A dual user console for a robotic surgical system includes first and second user consoles. The first and user consoles each include an arm, an actuator, and a manifold. Each arm has a joint and the actuator is disposed at the joint. The actuator includes pneumatic and hydraulic cylinders that are each configured to actuate the arm about the joint and to be back driven by movement of the arm about the joint. The manifold is coupled to the pneumatic and hydraulic cylinders. The manifolds are in communication with one another such that movements of the arm of the first console about its joint are mirrored to movements of the arm of the second user console about its joint and movements of the arm of the second user console about its joint are mirrored to movements of the arm of the first user console about its joint.
