Packet loss effects in passive telepresence systems

This paper focuses on the effects of packet loss in passive bilateral telepresence systems with force feedback. The substantial impact of packet loss and subsequently applied packet processing algorithms on the energy balance and thereby stability and performance of passive telepresence systems is studied. As an example for a class of non-energy preserving packet processing algorithms, the hold last sample (HLS) strategy, is shown to generate energy. A sufficient condition for the non-passivity of HLS is derived and passifying compensation is discussed.