One of the most interesting developing fields in modern telemanipulation research is the use of a slave robot commanded by a kinematically different master. The interest in asymmetrical master-slave telemanipulators arises from the desire to design a master which will be as efficient as possible for the operator, whereas the symmetric arrangement would constrain the master design to the same strict requirements of the slave one. The hand controllers (or joysticks) are among the most effective means for human operators to control the complex machines used in telemanipulation systems. From the point of view of the man-machine interface they can be seen as motion input devices, because the control system reads their sensors to elaborate the trajectories to be imposed to the remote manipulator. An important characteristic of telemanipulators is the possibility to make the operators feel like they were at the remote site, actually performing the manipulation task. It is well known that not only position feedback, but also force feedback from the remote machine to the human operator is necessary to obtain good performance of telemanipulation in training simulators or in hazardous environment operations, providing the sense of balance and the feeling of touching real objects (McAffee & Fiorini, 1991; Conklin & Tosunoglu, 1996; Batsomboon et al., 2000), thus realising a haptic device (haptics is the science that deals with the sense of touch). Force feedback hand controllers are actuated by motors, so that the control system can exert forces on the operator’s hand; they can be seen as devices that output forces, therefore sometimes they are referred to as force displays. Most of the existing devices have serial or parallel mechanical architectures. In a serial structure, the necessity to move most (or all) of the actuators tends to add weight and inertial forces to be controlled, conflicting with any force feedback received from the remote manipulator. Even with the use of counterbalancing weights to equilibrate the mass effects of the structures, serial controllers still experience their intrinsic drawbacks. The advantages are greater than the disadvantages when a serial structure is used as a manipulator (large workspace, simple joint position control, etc.), but, when implemented as a manual master controller, their size often becomes too large, and their weight too heavy for practical use. Moreover the play at joints and links and the errors at each joint variable measurement increase as one moves towards the payload, which implies bad precision at the end effector. 10