Side story: the haptic feedback for the NanoManipulator was through a hydraulic system (kinda like this? https://www.sarcos.com/wp-content/uploads/history_5-339x280....). There were hydraulic lines that were piped through the building down to the machine room (where the SGI Infinite Reality Engine was!). Someone read through the manual and realized that the force that the arm was capable of could easily break someone's arm, and since it was usually grad students working late at night programming it, they decided it would be safest to just decommission that. I think I got one of the last demos during a UNC grad school recruiting event.
The big arm from Figure 2 is "an Argonne III Remote Manipulator".
Oddly, I can find no mention of that ARM outside of its use for the NanoManipulator. I did find https://www.ks.uiuc.edu/History/VMD/ (my old haunting grounds!) say:
> Computer scientist Frederick Brooks describes his chance encounter with the man who designed the manipulator as providential. In the 1950s, at Argonne National Laboratory near Chicago, Raymond Goertz and his group developed the ARM, the Argonne Remote Manipulator, a force-feedback device used to manipulate radioactive material in contaminated areas unsafe for humans to enter. Users gripped a device and moved it with their hand, and then signals were transferred to a robotic hand inside the contaminated area, which the users could see through glass. In the late 1960s or early 1970s Brooks met Goertz, the primary developer of the ARM, and Goertz arranged for Brooks to receive a manipulator that was no longer in use. ...
> While trying to use the donated remote manipulator with a computer in the 1970s, Brooks realized that he needed at least a hundred times more computer power than was feasible at the time, and he sidelined his work with the ARM until 1986, the arrival of the VAX computer. ...
Oooh! And you can see a few pictures of a young me in that UIUC link!
