a bilateral force reflective position control subsystem for {HEAD ~ said slave and master subsystems} providing in a natural way a sense of feel directly to the hand of the operator of the master subsystem which is proportional to the loads applied by the operator through the slave subsystem, and to loads imposed by the remote environment through {TAIL ~ the slave subsystem}, and 
a bilateral force reflective position control subsystem for { HEAD ~ said slave and master subsystems } providing in a natural way a sense of feel directly to the hand of the operator of the master subsystem which is proportional to the loads applied by the operator through the slave subsystem , and to loads imposed by the remote environment through { TAIL ~ the slave subsystem } , and
OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD 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 OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH