Touch is currently seen as the modality that will complement audition and vision as a third
media stream over the Internet in a variety of future haptic applications which will allow full …

Stability and task accomplishment of Internet-based teleoperation systems are greatly
susceptible to the network latency and uncertainty. Control of a teleoperation system aims to …

In this paper we survey the development of the wave variable concept and examine wave-
based teleoperation. We study the behavior of force reflecting systems under unknown but …

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

Audiovisual communications is at the core of multimedia systems that allow users to interact
across distances. It is common understanding that both audio and video are required for …

In this paper the problem of position tracking in the presence of variable time delay is
studied. It is proved that simple P-like and PD-like controllers can stabilize the teleoperator …

In this paper, we present a novel way to approach the interconnection of a continuous and a
discrete time physical system first presented in. This is done in a way which preserves …

This monograph deals with energy based control of interactive robotic interfaces. The port-
Hamiltonian framework is exploited both for modeling and controlling interactive robotic …

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 …

Abstract The Time Domain Passivity Approach (TDPA), a method to inject adaptive damping
to satisfy the passivity condition in real-time, has emerged as a powerful tool to stabilize …