{HEAD ~ a bilateral force reflective position control subsystem} for {TAIL ~ said slave and master subsystems} providing in a natural way a sense of feel directly to the hand of the operator of the master subsystem which is proportional to the loads applied by the operator through the slave subsystem, and to loads imposed by the remote environment through the slave subsystem, and 
for
{ HEAD ~ a bilateral force reflective position control subsystem } for { TAIL ~ said slave and master subsystems } providing in a natural way a sense of feel directly to the hand of the operator of the master subsystem which is proportional to the loads applied by the operator through the slave subsystem , and to loads imposed by the remote environment through the slave subsystem , and
HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL 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 OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH