A teleoperation system includes a master station having a manually operable master link coupled to a master actuator which provides force resistance to operation and movement of the master link, and a slave station having a slave link moveable by a slave actuator in response to command signals. The system also includes a control unit for producing command signals in response to movement of the master link, such control unit having a position transducer for producing signals representing the position of the master link, a force transducer for producing signals representing the force applied to the master actuator by operation of the master link, a second force transducer for producing signals representing force applied to the slave link by the slave actuator, a second position transducer for producing signals representing position of the slave link, and a force controller responsive to the master link position signal, the master actuator force signal, the slave actuator force signal and the slave link position signal for producing a force command signal for supply to the slave actuator to cause the slave actuator to move the slave link in substantially faithful imitation of movement of the master link.

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