 Jim Henson spent many hours at the Robotorium, INC with Debbie the  Roboteer learning to use the new Apple IIE desktop computer (her  cousin programmed with the first RS232 interface ports) and  interfaced with a Rhino XRII bored out airplane aluminum 6 to 8 axis  robotic arm. Through experimentation they came up with a way to have  one puppeteer use an actuated mitt controller arm to animate  miniature puppets (the worm