No force Feedback - 12. Too large of a position dead-band in radial motion. The gain acting on the position error is not large enough to draw enough current to drive the motors for small position changes. Increase gain acting on position error. Time delay in radial motion makes system difficult to control.
User moves master input faster than slave's radial motion capability.
Difficult to isolate gripper movements. Don't use all 4 JS motions for control. Decrease mouthpiece thickness at certain locations to allow mouth closure. Gripper wires get in the way. They presently dangle.