Shown here are a force control with position feedback, and position control with force feedback. The assumption is that the current into the motor is directly related to the torque applied to the lever.
da Vinci (Intuitive surgical)
Quanser telemanipulator
Quanser on Digital journal
Quanser surgery on a banana
Quanser telepenmanship
da Vinci Robot assisted prostatectomy
Shands Robot prostatectomy
Russell Taylor's labs (jhu)