Teleoperation systems allow an operator to perform complex tasks in a remote environment.
Stability of a bilateral teleoperation system is quite sensitive to time delays. One of the …

This survey addresses the subject of bilateral teleoperation, a research stream with more
than 50 years of history and one that continues to be a fertile ground for theoretical …

A patent-pending, energy-based method is presented for controlling a haptic interface
system to ensure stable contact under a wide variety of operating conditions. System stability …

Passivity is an input–output property of dynamical systems. The concept generalizes
physical systems that cannot store more energy than the energy supplied from outside the …

A new bilateral control scheme is proposed to ensure stable teleoperation under a wide
variety of environments and operating speeds. System stability is analyzed in terms of the …

Haptic teleoperation enables the human to perform manipulation tasks in distant, scaled,
hazardous, or inaccessible environments. The human closes the control loop sending haptic …

A robotic surgical system has a robot arm holding an instrument for performing a surgical
procedure, and a control system for controlling movement of the arm and its instrument …

Wave-based teleoperation has been previously attempted over the Internet, however
performance rapidly deteriorates with increasing delay. The paper focuses on the use of a …

Robotic Surgical systems such as those used in performing minimally invasive Surgical
procedures offer many benefits over traditional open Surgery techniques, including less …

This paper presents the effectiveness of a time-delay compensation method based on the
concept of network disturbance and communication disturbance observer for bilateral …