Abstract: Dead-zone is one of the most common hard nonlinearities ubiquitous in master–slave teleoperation systems, particularly in the slave robot joints. However, adaptive control techniques applied in teleoperation systems usually ...

Abstract: A new nonlinear adaptive impedance-based trilateral controller is proposed to ensure the absolute stability of multi-degrees-of-freedom (DOFs) dual-user haptic teleoperation systems subjected to communication delays. Using ...

Abstract: In this paper, an approach to physical collaboration between a patient and a therapist is proposed using a bilateral impedance control strategy developed for delayed tele-robotic systems. The patient performs a tele-rehabilitation ...

Abstract: Hybrid analog/digital control of bilateral teleoperation systems can lead to superior performance (transparency) while maintaining stability compared to pure analog or digital control methods. Such hybrid control is ...