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This paper proposes a performance index called telepresence index for bilateral teleoperation, which can be used both for the performance evaluation of bilateral control architectures and for design purposes. This index is intended to represent a comprehensive performance objective consisting of transparency and kinematic correspondence, which are two major performance objectives of bilateral teleoperation...
This paper introduces a novel control approach for teleoperation systems to achieve finite gain ℒ2-stability under communication unreliabilities. It is assumed that the communication block satisfies a small gain condition, as for example constant time delay and properly handled packet loss do. The proposed approach, a generalization of the scattering transformation, takes advantage of dissipative...
In telepresence and teleaction systems the haptic communication channel plays a central role. As it closes a global control loop any introduced communication delay possibly destabilizes the system and impairs the performance. The scattering theory is known to solve these stability issues by transmitting wave variables instead of haptic signals, i.e. force and velocity, over the communication channel...
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