A manipulator system for a telemanipulator comprising: a detachable manipulator handle (230, 330) including a handle framework; a first cable (250, 350, 450) defining a first end (252, 352, 452) and a second end, wherein the second end of the first cable (250, 350, 450) is coupled to the handle framework; and a first coupler block (241, 341, 441) coupled to the first end (252, 352, 452) of the first cable (250, 350, 450); a command arm including a second cable (260, 360, 460) defining a second end (262, 362, 462); characterised by the command arm further including a second coupler block (245, 345, 445) releasably coupled to the second cable (260, 360, 460). towards the second end (262, 362, 462) of the second cable (260, 360, 460); and a manipulator wrist joint with an output shaft; and the manipulator system further comprising an attachment structure (243, 249, 355, 443) configured to releasably engage the first coupler block (241, 341, 441) of the manipulator handle and the second coupler block (245, 345, 445) of the command arm such that the first coupler block (241, 341, 441) and the second coupler block (245, 345, 445) are fixed; and the manipulator handle further including a connector (270, 370) configured to reversibly couple the command arm to the output shaft of the manipulator wrist joint. a detachable manipulator handle (230, 330) including a handle framework; a first cable (250, 350, 450) defining a first end (252, 352, 452) and a second end, wherein the second end of the first cable (250, 350, 450) is coupled to the handle framework; and a first coupler block (241, 341, 441) coupled to the first end (252, 352, 452) of the first cable (250, 350, 450); a handle framework; a first cable (250, 350, 450) defining a first end (252, 352, 452) and a second end, wherein the second end of the first cable (250, 350, 450) is coupled to the handle framework; and a first coupler block (241, 341, 441) coupled to the first end (252, 352, 452) of the first cable (250, 350, 450); a command arm including a second cable (260, 360, 460) defining a second end (262, 362, 462); characterised by the command arm further including a second coupler block (245, 345, 445) releasably coupled to the second cable (260, 360, 460). towards the second end (262, 362, 462) of the second cable (260, 360, 460); and a manipulator wrist joint with an output shaft; a second coupler block (245, 345, 445) releasably coupled to the second cable (260, 360, 460). towards the second end (262, 362, 462) of the second cable (260, 360, 460); and a manipulator wrist joint with an output shaft; and the manipulator system further comprising an attachment structure (243, 249, 355, 443) configured to releasably engage the first coupler block (241, 341, 441) of the manipulator handle and the second coupler block (245, 345, 445) of the command arm such that the first coupler block (241, 341, 441) and the second coupler block (245, 345, 445) are fixed; and the manipulator handle further including a connector (270, 370) configured to reversibly couple the command arm to the output shaft of the manipulator wrist joint. an attachment structure (243, 249, 355, 443) configured to releasably engage the first coupler block (241, 341, 441) of the manipulator handle and the second coupler block (245, 345, 445) of the command arm such that the first coupler block (241, 341, 441) and the second coupler block (245, 345, 445) are fixed; and the manipulator handle further including a connector (270, 370) configured to reversibly couple the command arm to the output shaft of the manipulator wrist joint.