{HEAD ~ a data transmission link} between {TAIL ~ said digital communications system}, said links comprising an interconnection between said supervisor processor and the microprocessor controllers of the master and slave subsystems for each manipulator motion, 
between
{ HEAD ~ a data transmission link } between { TAIL ~ said digital communications system } , said links comprising an interconnection between said supervisor processor and the microprocessor controllers of the master and slave subsystems for each manipulator motion ,
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL 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