IN PROCESSING RADIOACTIVE MATERIAL, THERE ARE CERTAIN STEPS WHICH REQUIRED OPERATORS WORKING IN GLOVE BOX ENCLOSURES. THIS CAN SUBJECT THE OPERATORS TO LOW LEVEL RADIATION DOSAGES AND THE RISK OF ACCIDENTAL CONTAMINATION. IT ALSO GENERATES SIGNIFICANT RADIOACTIVE WASTE. AN AUTOMATED SYSTEM IS BEING DEVELOPED TO REPLACE THE OPERATOR IN THE GLOVE BOX TO REMOVE THE HUMAN FROM RISK AND MINIMIZE WASTE. ALTHOUGH MOST OF THE PROCESSING CAN BE AUTOMATED WITH VERY LITTLE HUMAN OPERATOR INTERACTION, THERE ARE SOME TASKS WHERE INTELLIGENT INTERVENTION IS NECESSARY TO ADAPT TO UNEXPECTED CIRCUMSTANCES. THESE ACTIVITIES WILL REQUIRE THAT THE OPERATOR BE ABLE TO INTERACT WITH THE PROCESS USING A REMOTE MANIPULATOR. THIS ROBOT-BASED REMOTE MANIPULATOR SYSTEM, OR TELEROBOT, MUST PROVIDE THE OPERATOR WITH AN EFFECTIVE MEANS OF CONTROLLING THE ROBOT ARM, GRIPPER, AND TOOLS TO ACHIEVE THIS CAPABILITY.