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