Another related domain of telerobotics is telemanipulation.
Early master-slave manipulators used mechanical linkages,
and now robotics arms and end effectors, to remotely handle
hazardous materials or other objects at a distance [20].
A more specific example is that of telesurgery robots, which
not only allow for remote operation, but give surgeons more
precise control and remove tremors [29]. In contrast to prior
work on telemanipulation, we focus on supporting collaborative
work and the ability to switch between arbitrary end
effectors on demand.