A teleoperation system is provided, having a slave having a drive unit which drives a gripping end effector, wherein a kinematic coordinated end effector and a gripping force f effector can be determined with a camera which is preferably integrated in the slave and which is aligned with the end effector; a master, which is remote from the slave, with at least one operating unit on which a user can exert a gripping head FG, the gripping force being transmitted to the slave, and a visual user interface representing the image of the camera; and where FG is linearly dependent on the kinematic coordinate and the Feffector.
TELESURGICAL SYSTEM WITH INTRINSIC HAPTIC FEEDBACK BY DYNAMIC CHARACTERISTIC LINE ADAPTATION FOR GRIPPING FORCE AND END EFFECTOR COORDINATES