Some remarks on the fragility of transparency and stability in general 4-channel architecture for bilateral teleoperation with delay

This paper addresses the “trade-off” between transparency and stability of some specific bilateral teleoperation systems including communication time-delays. Using a geometric approach, we derive a simple method to study the fragility of the proposed controller for a general 4-channel architecture for bilateral teleoperation with time-delays such that the closed-loop stability as well as the transparency are guaranteed for the overall scheme. Illustrative examples complete the presentation.