The slave and master subsystems are interconnected through {HEAD ~ a bilateral force reflective control subsystem} which provides {TAIL ~ the hand} of the operator of the master subsystem in a natural way with a sense of feel which is proportional to the external loads applied by the slave subsystem 
The slave and master subsystems are interconnected through { HEAD ~ a bilateral force reflective control subsystem } which provides { TAIL ~ the hand } of the operator of the master subsystem in a natural way with a sense of feel which is proportional to the external loads applied by the slave subsystem
OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH