A hand controller for a robotic surgical system

A first motorized joint assembly (303) of a hand controller (201b), comprising:

• a plate (401);
• a first pulley (403);
• a first spring (405);
• a first encoder assembly (502);
• a first cable (406), wherein the first cable (406) circumscribes the first pulley (403) in a counterclockwise direction;
• a first capstan (409), wherein the first capstan (409) is disposed tangential to a circumference of the first pulley (403);
• and
• a first motor (407), wherein the first motor (407) is secured to an anterior side of the plate (401).

A second motorized joint assembly (305) of a hand controller (201b), comprising:

• a second pulley (411);
• a second spring (413);
• a second encoder assembly (509);
• a second cable (414), wherein the second cable (414) circumscribes the second pulley (411) in a counterclockwise direction;
• a second capstan (417), wherein the second capstan (417) is disposed tangential to a circumference of the second pulley (411);
• a coupler (501) having a first end (500a) and a second end (500b), wherein the first end (500a) includes plurality of hole (501a) and (501c), and the second end (500b) includes a hole (501b);
• a second motor (415), wherein the second motor (415) is secured to the hole (501a) of the coupler (501);
• and
• a drive shaft (505).