Four-Channel Teleoperation with Time-Varying Delays and Disturbance Observers

Figure 8

Simulation case hard wall impedance: with , , .

(a) Master position (blue -) and slave position (red - -)

(b) Force reference (black ), (green -), master force (blue -), and slave force (red - -)

(c) Force reference (black ), observed (red -)

(d) Environment force (black ), observed (red -)