A method for adaptive performance tuning of time-delayed bilateral teleoperation using communication disturbance observer

Atsushi Suzuki, Kouhei Ohnishi

Research output: Contribution to journalArticle

4 Citations (Scopus)


Time delay of bilateral teleoperation seriously deteriorates the performance and stability. Time delay compensation by communication disturbance observer improves the operationality but simultaneously deteriorates the reproducibility of the environmental impedance. In this paper, we propose scaling down compensation value only in motion while in contact with an environment so that both good reproducibility and operationality can be achieved.

Original languageEnglish
Pages (from-to)244-251+3
Journalieej transactions on industry applications
Issue number3
Publication statusPublished - 2011 Sep 8



  • Bilateral teleoperation
  • Communication disturbance observer
  • Operationality
  • Reproducibility
  • Stability
  • Time delay

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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