Canada's real-time Remote Manipulator Simulation Facility (SIMFAC), built as part of the development of the Remote Manipulator System for the Space Shuttle Orbiter, is a general purpose engineering tool for the conduct of studies relating to man-in-the-loop manipulator systems.Operating characteristics of the manipulator system are simulated by a 23 degree-of-freedom mathematical model. Results are displayed as simultaneous, real-time CRT monitor images of out-of-window and end-of-arm CCTV scenes. A non-real-time simulation program ASAD, based on a more detailed mathematical model, together with actual flight data, is used to validate the simulation. A replica of the Orbiter Crew Compartment containing hand controllers, displays and system controls is also part of the facility.Spar is now developing the next generation general purpose simulation facility, the Manipulator Development and Simulation Facility (MDSF). It will progress to be fully operational by 1993. This is part of Canada's contribution to the NASA Space Station, the Mobile Servicing Centre.