CHINESE JOURNAL OF MECHANICAL ENGINEERING Vol. 27,aNo. 4,a2014 ·1· DOI: 10.3901/CJME.2014.0320.001, available online at www.springerlink.com; www.cjmenet.com; www.cjmenet.com.cn Novel 6-DOF Wearable Exoskeleton Arm with Pneumatic Force-Feedback for Bilateral Teleoperation ZHANG Jiafan 1, 3, * , FU Hailun 2 , DONG Yiming 1 , ZHANG Yu 1 , YANG Canjun 1 , and CHEN Ying 1 1 State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,Hangzhou 310027, China 2 Zhejiang Province Instituteof Metrology,Hangzhou 310027, China 3 National Die & Mold CAD Engineering Research Center, Shanghai Jiao Tong University, Shanghai 200030, China Received March 1, 2014; revised June 17, 2014; accepted August 17, 2014 Abstract: Magnetic drive pump has gotten great achievement and has been widely used in some special fields. Currently, the researches on magnetic drive pump have focused on hydraulic design, bearing, axial force in China, and a new magnetic drive pump with low flow and high head have been developed overseas. However, low efficiency and large size are the common disadvantages for the magnetic drive pump. In order to study the performance of high-speed magnetic drive pump, FLUENT is used to simulate the inner flow field of magnetic drive pumps with different rotate speeds, and get velocity and pressure distributions of inner flow field. According to analysis the changes of velocity and pressure to ensure the stable operation of pump and avoid cavitation. Based on the analysis of velocity and pressure, this paper presents the pump efficiency of magnetic drive pumps with different rotated speeds by calculating the power loss in impeller and volute, hydraulic loss, volumetric loss, mechanical loss and discussing the different reasons of power loss between the magnetic drive pumps with different rotated speeds. In addition, the magnetic drive pumps are tested in a closed testing system. Pressure sensors are set in inlet and outlet of magnetic drive pumps to get the pressure and the head, while the pump efficiency can be got by calculating the power loss between the input power and the outlet power. The results of simulation and test are similar, which shows that the method of simulation is feasible. The proposed research provides the instruction to design high-speed magnetic drive pump. Key words: exoskeleton arm, teleoperation, pneumatic force-feedback, hybrid fuzzy control 1 Introduction  At first look at modern society, more and more robots and automated devices are coming into our life and serve for human. But on even further inspection, one can find that mechatronic devices replace human subordinately only at lower levels, essentially providing the “grunt” to perform routine tasks. Human control is still necessary at all higher levels just as the term human supervisory control (HSC), which is coined by SHERIDAN [1] . The modern master-slave teleoperation system for the safe manipulation of radioactive materials in a contaminated area in 1954 of GOERTZ, et al [2] , was the typical example of this concept. Hereafter, exoskeleton arms with force-feedback have been widely developed in the fields of robot teleoperation and haptic interface to enhance the performance of the human operator, also in the exciting applications in surgery planning, personnel training, and physical rehabilitation. * Corresponding author. E-mail: caffeezhang@hotmail.com Supported by National Natural Science Foundation of China (Grant No. 50305035), National Hi-tech Research and Development Program of China(863 Program, Grant No. ##), Beijing Municipal Natural Science Foundation of China((Grant No. ##), and Zhejiang Provincial Natural Science Foundation of China((Grant No. ##) © Chinese Mechanical Engineering Society and Springer-Verlag Berlin Heidelberg 2014 DUBEY, et al [3] , developed a methodology to incorporate sensor and model based computer assistance into human controlled teleoperation systems. In their approach, the human operator was retained at all phases of the operation, and was assisted by adjusting system parameters which were not under direct control by the operator, specifically, the mapping of positions and velocities between the master and slave and their impedance parameters. The ESA human arm exoskele- ton was developed to enable force-feedback tele-manipulation on the exterior of the international space station with redundant robotic arms [4] . In recent work [5–6] , the neuromuscular signal has been used to control the exoskeleton arm and many new concepts were applied in the rehabilitation [7–10] . Several researchers from Korea Institution of Science and Technology(KIST) introduced the pneumatic actuator into the exoskeleton and designed a novel manipulator with the 3RPS parallel mechanism [11–12] . They explored a new exoskeleton-type master arm, in which the electric brakes with the torque sensor beams were used for force reflection [14] . 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