The term "telepresence" was coined in a 1980 article by Minsky, who outlined his vision for an adapted version of the older concept of teleoperation that focused on giving a remote participant a feeling of actually being present at a different location. One of the first systems to create a fully immersive illusion of presence in a remote location was the Virtual Fixtures platform developed in 1992 at the U.S. Air Force, Armstrong Labs by inventor Louis Rosenberg. The system included stereoscopic image display from the remote environment as well as immersive touch feedback using a full upper-body exoskeleton.