The United States of America As Represented by the Administrator of the

Reginald F King

Hubert C Vykukal

Wilbur C Vallotton

An anthropomorphic master/slave manipulator system including master arm apparatus including a plurality of master tubular articulated portions which are coaxially adjacent one another and relatively rotatable, master transducing apparatus responsive to the relative rotation of the adjacent tubular portions and operative to provide a driving signal, slave arm apparatus including a plurality of slave tubular portions corresponding to those portions of the master arm apparatus, the slave tubular portions being coaxially adjacent one another and relatively rotatable, slave transducing apparatus responsive to the driving signal and operative to drivingly rotate the slave tubular portions through an angle that corresponds to the relative rotation of the corresponding master arm tubular portions, and a communication link between the master transducing apparatus and the slave transducing apparatus for applying the driving signal to the slave transducer.

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San Francisco, CA, United States of America

Reginald F King