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(Left) One of the handles of the user interface, illustrating an analog joystick (with pushbutton) and trigger. The joystick provides for two bidirectional inputs, and the trigger gives a third unidirectional input. The pushbutton is used to reverse the direction of the trigger input. (Right) The endoscopic view is shown with the task space mapping from the user interface to the motion of the manipulator end-effectors.
