Abstract
The multi-fingered robot hand has much attention in various fields. Many robot hands have been proposed so far and we have developed a hand/arm robot with universal robot hand II. The human type robot like the hand/arm robot can be operated by imitating the human motion. Various types of the human motion capture have been developed. However, it is difficult to capture the twist motion by the conventional motion capture. This paper deals with a motion capture system with inertial measurement units (IMUs). The IMUs are used in order to estimate the joint angles of the operator's hand and arm.