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