在处理放射性物质的过程中，有某些步骤要求操作员在手套箱外壳中工作。这可能会使操作员受到低水平辐射剂量和意外污染的风险。它还产生大量放射性废物。正在开发一种自动化系统，以取代手套箱中的操作员，从而消除人类风险，并将浪费降至最低。虽然大多数处理过程可以自动化，只需很少的人机交互，但有些任务需要智能干预以适应意外情况。 这些活动要求操作员能够使用远程操纵器与流程进行交互。这种基于机器人的远程机械手系统，或TELEROBOT，必须为操作员提供一种有效的方法来控制机械臂、夹具和工具，以实现这一功能。

IN PROCESSING RADIOACTIVE MATERIAL, THERE ARE CERTAIN STEPS WHICH REQUIRED OPERATORS WORKING IN GLOVE BOX ENCLOSURES. THIS CAN SUBJECT THE OPERATORS TO LOW LEVEL RADIATION DOSAGES AND THE RISK OF ACCIDENTAL CONTAMINATION. IT ALSO GENERATES SIGNIFICANT RADIOACTIVE WASTE. AN AUTOMATED SYSTEM IS BEING DEVELOPED TO REPLACE THE OPERATOR IN THE GLOVE BOX TO REMOVE THE HUMAN FROM RISK AND MINIMIZE WASTE. ALTHOUGH MOST OF THE PROCESSING CAN BE AUTOMATED WITH VERY LITTLE HUMAN OPERATOR INTERACTION, THERE ARE SOME TASKS WHERE INTELLIGENT INTERVENTION IS NECESSARY TO ADAPT TO UNEXPECTED CIRCUMSTANCES. THESE ACTIVITIES WILL REQUIRE THAT THE OPERATOR BE ABLE TO INTERACT WITH THE PROCESS USING A REMOTE MANIPULATOR. THIS ROBOT-BASED REMOTE MANIPULATOR SYSTEM, OR TELEROBOT, MUST PROVIDE THE OPERATOR WITH AN EFFECTIVE MEANS OF CONTROLLING THE ROBOT ARM, GRIPPER, AND TOOLS TO ACHIEVE THIS CAPABILITY.