Abstract: The present teachings provide a controller for controlling a remote vehicle manipulator arm, the controller comprising a master arm morphologically the same as or similar to the remote vehicle manipulator arm, the master arm comprising two or more links connected to each other by joints, each joint comprising a slip clutch and a sensor for measuring a joint angle. An operator manipulates the master arm to control the remote vehicle manipulator arm such that a position of each manipulator arm joint is controlled based on a position of each master arm joint.