A dual user console for a robotic surgical system, the dual user console comprising: a first user console including: a first arm having a first joint; and a first actuator disposed at the first joint; and a second user console including: a second arm having a second joint; and a second actuator disposed at the second joint, wherein movements of the first arm about the first joint are mirrored to movements of the second arm about the second joint and movements of the second arm about the second joint are mirrored to movements of the first arm about the first joint, characterized in that: the first user console includes a first pneumatic cylinder and a first hydraulic cylinder, each of the first pneumatic and hydraulic cylinders configured to actuate the first arm about the first joint and to be back driven by movement of the first arm about the first joint; the first user console further includes a first manifold (240, 340, 443) coupled to the first pneumatic cylinder and the first hydraulic cylinder; the second user console includes a second pneumatic cylinder and a second hydraulic cylinder, each of the second pneumatic and hydraulic cylinders configured to actuate the second arm about the second joint and to be back driven by movement of the second arm about the second joint; and the second user console further includes a second manifold (260, 360, 463) coupled to the second pneumatic cylinder and the second hydraulic cylinder, wherein the first manifold (240, 340, 443) is in communication with the second manifold (260, 360, 463) such that said movements of the first arm about the first joint are mirrored to movements of the second arm about the second joint and said movements of the second arm about the second joint are mirrored to movements of the first arm about the first joint. a first user console including: a first arm having a first joint; and a first actuator disposed at the first joint; and a first arm having a first joint; and a first actuator disposed at the first joint; and a second user console including: a second arm having a second joint; and a second actuator disposed at the second joint, a second arm having a second joint; and a second actuator disposed at the second joint, wherein movements of the first arm about the first joint are mirrored to movements of the second arm about the second joint and movements of the second arm about the second joint are mirrored to movements of the first arm about the first joint, characterized in that: the first user console includes a first pneumatic cylinder and a first hydraulic cylinder, each of the first pneumatic and hydraulic cylinders configured to actuate the first arm about the first joint and to be back driven by movement of the first arm about the first joint; the first user console further includes a first manifold (240, 340, 443) coupled to the first pneumatic cylinder and the first hydraulic cylinder; the second user console includes a second pneumatic cylinder and a second hydraulic cylinder, each of the second pneumatic and hydraulic cylinders configured to actuate the second arm about the second joint and to be back driven by movement of the second arm about the second joint; and the second user console further includes a second manifold (260, 360, 463) coupled to the second pneumatic cylinder and the second hydraulic cylinder, wherein the first manifold (240, 340, 443) is in communication with the second manifold (260, 360, 463) such that said movements of the first arm about the first joint are mirrored to movements of the second arm about the second joint and said movements of the second arm about the second joint are mirrored to movements of the first arm about the first joint. the first user console includes a first pneumatic cylinder and a first hydraulic cylinder, each of the first pneumatic and hydraulic cylinders configured to actuate the first arm about the first joint and to be back driven by movement of the first arm about the first joint; the first user console further includes a first manifold (240, 340, 443) coupled to the first pneumatic cylinder and the first hydraulic cylinder; the second user console includes a second pneumatic cylinder and a second hydraulic cylinder, each of the second pneumatic and hydraulic cylinders configured to actuate the second arm about the second joint and to be back driven by movement of the second arm about the second joint; and the second user console further includes a second manifold (260, 360, 463) coupled to the second pneumatic cylinder and the second hydraulic cylinder, wherein the first manifold (240, 340, 443) is in communication with the second manifold (260, 360, 463) such that said movements of the first arm about the first joint are mirrored to movements of the second arm about the second joint and said movements of the second arm about the second joint are mirrored to movements of the first arm about the first joint.