A method for simultaneously increasing transparency and stability robustness in bilateral telemanipulation

Describes a design technique for simultaneously increasing the transparency bandwidth and stability robustness of a two-channel position-force bilateral teleoperation architecture. Specifically, the stability and performance enhancements are obtained by introducing a dynamic compensator into the system to shape the frequency-domain properties of the human-teleoperator-environment loop. This design technique is demonstrated in a single degree-of-freedom numerical example