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A Method For Reducing Wave Based Teleoperator Reflections, L H. Bate, C D. Cook, Z Li

Faculty of Engineering and Information Sciences - Papers: Part A

Wave variables guarantee stability for delayed teleoperation. They also introduce reflections which can prove very disorientating for an operator. This paper presents a new method for reducing the wave reflections when operating in nonlinear and unknown environments. Simulations and laboratory experiments shows the new method does not only guarantee stability but also reduce wave reflections allowing for improved velocity tracking and force feedback.