definiens: refers to each of them . 1.6 means a machine or device, which includes mechanical components, logic circuitry, computingcomponents, software and/or other specialized components, that ( i ) operates automatically, semi - automatically, interactivelyor by remote control, in which desired and/or measured force, torque, position, orientation, velocity, and/or angular velocityinformation is processed by a computing source and such computing source is used to control the force, torque, position, orientation, velocity, angular velocity, and/or physical configuration of the device ; or ( ii ) senses force and/or torqueinformation, provides tactile, force and/or torque information to the user, applies a force and/or torque to a medical instrument, and/or fully or partially constrains the position, velocity, orientation, or angular velocity of a medical instrument . RoboticDevices also include those types of devices listed in Section 2.3(b )