The slave and master subsystems are interconnected through a bilateral force reflective control subsystem which provides {HEAD ~ the hand} of {TAIL ~ the operator} of the master subsystem in a natural way with a sense of feel which is proportional to the external loads applied by the slave subsystem 
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The slave and master subsystems are interconnected through a bilateral force reflective control subsystem which provides { HEAD ~ the hand } of { TAIL ~ the operator } of the master subsystem in 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 HEAD HEAD HEAD HEAD HEAD HEAD REL 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