{TAIL ~ a manipulator master arm} having {HEAD ~ a manually operable control handle} at the free end thereof, 
{ TAIL ~ a manipulator master arm } having { HEAD ~ a manually operable control handle } at the free end thereof ,
TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH