the user space as a reference since the space coordinates of the hands 14 of a user and the space coordinates of the robot arms 23 of the slave robot which exist at different spaces to each other may be converted into the coordinates on the same space the converting of the coordinates may be made by having the space coordinates on the robot space as a reference or by having the space coordinates on the user space as a reference and the converting as such may be performed at the master control unit 12 or at the slave control unit 22 the slave control unit 22 drives the robot arms 23 by receiving the driving signal of the robot arms 23 from the master control unit 12 the slave control unit 22 converts the driving signal being transmitted from the master control unit 12 into coordinates on the robot space and controls the motions of the robot arms 23 according to the converted driving signal alternatively prior to transmitting a driving signal from the master control unit 12 the driving signal may be converted to be suitable for the coordinates on the robot space and then the converted driving signal may be transmitted to the slave robot when the robot arms 23 are moved according to the driving signal the sensor 21 of the slave robot detects the motions of the robot arms 23 and the slave control unit 22 transmits the information related to the actual motions of the robot arms 23 to the master control unit 12 the master.