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