The slave and master subsystems are interconnected through a bilateral force reflective control subsystem which provides the hand of the operator of {TAIL ~ the master subsystem} in {HEAD ~ 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 a bilateral force reflective control subsystem which provides the hand of the operator of { TAIL ~ the master subsystem } in { HEAD ~ 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 OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH