{HEAD ~ The slave and master subsystems} are interconnected through {TAIL ~ a bilateral force reflective control subsystem} which provides the hand of 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 
are interconnected through
{ HEAD ~ The slave and master subsystems } are interconnected through { TAIL ~ a bilateral force reflective control subsystem } which provides the hand of 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
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL REL REL TAIL TAIL 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 OTH OTH OTH OTH OTH OTH OTH