This paper proposes a novel thin shell curved surface forming method by dieless single point forming technology embodying the thought of the parallel running for both design and manufacture. And a sheet metal superplastic forming prototype system with a heterogeneous master-slave manipulator by force-reflecting control has been developed. The system mainly consists of mechanical transmission components, servo system, online optical scaler for the measurement and the path planning of the forming tool. The final ideal forming experiment has physically testified the feasibility of the mutual forming method for the shell sample of a panda model. This paper brings up the tentative idea of real object modification with the use of heptic force-feedback.

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