Description This video demonstrates direct telemanipulation of an apple using the CyberGlove to control the motions of the robotic hand. The user was calibrated to the glove using the least squares zero-hardware calibration method. The user's motions were mapped to the robot using an object based mapping method. Force feedback to the user is displayed using the CyberGrasp device. Force sensors on the robot's fingertips measure the force at the robot fingertips. This video was filmed and edited on March 10, 2000.