation, with a view to providing a variety of sensors for the integration of an open robot assembly platform.