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 …

In the haptic human-robot interaction systems, stability and transparency factors are critical
but conflicting with one another. Ensuring safety and accuracy of bilateral haptic …

This article presents an overview of the current state of research and application of haptic
(primarily kinesthetic) feedback and force-based teleoperation in the context of surgical …

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 …

We propose a novel control framework for bilateral teleoperation of a pair of multi-degree-of-
freedom nonlinear robotic systems under constant communication delays. The proposed …

Teleoperated robot systems are able to support humans to accomplish their tasks in many
applications. However, the performance of teleoperation largely depends on motor …

In this paper, a two-layer approach is presented to guarantee the stable behavior of bilateral
telemanipulation systems in the presence of time-varying destabilizing factors such as hard …

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 …

Bilateral teleoperators, designed within the passivity framework using concepts of scattering
and two-port network theory, provide robust stability against constant delay in the network …

In this paper, a passive bilateral control scheme is proposed for a teleoperator with time-
varying communication delay. Recently proposed two-port time-domain passivity approach …