Passive Position Controlled Telepresence Systems with Time Delay

This paper discusses combined position and force control of telepresence systems with force feedback and time delay. Standard architectures use velocity/force control and well known passivity arguments. Disadvantageously, then the positions of the Human System Interface (HSI) and the teleoperator diverge in presence of disturbances, deteriorating transparency. In this paper a new method for impedance matching filter design by optimization in the frequency domain to achieve passivity of the teleoperator/environment and transparency of position-force controlled telepresence systems is proposed. The validity of the approach is shown in simulations and experimental results.