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This paper proposes an alternative control algorithm for a telemanipulator based on the extended virtual tool dynamics. In this algorithm, the system is controlled so that it has the extended virtual tool dynamics which is designed appropriately for a given task. During the task, the dynamics assists a human operator as if it were a real mechanical tool and it improves the reality and the system maneuverability in the teleoperation. The major contribution of this paper is a realization of a new human-machine cooperative telemanipulation system by using the redundancy which exists immanently in the telemanipulation system. In this paper, the algorithm is experimentally applied to a telemanipulation system and the result illustrates the validity of the proposed system.

Design of Human-machine Cooperative Telemanipulation Based on Extended Virtual Tool Dynamics