This tutorial revisits several of the most recent passivity-based controllers for nonlinear
bilateral teleoperators with guaranteed stability properties. These schemes, which include …

This work presents a survey of control methods applied to teleoperation systems. Although
the topic is kept general, emphasis in the review is placed on force-reflecting manual …

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 …

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 …

The possibility of operating in remote environments by means of telecontrolled systems has
always been considered of relevant interest in robotics. For this reason, in the literature a …

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

We propose a control framework for the bilateral teleoperation between a single master
robot and multiple cooperative slave robots with communication-delay in the master-slave …

Deploying robots to explore venues that are inaccessible to humans, or simply inhospitable,
has been a longstanding ambition of scientists, engineers, and explorers across numerous …

Driven by the need to achieve superior control performances for robots with hyper degrees
of freedom, the virtual decomposition control approach is thoroughly presented in this book …