This　paper　studies　the　motion　mapping　from　a　human　arm　to　a　heterogeneous　slave　robot　arm　for　tele-manipulation.　A　wearable　motion　capture　system　is　employed　to　measure　the　motion　of　the　master　arm　(i.e.,　the　human　arm),　and　then　the　motion　of　human　arm　is　mapped　into　the　workspace　of　the　slave　robot　arm　via　corresponding　joint　group　mapping,　as　a　result,　we　can　control　the　motion　of　the　heterogeneous　slave　manipulator.　This　system　possesses　two　remarkable　advantages:　the　fatigue　degree　and　error　rate　of　the　operating　staff　can　be　significantly　reduced,　and　the　safety　of　the　tele-manipulator　in　an　unstructured　and　constrained　environment　can　be　significantly　improved.　©　2015　IEEE.