{HEAD ~ A bilateral force reflective position control subsystem} 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 loads applied by the operator through the slave subsystem and to loads imposed by the remote environment through the slave subsystem 
provides
{ HEAD ~ A bilateral force reflective position control subsystem } 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 loads applied by the operator through the slave subsystem and to loads imposed by the remote environment through the slave subsystem
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