Cybernet created a simulation of a 6-degree-of-freedom handcontroller designed to facilitate space-based applications (control of several robotic arms in coordinated fashion); underwater activities (operation of many different manipulator types with limited visibility); military/maintenance activities (ordnance handling, mine removal, NBC operations, UGV operations); and avionics (remote control of aircraft/helicopters). The proposed design included an X-Y-Z stage attached to a handgrip. Transducers fed position info to brushless servomotors to support scaled force, velocity, and position feedback that allows the operator to achieve telepresence with the robotic device. This lead to the most compact low-power robotic device ever built. Initial conceptualization began in 1987.