@inproceedings{f94c85bd7aae421ba342f3187ba9afb7,
title = "Study of teleoperation using realtime communication network emulation",
abstract = "The stability and performance of telepresence systems with kinesthetic (force) feedback operated via a communication network mainly depends on the quality (delay, bandwidth) of communication. The combined position/force control of teleoperation system with time delay using impedance matching filters to achieve robust passivity for the teleoperator/environment and transparency is discussed. The impedance matching filter design is the result of optimization in the frequency domain. An experimental telepresence system using realtime communication network emulation is used to show the validity of the proposed approach.",
keywords = "Band pass filters, Bandwidth, Communication networks, Delay effects, Emulation, Force control, Force feedback, Impedance matching, Matched filters, Stability",
author = "S. Hirche and M. Buss",
note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 ; Conference date: 20-07-2003 Through 24-07-2003",
year = "2003",
doi = "10.1109/AIM.2003.1225160",
language = "English",
series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "586--591",
booktitle = "Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003",
}