Custom make master unit for user. When system is mechanically recalibrated for a particular task, a kinematic mismatch results. The user is trying to do tasks wrt the slave, but the master and slave no longer align. Can not disengage from master in any position without the system going unstable. Hence, the slave drives the master to a position where the feedback loop of the radial motion takes over.
Some tasks are difficult without gripper pitch capability or special gripper adaptations.
Can not easily reach all items that are easily visible. The links can be made longer if system weight can be reduced to keep inertia to a minimum. The master unit is ugly. The system feels heavy. Pain at the back of the jaw and in the neck occurs.